mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-04-23 22:30:00 +00:00
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20 Commits
v0.10.14
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62
.conda/base/recipe.yaml
Normal file
62
.conda/base/recipe.yaml
Normal file
@@ -0,0 +1,62 @@
|
||||
# unilabos: Production package (depends on unilabos-env + pip unilabos)
|
||||
# For production deployment
|
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|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.11.1
|
||||
|
||||
source:
|
||||
path: ../../unilabos
|
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target_directory: unilabos
|
||||
|
||||
build:
|
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python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
|
||||
- pip install %SRC_DIR%
|
||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../../setup.py $SRC_DIR
|
||||
- pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.14
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- zstd
|
||||
- zstandard
|
||||
- networkx
|
||||
- typing_extensions
|
||||
- websockets
|
||||
- pint
|
||||
- fastapi
|
||||
- jinja2
|
||||
- requests
|
||||
- uvicorn
|
||||
- if: not osx
|
||||
then:
|
||||
- opcua
|
||||
- pyserial
|
||||
- pandas
|
||||
- pymodbus
|
||||
- matplotlib
|
||||
- pylibftdi
|
||||
- uni-lab::unilabos-env ==0.11.1
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS - Production package with minimal ROS2 dependencies"
|
||||
39
.conda/environment/recipe.yaml
Normal file
39
.conda/environment/recipe.yaml
Normal file
@@ -0,0 +1,39 @@
|
||||
# unilabos-env: conda environment dependencies (ROS2 + conda packages)
|
||||
|
||||
package:
|
||||
name: unilabos-env
|
||||
version: 0.11.1
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
requirements:
|
||||
run:
|
||||
# Python
|
||||
- zstd
|
||||
- zstandard
|
||||
- conda-forge::python ==3.11.14
|
||||
- conda-forge::opencv
|
||||
# ROS2 dependencies (from ci-check.yml)
|
||||
- robostack-staging::ros-humble-ros-core
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-nav2-msgs
|
||||
- robostack-staging::ros-humble-cv-bridge
|
||||
- robostack-staging::ros-humble-vision-opencv
|
||||
- robostack-staging::ros-humble-tf-transformations
|
||||
- robostack-staging::ros-humble-moveit-msgs
|
||||
- robostack-staging::ros-humble-tf2-ros
|
||||
- robostack-staging::ros-humble-tf2-ros-py
|
||||
- conda-forge::transforms3d
|
||||
- conda-forge::uv
|
||||
|
||||
# UniLabOS custom messages
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS Environment - ROS2 and conda dependencies"
|
||||
42
.conda/full/recipe.yaml
Normal file
42
.conda/full/recipe.yaml
Normal file
@@ -0,0 +1,42 @@
|
||||
# unilabos-full: Full package with all features
|
||||
# Depends on unilabos + complete ROS2 desktop + dev tools
|
||||
|
||||
package:
|
||||
name: unilabos-full
|
||||
version: 0.11.1
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
requirements:
|
||||
run:
|
||||
# Base unilabos package (includes unilabos-env)
|
||||
- uni-lab::unilabos ==0.11.1
|
||||
# Documentation tools
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
# Web UI
|
||||
- gradio
|
||||
- flask
|
||||
# Interactive development
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
# ROS2 full desktop (includes rviz2, gazebo, etc.)
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
# Navigation and motion control
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
# MoveIt motion planning
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
# Simulation
|
||||
- ros-humble-simulation
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
|
||||
@@ -1,91 +0,0 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.14
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
target_directory: unilabos
|
||||
|
||||
build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
||||
- call %PYTHON% -m pip install %SRC_DIR%
|
||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
- make
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
@@ -1,9 +0,0 @@
|
||||
@echo off
|
||||
setlocal enabledelayedexpansion
|
||||
|
||||
REM upgrade pip
|
||||
"%PREFIX%\python.exe" -m pip install --upgrade pip
|
||||
|
||||
REM install extra deps
|
||||
"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
|
||||
"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
@@ -1,9 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euxo pipefail
|
||||
|
||||
# make sure pip is available
|
||||
"$PREFIX/bin/python" -m pip install --upgrade pip
|
||||
|
||||
# install extra deps
|
||||
"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
|
||||
"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
160
.cursor/skills/add-device/SKILL.md
Normal file
160
.cursor/skills/add-device/SKILL.md
Normal file
@@ -0,0 +1,160 @@
|
||||
---
|
||||
name: add-device
|
||||
description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
|
||||
---
|
||||
|
||||
# 添加新设备到 Uni-Lab-OS
|
||||
|
||||
**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
|
||||
|
||||
该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
|
||||
|
||||
---
|
||||
|
||||
## 装饰器参考
|
||||
|
||||
### @device — 设备类装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
# 单设备
|
||||
@device(
|
||||
id="my_device.vendor", # 注册表唯一标识（必填）
|
||||
category=["temperature"], # 分类标签列表（必填）
|
||||
description="设备描述", # 设备描述
|
||||
display_name="显示名称", # UI 显示名称（默认用 id）
|
||||
icon="DeviceIcon.webp", # 图标文件名
|
||||
version="1.0.0", # 版本号
|
||||
device_type="python", # "python" 或 "ros2"
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
hardware_interface=HardwareInterface(...), # 硬件通信接口
|
||||
)
|
||||
|
||||
# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
|
||||
@device(
|
||||
ids=["pump.vendor.model_A", "pump.vendor.model_B"],
|
||||
id_meta={
|
||||
"pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
|
||||
"pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
|
||||
},
|
||||
category=["pump_and_valve"],
|
||||
)
|
||||
```
|
||||
|
||||
### @action — 动作方法装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import action
|
||||
|
||||
@action # 无参：注册为 UniLabJsonCommand 动作
|
||||
@action() # 同上
|
||||
@action(description="执行操作") # 带描述
|
||||
@action(
|
||||
action_type=HeatChill, # 指定 ROS Action 消息类型
|
||||
goal={"temperature": "temp"}, # Goal 字段映射
|
||||
feedback={}, # Feedback 字段映射
|
||||
result={}, # Result 字段映射
|
||||
handles=[...], # 动作级别端口
|
||||
goal_default={"temp": 25.0}, # Goal 默认值
|
||||
placeholder_keys={...}, # 参数占位符
|
||||
always_free=True, # 不受排队限制
|
||||
auto_prefix=True, # 强制使用 auto- 前缀
|
||||
parent=True, # 从父类 MRO 获取参数签名
|
||||
)
|
||||
```
|
||||
|
||||
**自动识别规则：**
|
||||
- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
|
||||
- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
|
||||
- `_` 开头的方法 → 不扫描
|
||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config(
|
||||
period=5.0, # 发布周期（秒），默认 5.0
|
||||
print_publish=False, # 是否打印发布日志
|
||||
qos=10, # QoS 深度，默认 10
|
||||
name="custom_name", # 自定义发布名称（默认用属性名）
|
||||
)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 辅助装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import not_action, always_free
|
||||
|
||||
@not_action # 标记为非动作（post_init、辅助方法等）
|
||||
@always_free # 标记为不受排队限制（查询类操作）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 设备模板
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Any, Dict, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.registry.decorators import device, action, topic_config, not_action
|
||||
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
self.device_id = device_id or "my_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
|
||||
self._ros_node = ros_node
|
||||
|
||||
@action
|
||||
async def initialize(self) -> bool:
|
||||
self.data["status"] = "Ready"
|
||||
return True
|
||||
|
||||
@action
|
||||
async def cleanup(self) -> bool:
|
||||
self.data["status"] = "Offline"
|
||||
return True
|
||||
|
||||
@action(description="执行操作")
|
||||
def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
|
||||
"""带 @action 装饰器 → 注册为 'my_action' 动作"""
|
||||
return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
||||
"""无 @action → 自动注册为 'auto-get_info' 动作"""
|
||||
return {"device_id": self.device_id}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 要点
|
||||
|
||||
- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
|
||||
- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
|
||||
- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
|
||||
- 运行时状态存储在 `self.data` 字典中
|
||||
- 设备文件放在 `unilabos/devices/<category>/` 目录下
|
||||
351
.cursor/skills/add-resource/SKILL.md
Normal file
351
.cursor/skills/add-resource/SKILL.md
Normal file
@@ -0,0 +1,351 @@
|
||||
---
|
||||
name: add-resource
|
||||
description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
|
||||
---
|
||||
|
||||
# 添加新物料资源
|
||||
|
||||
Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
|
||||
|
||||
---
|
||||
|
||||
## 资源类型
|
||||
|
||||
| 类型 | 基类 | 用途 | 示例 |
|
||||
|------|------|------|------|
|
||||
| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
|
||||
| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
|
||||
| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
|
||||
| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
|
||||
|
||||
**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
|
||||
|
||||
WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
|
||||
|
||||
---
|
||||
|
||||
## @resource 装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
@resource(
|
||||
id="my_resource_id", # 注册表唯一标识（必填）
|
||||
category=["bottles"], # 分类标签列表（必填）
|
||||
description="资源描述",
|
||||
icon="", # 图标
|
||||
version="1.0.0",
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
class_type="pylabrobot", # "python" / "pylabrobot" / "unilabos"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 创建规范
|
||||
|
||||
### 命名规则
|
||||
|
||||
1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
|
||||
2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
|
||||
|
||||
### 子物料命名示例
|
||||
|
||||
```python
|
||||
# Carrier 内部的 sites 用 name 前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}" # "堆栈1左_A01", "堆栈1左_B02" ...
|
||||
|
||||
# Carrier 中放置 Bottle 时用 name 前缀
|
||||
carrier[0] = My_Reagent_Bottle(f"{name}_flask_1") # "堆栈1左_flask_1"
|
||||
carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}") # "堆栈1左_vial_A1"
|
||||
|
||||
# create_homogeneous_resources 使用 name_prefix
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[...],
|
||||
name_prefix=name, # 自动生成 "{name}_0", "{name}_1" ...
|
||||
)
|
||||
|
||||
# Deck setup 中用仓库名称作为 name 传入
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"), # WareHouse.name = "堆栈1左"
|
||||
"试剂堆栈": my_reagent_stack("试剂堆栈"), # WareHouse.name = "试剂堆栈"
|
||||
}
|
||||
```
|
||||
|
||||
### 其他规范
|
||||
|
||||
- **max_volume 单位为 μL**：500mL = 500000
|
||||
- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
|
||||
- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
|
||||
- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
|
||||
- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
|
||||
- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
|
||||
- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
|
||||
|
||||
---
|
||||
|
||||
## 资源模板
|
||||
|
||||
### Bottle
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
|
||||
def My_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0,
|
||||
height: float = 120.0,
|
||||
max_volume: float = 500000.0,
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="My_Reagent_Bottle",
|
||||
)
|
||||
```
|
||||
|
||||
**Bottle 参数：**
|
||||
- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
|
||||
- `diameter`: 瓶体直径 (mm)
|
||||
- `height`: 瓶体高度 (mm)
|
||||
- `max_volume`: 最大容积（**μL**，500mL = 500000）
|
||||
- `barcode`: 条形码（可选）
|
||||
|
||||
### BottleCarrier
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import ResourceHolder
|
||||
from pylabrobot.resources.carrier import create_ordered_items_2d
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
|
||||
def My_6SlotCarrier(name: str) -> BottleCarrier:
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3, num_items_y=2,
|
||||
dx=10.0, dy=10.0, dz=5.0,
|
||||
item_dx=42.0, item_dy=35.0,
|
||||
size_x=20.0, size_y=20.0, size_z=50.0,
|
||||
)
|
||||
# 子 site 用 name 作为前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name, size_x=146.0, size_y=80.0, size_z=55.0,
|
||||
sites=sites, model="My_6SlotCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 放置 Bottle 时用 name 作为前缀
|
||||
ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
|
||||
for i in range(6):
|
||||
carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
```
|
||||
|
||||
### WareHouse / Deck 放置位
|
||||
|
||||
WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
|
||||
|
||||
#### WareHouse（使用 warehouse_factory）
|
||||
|
||||
```python
|
||||
from unilabos.resources.warehouse import warehouse_factory
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
|
||||
def my_warehouse_4x4(name: str) -> "WareHouse":
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0, # 第一个 slot 的起始偏移
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0, # slot 间距
|
||||
resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0, # slot 尺寸
|
||||
model="my_warehouse_4x4",
|
||||
col_offset=0, # 列标签起始偏移（0 → A01, 4 → A05）
|
||||
layout="row-major", # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
|
||||
)
|
||||
```
|
||||
|
||||
`warehouse_factory` 参数说明：
|
||||
- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
|
||||
- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
|
||||
- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
|
||||
- `layout`：影响 slot 标签和坐标映射
|
||||
- `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
|
||||
- `"col-major"`：A01,B01,...,A02,B02,...（列优先）
|
||||
- `"vertical-col-major"`：竖向排列，y 坐标反向
|
||||
|
||||
#### Deck 组装 WareHouse
|
||||
|
||||
Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import Deck, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
|
||||
class MyStation_Deck(Deck):
|
||||
def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
|
||||
category="deck", setup=False, **kwargs) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"),
|
||||
"堆栈1右": my_warehouse_4x4("堆栈1右"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"堆栈1左": Coordinate(-200.0, 400.0, 0.0), # 自行测量计算
|
||||
"堆栈1右": Coordinate(2350.0, 400.0, 0.0),
|
||||
}
|
||||
for wh_name, wh in self.warehouses.items():
|
||||
self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
|
||||
```
|
||||
|
||||
#### Site 模式（前端定向放置）
|
||||
|
||||
适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
|
||||
|
||||
```python
|
||||
import collections
|
||||
from typing import Any, Dict, List, Optional
|
||||
from pylabrobot.resources import Deck, Resource, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
|
||||
class MyLabDeck(Deck):
|
||||
# 根据设备台面实测批量计算各 slot 坐标偏移
|
||||
_DEFAULT_SITE_POSITIONS = [
|
||||
(0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4
|
||||
(0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8
|
||||
]
|
||||
_DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
|
||||
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
if sites is not None:
|
||||
self.sites = [dict(s) for s in sites]
|
||||
else:
|
||||
self.sites = []
|
||||
for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
|
||||
self.sites.append({
|
||||
"label": f"T{i + 1}", # 前端显示的槽位标签
|
||||
"visible": True, # 是否在前端可见
|
||||
"position": {"x": x, "y": y, "z": z}, # 槽位物理坐标
|
||||
"size": dict(self._DEFAULT_SITE_SIZE), # 槽位尺寸
|
||||
"content_type": list(self._DEFAULT_CONTENT_TYPE), # 允许放入的物料类型
|
||||
})
|
||||
self._ordering = collections.OrderedDict(
|
||||
(site["label"], None) for site in self.sites
|
||||
)
|
||||
|
||||
def assign_child_resource(self, resource: Resource,
|
||||
location: Optional[Coordinate] = None,
|
||||
reassign: bool = True,
|
||||
spot: Optional[int] = None):
|
||||
idx = spot
|
||||
if spot is None:
|
||||
for i, site in enumerate(self.sites):
|
||||
if site.get("label") == resource.name:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
for i in range(len(self.sites)):
|
||||
if self._get_site_resource(i) is None:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
raise ValueError(f"No available site for '{resource.name}'")
|
||||
loc = Coordinate(**self.sites[idx]["position"])
|
||||
super().assign_child_resource(resource, location=loc, reassign=reassign)
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
sites_out = []
|
||||
for i, site in enumerate(self.sites):
|
||||
occupied = self._get_site_resource(i)
|
||||
sites_out.append({
|
||||
"label": site["label"],
|
||||
"visible": site.get("visible", True),
|
||||
"occupied_by": occupied.name if occupied else None,
|
||||
"position": site["position"],
|
||||
"size": site["size"],
|
||||
"content_type": site["content_type"],
|
||||
})
|
||||
data["sites"] = sites_out
|
||||
return data
|
||||
```
|
||||
|
||||
**Site 字段说明：**
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
|
||||
| `visible` | bool | 是否在前端可见 |
|
||||
| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
|
||||
| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
|
||||
| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
|
||||
|
||||
**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
|
||||
|
||||
---
|
||||
|
||||
## 文件位置
|
||||
|
||||
```
|
||||
unilabos/resources/
|
||||
├── <project>/ # 按项目分组
|
||||
│ ├── bottles.py # Bottle 工厂函数
|
||||
│ ├── bottle_carriers.py # Carrier 工厂函数
|
||||
│ ├── warehouses.py # WareHouse 工厂函数
|
||||
│ └── decks.py # Deck 类定义
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 资源可导入
|
||||
python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
|
||||
|
||||
---
|
||||
|
||||
## 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
| 装饰器定义 | `unilabos/registry/decorators.py` |
|
||||
292
.cursor/skills/add-resource/reference.md
Normal file
292
.cursor/skills/add-resource/reference.md
Normal file
@@ -0,0 +1,292 @@
|
||||
# 资源高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 类继承体系
|
||||
|
||||
```
|
||||
PyLabRobot
|
||||
├── Resource (PLR 基类)
|
||||
│ ├── Well
|
||||
│ │ └── Bottle (unilabos) → 瓶/小瓶/烧杯/反应器
|
||||
│ ├── Deck
|
||||
│ │ └── 自定义 Deck 类 (unilabos) → 工作站台面
|
||||
│ ├── ResourceHolder → 槽位占位符
|
||||
│ └── Container
|
||||
│ └── Battery (unilabos) → 组装好的电池
|
||||
│
|
||||
├── ItemizedCarrier (unilabos, 继承 Resource)
|
||||
│ ├── BottleCarrier (unilabos) → 瓶载架
|
||||
│ └── WareHouse (unilabos) → 堆栈仓库
|
||||
│
|
||||
├── ItemizedResource (PLR)
|
||||
│ └── MagazineHolder (unilabos) → 子弹夹载架
|
||||
│
|
||||
└── ResourceStack (PLR)
|
||||
└── Magazine (unilabos) → 子弹夹洞位
|
||||
```
|
||||
|
||||
### Bottle 类细节
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def __init__(self, name, diameter, height, max_volume,
|
||||
size_x=0.0, size_y=0.0, size_z=0.0,
|
||||
barcode=None, category="container", model=None, **kwargs):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter, # PLR 用 diameter 作为 size_x/size_y
|
||||
size_y=diameter,
|
||||
size_z=height, # PLR 用 height 作为 size_z
|
||||
max_volume=max_volume,
|
||||
category=category,
|
||||
model=model,
|
||||
bottom_type="flat",
|
||||
cross_section_type="circle"
|
||||
)
|
||||
```
|
||||
|
||||
注意 `size_x = size_y = diameter`，`size_z = height`。
|
||||
|
||||
### ItemizedCarrier 核心方法
|
||||
|
||||
| 方法 | 说明 |
|
||||
|------|------|
|
||||
| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
|
||||
| `__setitem__(identifier, resource)` | 向槽位放入资源 |
|
||||
| `get_child_identifier(child)` | 获取子资源的标识符 |
|
||||
| `capacity` | 总槽位数 |
|
||||
| `sites` | 所有槽位字典 |
|
||||
|
||||
---
|
||||
|
||||
## 2. 序列化与反序列化
|
||||
|
||||
### PLR ↔ UniLab 转换
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
|
||||
| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
|
||||
|
||||
### `from_plr_resources` 流程
|
||||
|
||||
```
|
||||
PLR Resource
|
||||
↓ build_uuid_mapping (递归生成 UUID)
|
||||
↓ resource.serialize() → dict
|
||||
↓ resource.serialize_all_state() → states
|
||||
↓ resource_plr_inner (递归构建 ResourceDictInstance)
|
||||
ResourceTreeSet
|
||||
```
|
||||
|
||||
关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
|
||||
|
||||
### `to_plr_resources` 流程
|
||||
|
||||
```
|
||||
ResourceTreeSet
|
||||
↓ collect_node_data (收集 UUID、状态、扩展数据)
|
||||
↓ node_to_plr_dict (转为 PLR 字典格式)
|
||||
↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
|
||||
↓ sub_cls.deserialize(plr_dict) (反序列化)
|
||||
↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
|
||||
PLR Resource
|
||||
```
|
||||
|
||||
### Bottle 序列化
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
return {**data, "diameter": self.diameter, "height": self.height}
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal=False):
|
||||
barcode_data = data.pop("barcode", None)
|
||||
instance = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
if barcode_data and isinstance(barcode_data, str):
|
||||
instance.barcode = barcode_data
|
||||
return instance
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. Bioyond 物料同步
|
||||
|
||||
### 双向转换函数
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
|
||||
| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
|
||||
|
||||
### `resource_bioyond_to_plr` 流程
|
||||
|
||||
```
|
||||
Bioyond 物料列表
|
||||
↓ reverse_type_mapping: {typeName → (model, UUID)}
|
||||
↓ 对每个物料:
|
||||
typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
|
||||
initialize_resource({"name": unique_name, "class": model})
|
||||
↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
|
||||
↓ 处理 detail (子物料/坐标)
|
||||
↓ 按 locationName 放入 deck.warehouses 对应槽位
|
||||
PLR 资源列表
|
||||
```
|
||||
|
||||
### `resource_plr_to_bioyond` 流程
|
||||
|
||||
```
|
||||
PLR 资源列表
|
||||
↓ 遍历每个资源:
|
||||
载架(capacity > 1): 生成 details 子物料 + 坐标
|
||||
单瓶: 直接映射
|
||||
↓ type_mapping 查找 typeId
|
||||
↓ warehouse_mapping 查找位置 UUID
|
||||
↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
|
||||
Bioyond 物料列表
|
||||
```
|
||||
|
||||
### BioyondResourceSynchronizer
|
||||
|
||||
工作站通过 `ResourceSynchronizer` 自动同步物料：
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
all_data = []
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 0}')) # 耗材
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 1}')) # 样品
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 2}')) # 试剂
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_data,
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
deck=self.workstation.deck
|
||||
)
|
||||
# 更新 deck 上的资源
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 非瓶类资源
|
||||
|
||||
### ElectrodeSheet（极片）
|
||||
|
||||
路径：`unilabos/resources/battery/electrode_sheet.py`
|
||||
|
||||
```python
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""片状材料（极片、隔膜、弹片、垫片等）"""
|
||||
_unilabos_state = {
|
||||
"diameter": 0.0,
|
||||
"thickness": 0.0,
|
||||
"mass": 0.0,
|
||||
"material_type": "",
|
||||
"color": "",
|
||||
"info": "",
|
||||
}
|
||||
```
|
||||
|
||||
工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
|
||||
|
||||
### Battery（电池）
|
||||
|
||||
```python
|
||||
class Battery(Container):
|
||||
"""组装好的电池"""
|
||||
_unilabos_state = {
|
||||
"color": "",
|
||||
"electrolyte_name": "",
|
||||
"open_circuit_voltage": 0.0,
|
||||
}
|
||||
```
|
||||
|
||||
### Magazine / MagazineHolder（子弹夹）
|
||||
|
||||
```python
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位，可堆叠 ElectrodeSheet"""
|
||||
# direction, max_sheets
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""多洞位子弹夹"""
|
||||
# hole_diameter, hole_depth, max_sheets_per_hole
|
||||
```
|
||||
|
||||
工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
|
||||
|
||||
---
|
||||
|
||||
## 5. 仓库工厂模式参考
|
||||
|
||||
### 实际 warehouse 工厂函数示例
|
||||
|
||||
```python
|
||||
# 行优先 4x4 仓库
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="row-major", # A01,A02,A03,A04, B01,...
|
||||
)
|
||||
|
||||
# 右侧 4x4 仓库（列名偏移）
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
col_offset=4, # A05,A06,A07,A08
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
# 竖向仓库（站内试剂存放）
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1, num_items_y=2, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="vertical-col-major",
|
||||
)
|
||||
|
||||
# 行偏移（F 行开始）
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, num_items_y=5, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=159.0, item_dy=183.0, item_dz=130.0,
|
||||
row_offset=row_offset, # 0→A行起，5→F行起
|
||||
layout="row-major",
|
||||
)
|
||||
```
|
||||
|
||||
### layout 类型说明
|
||||
|
||||
| layout | 命名顺序 | 适用场景 |
|
||||
|--------|---------|---------|
|
||||
| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
|
||||
| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
|
||||
| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
|
||||
|
||||
---
|
||||
|
||||
## 6. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
|
||||
| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
|
||||
| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
|
||||
| 电池资源 | `unilabos/resources/battery/` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
626
.cursor/skills/add-workstation/SKILL.md
Normal file
626
.cursor/skills/add-workstation/SKILL.md
Normal file
@@ -0,0 +1,626 @@
|
||||
---
|
||||
name: add-workstation
|
||||
description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 工作站接入指南
|
||||
|
||||
工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
|
||||
|
||||
---
|
||||
|
||||
## 工作站类型
|
||||
|
||||
| 类型 | 基类 | 适用场景 |
|
||||
| ------------------- | ----------------- | ---------------------------------- |
|
||||
| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（泵转移、过滤等） |
|
||||
| **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 对接 |
|
||||
| **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件 |
|
||||
|
||||
---
|
||||
|
||||
## @device 装饰器（工作站）
|
||||
|
||||
工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="my_workstation", # 注册表唯一标识（必填）
|
||||
category=["workstation"], # 分类标签
|
||||
description="我的工作站",
|
||||
)
|
||||
```
|
||||
|
||||
如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
|
||||
|
||||
---
|
||||
|
||||
## 工作站驱动模板
|
||||
|
||||
### 模板 A：基于外部系统的工作站
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.registry.decorators import device, topic_config, not_action
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
except ImportError:
|
||||
ROS2WorkstationNode = None
|
||||
|
||||
|
||||
@device(id="my_workstation", category=["workstation"], description="我的工作站")
|
||||
class MyWorkstation(WorkstationBase):
|
||||
_ros_node: "ROS2WorkstationNode"
|
||||
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger("MyWorkstation")
|
||||
self.api_host = self.config.get("api_host", "")
|
||||
self._status = "Idle"
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: "ROS2WorkstationNode"):
|
||||
super().post_init(ros_node)
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def workflow_sequence(self) -> str:
|
||||
return "[]"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def material_info(self) -> str:
|
||||
return "{}"
|
||||
```
|
||||
|
||||
### 模板 B：Protocol 工作站
|
||||
|
||||
直接使用 `ProtocolNode`，通常不需要自定义驱动类：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ProtocolNode
|
||||
```
|
||||
|
||||
在图文件中配置 `protocol_type` 即可。
|
||||
|
||||
---
|
||||
|
||||
## 子设备访问（sub_devices）
|
||||
|
||||
工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
|
||||
|
||||
```python
|
||||
# 在工站驱动类的方法中访问子设备
|
||||
sub = self._ros_node.sub_devices["pump_1"]
|
||||
|
||||
# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
|
||||
sub.driver_instance.some_method(arg1, arg2)
|
||||
|
||||
# .ros_node_instance — 子设备的 ROS2 节点实例
|
||||
sub.ros_node_instance._action_value_mappings # 查看子设备支持的 action
|
||||
```
|
||||
|
||||
**常见用法**：
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def my_protocol(self, **kwargs):
|
||||
# 获取子设备驱动实例
|
||||
pump = self._ros_node.sub_devices["pump_1"].driver_instance
|
||||
heater = self._ros_node.sub_devices["heater_1"].driver_instance
|
||||
|
||||
# 直接调用子设备方法
|
||||
pump.aspirate(volume=100)
|
||||
heater.set_temperature(80)
|
||||
```
|
||||
|
||||
> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
|
||||
|
||||
---
|
||||
|
||||
## 硬件通信接口（hardware_interface）
|
||||
|
||||
硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
|
||||
|
||||
### 工作原理
|
||||
|
||||
`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
|
||||
|
||||
**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
|
||||
|
||||
**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
|
||||
|
||||
```
|
||||
hardware_interface = d.ros_node_instance._hardware_interface
|
||||
# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
|
||||
```
|
||||
|
||||
1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
|
||||
- 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
|
||||
2. 从通信设备获取真正的 `read`/`write` 方法
|
||||
3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
|
||||
|
||||
因此：
|
||||
|
||||
- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
|
||||
- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
|
||||
- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
|
||||
|
||||
### HardwareInterface 参数说明
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import HardwareInterface
|
||||
|
||||
HardwareInterface(
|
||||
name="hardware_interface", # __init__ 中接收通信实例的属性名
|
||||
read="send_command", # 通信设备上暴露的读方法名
|
||||
write="send_command", # 通信设备上暴露的写方法名
|
||||
extra_info=["list_ports"], # 可选：额外暴露的方法
|
||||
)
|
||||
```
|
||||
|
||||
**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
|
||||
|
||||
### 示例 1：泵（name="hardware_interface"）
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, HardwareInterface
|
||||
|
||||
@device(
|
||||
id="my_pump",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class MyPump:
|
||||
def __init__(self, port=None, address="1", **kwargs):
|
||||
# name="hardware_interface" → 系统替换 self.hardware_interface
|
||||
self.hardware_interface = port # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
|
||||
self.address = address
|
||||
|
||||
def send_command(self, command: str):
|
||||
full_command = f"/{self.address}{command}\r\n"
|
||||
self.hardware_interface.write(bytearray(full_command, "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n")
|
||||
```
|
||||
|
||||
### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="solenoid_valve",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="io_device_port", # 自定义属性名 → 系统替换 self.io_device_port
|
||||
read="read_io_coil",
|
||||
write="write_io_coil",
|
||||
),
|
||||
)
|
||||
class SolenoidValve:
|
||||
def __init__(self, io_device_port: str = None, **kwargs):
|
||||
# name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
|
||||
self.io_device_port = io_device_port # 初始为字符串，系统替换为 Modbus 实例
|
||||
```
|
||||
|
||||
### Serial 通信设备（class="serial"）
|
||||
|
||||
`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
|
||||
|
||||
```python
|
||||
from serial import Serial, SerialException
|
||||
from threading import Lock
|
||||
|
||||
class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self._hardware_interface = {
|
||||
"name": "hardware_interface",
|
||||
"write": "send_command",
|
||||
"read": "read_data",
|
||||
}
|
||||
self._query_lock = Lock()
|
||||
|
||||
self.hardware_interface = Serial(baudrate=baudrate, port=port)
|
||||
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self, driver_instance=self, registry_name=registry_name,
|
||||
device_id=device_id, status_types={}, action_value_mappings={},
|
||||
hardware_interface=self._hardware_interface, print_publish=False,
|
||||
)
|
||||
self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
|
||||
|
||||
def send_command(self, command: str):
|
||||
with self._query_lock:
|
||||
self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
|
||||
def read_data(self):
|
||||
with self._query_lock:
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
```
|
||||
|
||||
在图文件中使用 `"class": "serial"` 即可创建串口代理：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
}
|
||||
```
|
||||
|
||||
### 图文件配置
|
||||
|
||||
**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"class": "workstation",
|
||||
"children": ["serial_pump", "pump_1", "pump_2"],
|
||||
"config": { "protocol_type": ["PumpTransferProtocol"] }
|
||||
},
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
},
|
||||
{
|
||||
"id": "pump_1",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
|
||||
},
|
||||
{
|
||||
"id": "pump_2",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "pump_1",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_1": "port", "serial_pump": "port" }
|
||||
},
|
||||
{
|
||||
"source": "pump_2",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_2": "port", "serial_pump": "port" }
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 通信协议速查
|
||||
|
||||
| 协议 | config 参数 | 依赖包 | 通信设备 class |
|
||||
| -------------------- | ------------------------------ | ---------- | -------------------------- |
|
||||
| Serial (RS232/RS485) | `port`, `baudrate` | `pyserial` | `serial` |
|
||||
| Modbus RTU | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| Modbus TCP | `host`, `port`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| TCP Socket | `host`, `port` | stdlib | 自定义 |
|
||||
| HTTP API | `url`, `token` | `requests` | `device_comms/rpc.py` |
|
||||
|
||||
参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
|
||||
|
||||
---
|
||||
|
||||
## Deck 与物料生命周期
|
||||
|
||||
### 1. Deck 入参与两种初始化模式
|
||||
|
||||
系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
|
||||
|
||||
有两种初始化模式：
|
||||
|
||||
#### init 初始化（推荐）
|
||||
|
||||
`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
"_resource_child_name": "PRCXI_Deck"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### deserialize 初始化
|
||||
|
||||
`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
没有特殊需求时推荐 init 初始化。
|
||||
|
||||
#### config.deck 字段说明
|
||||
|
||||
| 字段 | 说明 |
|
||||
|------|------|
|
||||
| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
|
||||
| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
|
||||
|
||||
#### 设备 __init__ 接收
|
||||
|
||||
```python
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
# deck 已经是反序列化后的 Deck 实例
|
||||
# → PRCXI9300Deck / BIOYOND_YB_Deck 等
|
||||
```
|
||||
|
||||
#### Deck 节点（图文件中）
|
||||
|
||||
Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "PRCXI_Deck",
|
||||
"parent": "PRCXI",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "PRCXI9300Deck",
|
||||
"size_x": 542, "size_y": 374, "size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [...]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
|
||||
- `children` 初始为空时，由同步器或手动初始化填充
|
||||
- `config.type` 填 Deck 类名
|
||||
|
||||
### 2. Deck 为空时自行初始化
|
||||
|
||||
如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if self.deck and not self.deck.children:
|
||||
self._initialize_default_deck()
|
||||
|
||||
def _initialize_default_deck(self):
|
||||
from my_labware import My_TipRack, My_Plate
|
||||
self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
|
||||
self.deck.assign_child_resource(My_Plate("T2"), spot=1)
|
||||
```
|
||||
|
||||
### 3. 物料双向同步
|
||||
|
||||
当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统同步到 self.workstation.deck"""
|
||||
external_data = self._query_external_materials()
|
||||
# 以外部工站为准：根据外部数据反向创建 PLR 资源实例
|
||||
for item in external_data:
|
||||
cls = self._resolve_resource_class(item["type"])
|
||||
resource = cls(name=item["name"], **item["params"])
|
||||
self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
|
||||
return True
|
||||
|
||||
def sync_to_external(self, resource) -> bool:
|
||||
"""将 UniLab 侧物料变更同步到外部系统"""
|
||||
# 以 UniLab 为准：将 PLR 资源转为外部格式并推送
|
||||
external_format = self._convert_to_external(resource)
|
||||
return self._push_to_external(external_format)
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统主动推送的变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
同步策略取决于业务场景：
|
||||
|
||||
- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
|
||||
- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
|
||||
|
||||
在工作站 `post_init` 中初始化同步器：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self)
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
```
|
||||
|
||||
### 4. 序列化与持久化（serialize / serialize_state）
|
||||
|
||||
资源类需正确实现序列化，系统据此完成持久化和前端同步。
|
||||
|
||||
**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
|
||||
|
||||
```python
|
||||
class MyDeck(Deck):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
sites=None, # serialize() 输出的字段
|
||||
rotation=None, # serialize() 输出的字段
|
||||
barcode=None, # serialize() 输出的字段
|
||||
**kwargs): # 兜底：接受所有未知的 serialize 字段
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
# ...
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
data["sites"] = [...] # 自定义字段
|
||||
return data
|
||||
```
|
||||
|
||||
**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
|
||||
|
||||
```python
|
||||
class MyPlate(Plate):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
material_info=None, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Any]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
```
|
||||
|
||||
关键要点：
|
||||
|
||||
- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
|
||||
- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
|
||||
- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
|
||||
|
||||
### 5. 子物料自动同步
|
||||
|
||||
子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
|
||||
|
||||
### 6. 图文件配置（参考 prcxi_9320_slim.json）
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"type": "device",
|
||||
"class": "my_workstation",
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.resources.my_module:MyDeck",
|
||||
"_resource_child_name": "my_deck"
|
||||
},
|
||||
"host": "10.20.30.1",
|
||||
"port": 9999
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "MyLabDeck",
|
||||
"size_x": 542,
|
||||
"size_y": 374,
|
||||
"size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [
|
||||
{
|
||||
"label": "T1",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": { "x": 0, "y": 0, "z": 0 },
|
||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
||||
"content_type": ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
}
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"edges": []
|
||||
}
|
||||
```
|
||||
|
||||
Deck 节点要点：
|
||||
|
||||
- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
|
||||
- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
|
||||
- `children` 初始为空（由同步器或手动初始化填充）
|
||||
- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
|
||||
|
||||
---
|
||||
|
||||
## 子设备
|
||||
|
||||
子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
|
||||
|
||||
子设备约束：
|
||||
|
||||
- 图文件中 `parent` 指向工作站 ID
|
||||
- 在工作站 `children` 数组中列出
|
||||
|
||||
---
|
||||
|
||||
## 关键规则
|
||||
|
||||
1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
|
||||
2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
|
||||
3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
|
||||
4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
|
||||
5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
|
||||
6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
|
||||
7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
|
||||
9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 模块可导入
|
||||
python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 现有工作站参考
|
||||
|
||||
| 工作站 | 驱动类 | 类型 |
|
||||
| -------------- | ----------------------------- | -------- |
|
||||
| Protocol 通用 | `ProtocolNode` | Protocol |
|
||||
| Bioyond 反应站 | `BioyondReactionStation` | 外部系统 |
|
||||
| 纽扣电池组装 | `CoinCellAssemblyWorkstation` | 硬件控制 |
|
||||
|
||||
参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。
|
||||
371
.cursor/skills/add-workstation/reference.md
Normal file
371
.cursor/skills/add-workstation/reference.md
Normal file
@@ -0,0 +1,371 @@
|
||||
# 工作站高级模式参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
|
||||
Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 外部系统集成模式
|
||||
|
||||
### 1.1 RPC 客户端
|
||||
|
||||
与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
|
||||
|
||||
class MySystemRPC(BaseRequest):
|
||||
"""外部系统 RPC 客户端"""
|
||||
|
||||
def __init__(self, host: str, api_key: str):
|
||||
super().__init__(host)
|
||||
self.api_key = api_key
|
||||
|
||||
def _request(self, endpoint: str, data: dict = None) -> dict:
|
||||
return self.post(
|
||||
url=f"{self.host}/api/{endpoint}",
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data or {},
|
||||
},
|
||||
)
|
||||
|
||||
def query_status(self) -> dict:
|
||||
return self._request("status/query")
|
||||
|
||||
def create_order(self, order_data: dict) -> dict:
|
||||
return self._request("order/create", order_data)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
|
||||
|
||||
### 1.2 HTTP 回调服务
|
||||
|
||||
接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, config=None, deck=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
http_cfg = self.config.get("http_service_config", {})
|
||||
self._http_service_config = {
|
||||
"host": http_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_cfg.get("http_service_port", 8080),
|
||||
}
|
||||
self.http_service = None
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
```
|
||||
|
||||
**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
|
||||
|
||||
| 端点 | 调用的工作站方法 |
|
||||
|------|-----------------|
|
||||
| `/report/step_finish` | `process_step_finish_report(report_request)` |
|
||||
| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
|
||||
| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
|
||||
| `/report/material_change` | `process_material_change_report(report_data)` |
|
||||
| `/report/error_handling` | `handle_external_error(error_data)` |
|
||||
|
||||
实现对应方法即可接收回调：
|
||||
|
||||
```python
|
||||
def process_step_finish_report(self, report_request) -> Dict[str, Any]:
|
||||
"""处理步骤完成报告"""
|
||||
step_name = report_request.data.get("stepName")
|
||||
return {"success": True, "message": f"步骤 {step_name} 已处理"}
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""处理订单完成报告"""
|
||||
order_code = report_request.data.get("orderCode")
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/workstation_http_service.py`
|
||||
|
||||
### 1.3 连接监控
|
||||
|
||||
独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
|
||||
|
||||
```python
|
||||
class ConnectionMonitor:
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
|
||||
def start(self):
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
|
||||
self._thread.start()
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 调用外部系统接口检测连接
|
||||
self.workstation.hardware_interface.ping()
|
||||
status = "online"
|
||||
except Exception:
|
||||
status = "offline"
|
||||
time.sleep(self.check_interval)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
|
||||
|
||||
---
|
||||
|
||||
## 2. Config 结构模式
|
||||
|
||||
工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
|
||||
|
||||
### 2.1 外部系统连接
|
||||
|
||||
```json
|
||||
{
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_API_KEY"
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 HTTP 回调服务
|
||||
|
||||
```json
|
||||
{
|
||||
"http_service_config": {
|
||||
"http_service_host": "127.0.0.1",
|
||||
"http_service_port": 8080
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.3 物料类型映射
|
||||
|
||||
将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"material_type_mappings": {
|
||||
"PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
|
||||
"BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.4 仓库映射
|
||||
|
||||
将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"仓库名": {
|
||||
"uuid": "warehouse-uuid",
|
||||
"site_uuids": {
|
||||
"A01": "site-uuid-A01",
|
||||
"A02": "site-uuid-A02"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.5 工作流映射
|
||||
|
||||
将内部工作流名映射到外部系统的工作流 ID。
|
||||
|
||||
```json
|
||||
{
|
||||
"workflow_mappings": {
|
||||
"internal_workflow_name": "external-workflow-uuid"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.6 物料默认参数
|
||||
|
||||
```json
|
||||
{
|
||||
"material_default_parameters": {
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 资源同步机制
|
||||
|
||||
### 3.1 ResourceSynchronizer
|
||||
|
||||
抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def __init__(self, workstation, api_client):
|
||||
super().__init__(workstation)
|
||||
self.api_client = api_client
|
||||
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统拉取物料到 deck"""
|
||||
external_materials = self.api_client.list_materials()
|
||||
for material in external_materials:
|
||||
plr_resource = self._convert_to_plr(material)
|
||||
self.workstation.deck.assign_child_resource(plr_resource, coordinate)
|
||||
return True
|
||||
|
||||
def sync_to_external(self, plr_resource) -> bool:
|
||||
"""将 deck 中的物料变更推送到外部系统"""
|
||||
external_data = self._convert_from_plr(plr_resource)
|
||||
self.api_client.update_material(external_data)
|
||||
return True
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统推送的物料变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
### 3.2 update_resource — 上传资源树到云端
|
||||
|
||||
将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
|
||||
|
||||
```python
|
||||
# 在 post_init 中上传初始 deck
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
|
||||
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 在动作方法中更新特定资源
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [updated_plate]}
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 工作流序列管理
|
||||
|
||||
工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._workflow_sequence = []
|
||||
|
||||
@property
|
||||
def workflow_sequence(self) -> str:
|
||||
"""返回 JSON 字符串，ROS 自动发布"""
|
||||
import json
|
||||
return json.dumps(self._workflow_sequence)
|
||||
|
||||
async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
|
||||
"""添加工作流到队列"""
|
||||
self._workflow_sequence.append({
|
||||
"name": workflow_name,
|
||||
"status": "pending",
|
||||
"created_at": time.time(),
|
||||
})
|
||||
return {"success": True}
|
||||
|
||||
async def clear_workflows(self) -> Dict[str, Any]:
|
||||
"""清空工作流队列"""
|
||||
self._workflow_sequence = []
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 站间物料转移
|
||||
|
||||
工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
|
||||
|
||||
```python
|
||||
async def transfer_materials_to_another_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list,
|
||||
**kwargs,
|
||||
) -> Dict[str, Any]:
|
||||
"""将物料转移到另一个工作站"""
|
||||
target_node = self._children.get(target_device_id)
|
||||
if not target_node:
|
||||
# 通过 ROS 节点查找非子设备的目标站
|
||||
pass
|
||||
|
||||
for group in transfer_groups:
|
||||
resource = self.find_resource_by_name(group["resource_name"])
|
||||
# 从本站 deck 移除
|
||||
resource.unassign()
|
||||
# 调用目标站的接收方法
|
||||
# ...
|
||||
|
||||
return {"success": True, "transferred": len(transfer_groups)}
|
||||
```
|
||||
|
||||
参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
|
||||
|
||||
---
|
||||
|
||||
## 6. post_init 完整模式
|
||||
|
||||
`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
|
||||
|
||||
```python
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
|
||||
# 1. 初始化外部系统客户端（此时 config 已可用）
|
||||
self.rpc_client = MySystemRPC(
|
||||
host=self.config.get("api_host"),
|
||||
api_key=self.config.get("api_key"),
|
||||
)
|
||||
self.hardware_interface = self.rpc_client
|
||||
|
||||
# 2. 启动连接监控
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
|
||||
# 3. 启动 HTTP 回调服务
|
||||
if hasattr(self, '_http_service_config'):
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
|
||||
# 4. 上传 deck 到云端
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 5. 初始化资源同步器（可选）
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
|
||||
```
|
||||
261
.cursor/skills/batch-insert-reagent/SKILL.md
Normal file
261
.cursor/skills/batch-insert-reagent/SKILL.md
Normal file
@@ -0,0 +1,261 @@
|
||||
---
|
||||
name: batch-insert-reagent
|
||||
description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
|
||||
---
|
||||
|
||||
# 批量录入试剂 Skill
|
||||
|
||||
通过云端 API 批量录入试剂信息，支持逐条或批量操作。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token（任选一种方式）：
|
||||
|
||||
```bash
|
||||
# 方式一：Python 一行生成
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
|
||||
# 方式二：手动计算
|
||||
# base64(ak:sk) → Authorization: Lab <token>
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 录入试剂
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"cas": "<CAS号>",
|
||||
"name": "<试剂名称>",
|
||||
"molecular_formula": "<分子式>",
|
||||
"smiles": "<SMILES>",
|
||||
"stock_in_quantity": <入库数量>,
|
||||
"unit": "<单位字符串>",
|
||||
"supplier": "<供应商>",
|
||||
"production_date": "<生产日期 ISO 8601>",
|
||||
"expiry_date": "<过期日期 ISO 8601>"
|
||||
}'
|
||||
```
|
||||
|
||||
返回成功时包含试剂 UUID：
|
||||
|
||||
```json
|
||||
{"code": 0, "data": {"uuid": "xxx", ...}}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 试剂字段说明
|
||||
|
||||
| 字段 | 类型 | 必填 | 说明 | 示例 |
|
||||
| ------------------- | ------ | ---- | ----------------------------- | ------------------------ |
|
||||
| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
|
||||
| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
|
||||
| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
|
||||
| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
|
||||
| `smiles` | string | 是 | SMILES 表示 | `"O"` |
|
||||
| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
|
||||
| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
|
||||
| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
|
||||
| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
|
||||
| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
|
||||
|
||||
### unit 单位值
|
||||
|
||||
| 值 | 单位 |
|
||||
| ------ | ---- |
|
||||
| `"mL"` | 毫升 |
|
||||
| `"L"` | 升 |
|
||||
| `"g"` | 克 |
|
||||
| `"kg"` | 千克 |
|
||||
| `"瓶"` | 瓶 |
|
||||
|
||||
> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
|
||||
|
||||
---
|
||||
|
||||
## 批量录入策略
|
||||
|
||||
### 方式一：用户提供 JSON 数组
|
||||
|
||||
用户一次性给出多条试剂数据：
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"cas": "7732-18-3",
|
||||
"name": "水",
|
||||
"molecular_formula": "H2O",
|
||||
"smiles": "O",
|
||||
"stock_in_quantity": 10,
|
||||
"unit": "mL"
|
||||
},
|
||||
{
|
||||
"cas": "64-17-5",
|
||||
"name": "乙醇",
|
||||
"molecular_formula": "C2H6O",
|
||||
"smiles": "CCO",
|
||||
"stock_in_quantity": 5,
|
||||
"unit": "L"
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
|
||||
|
||||
Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
|
||||
|
||||
### 方式二：用户逐个描述
|
||||
|
||||
用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
|
||||
|
||||
1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
|
||||
2. 构建完整的请求体
|
||||
3. 向用户确认后提交
|
||||
|
||||
### 方式三：从 CSV/表格批量导入
|
||||
|
||||
用户提供 CSV 或表格文件路径，agent 读取并解析：
|
||||
|
||||
```bash
|
||||
# 期望的 CSV 格式（首行为表头）
|
||||
cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
|
||||
7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
|
||||
```
|
||||
|
||||
### 日期格式规则（重要）
|
||||
|
||||
所有日期字段（`production_date`、`expiry_date`）**必须**使用 ISO 8601 完整格式：`YYYY-MM-DDTHH:MM:SSZ`。
|
||||
|
||||
- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"`
|
||||
- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"`
|
||||
- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年
|
||||
|
||||
**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。
|
||||
|
||||
### 执行与汇报
|
||||
|
||||
每次 API 调用后：
|
||||
|
||||
1. 检查返回 `code`（0 = 成功）
|
||||
2. 记录成功/失败数量
|
||||
3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
|
||||
4. 如有失败，列出失败的试剂名称和错误信息
|
||||
|
||||
---
|
||||
|
||||
## 常见试剂速查表
|
||||
|
||||
| 名称 | CAS | 分子式 | SMILES |
|
||||
| --------------------- | --------- | ---------- | ------------------------------------ |
|
||||
| 水 | 7732-18-3 | H2O | O |
|
||||
| 乙醇 | 64-17-5 | C2H6O | CCO |
|
||||
| 乙酸 | 64-19-7 | C2H4O2 | CC(O)=O |
|
||||
| 甲醇 | 67-56-1 | CH4O | CO |
|
||||
| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
|
||||
| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
|
||||
| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
|
||||
| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
|
||||
| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
|
||||
| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
|
||||
| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
|
||||
| 乙腈 | 75-05-8 | C2H3N | CC#N |
|
||||
| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
|
||||
| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
|
||||
| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
|
||||
| 盐酸 | 7647-01-0 | HCl | Cl |
|
||||
| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
|
||||
| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
|
||||
| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
|
||||
| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
|
||||
| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
|
||||
|
||||
> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
|
||||
- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
|
||||
- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
|
||||
- [ ] Step 6: 向用户确认待录入的试剂列表
|
||||
- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
|
||||
- [ ] Step 8: 汇总结果（成功/失败数量及详情）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整示例
|
||||
|
||||
用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
|
||||
|
||||
Agent 构建的请求序列：
|
||||
|
||||
```json
|
||||
// 第 1 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
|
||||
// 第 2 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
|
||||
// 第 3 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
```
|
||||
360
.cursor/skills/batch-submit-experiment/SKILL.md
Normal file
360
.cursor/skills/batch-submit-experiment/SKILL.md
Normal file
@@ -0,0 +1,360 @@
|
||||
---
|
||||
name: batch-submit-experiment
|
||||
description: Batch submit experiments (notebooks) to the Uni-Lab cloud platform (leap-lab) — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
|
||||
---
|
||||
|
||||
# Uni-Lab 批量提交实验指南
|
||||
|
||||
通过 Uni-Lab 云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token（任选一种方式）：
|
||||
|
||||
```bash
|
||||
# 方式一：Python 一行生成（注意：scheme 是 "Lab" 不是 "Basic"）
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
|
||||
# 方式二：手动计算
|
||||
# base64(ak:sk) → Authorization: Lab <token>
|
||||
# ⚠️ 这里的 "Lab" 是 Uni-Lab 平台的 auth scheme，绝对不能用 "Basic" 替代
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. req_device_registry_upload.json（设备注册表）
|
||||
|
||||
**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
|
||||
|
||||
**必须先用 Glob 工具搜索文件**，不要直接猜测路径：
|
||||
|
||||
```
|
||||
Glob: **/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
常见位置（仅供参考，以 Glob 实际结果为准）：
|
||||
- `<workspace>/unilabos_data/req_device_registry_upload.json`
|
||||
- `<workspace>/req_device_registry_upload.json`
|
||||
|
||||
找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果 Glob 搜索无结果** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
|
||||
|
||||
### 4. workflow_uuid（目标工作流）
|
||||
|
||||
用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #3 列出可用 workflow 供选择。
|
||||
|
||||
**四项全部就绪后才可开始。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `project_uuid` — 项目 UUID（通过 API #2 列出项目列表，**让用户选择**）
|
||||
- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
|
||||
- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #4 获取）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
>
|
||||
> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 列出实验室项目（让用户选择项目）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"items": [
|
||||
{
|
||||
"uuid": "1b3f249a-...",
|
||||
"name": "bt",
|
||||
"description": null,
|
||||
"status": "active",
|
||||
"created_at": "2026-04-09T14:31:28+08:00"
|
||||
},
|
||||
{
|
||||
"uuid": "b6366243-...",
|
||||
"name": "default",
|
||||
"description": "默认项目",
|
||||
"status": "active",
|
||||
"created_at": "2026-03-26T11:13:36+08:00"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
展示 `data.items[]` 中每个项目的 `name` 和 `uuid`，让用户选择。用户**必须**选择一个项目，记住 `project_uuid`（即选中项目的 `uuid`），后续创建 notebook 时需要提供。
|
||||
|
||||
### 3. 列出可用 workflow
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
|
||||
|
||||
### 4. 获取 workflow 模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
||||
|
||||
- 每个 action 节点的 `node_uuid`
|
||||
- 每个节点对应的设备 ID（`resource_template_name`）
|
||||
- 每个节点的动作名（`node_template_name`）
|
||||
- 每个节点的现有参数（`param`）
|
||||
|
||||
> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
|
||||
|
||||
### 5. 提交实验（创建 notebook）
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/notebook" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"project_uuid": "<project_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
{
|
||||
"sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
|
||||
"datas": [
|
||||
{
|
||||
"node_uuid": "<workflow中的节点UUID>",
|
||||
"param": {},
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "<容器UUID>",
|
||||
"sample_value": {
|
||||
"liquid_names": "<液体名称>",
|
||||
"volumes": 1000
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
|
||||
|
||||
### 6. 查询 notebook 状态
|
||||
|
||||
提交成功后，使用返回的 notebook UUID 查询执行状态：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
提交后应**立即查询一次**状态，确认 notebook 已被正确接收并开始调度。
|
||||
|
||||
---
|
||||
|
||||
## Notebook 请求体详解
|
||||
|
||||
### node_params 结构
|
||||
|
||||
`node_params` 是一个数组，**每个元素代表一轮实验**：
|
||||
|
||||
- 要跑 2 轮 → `node_params` 有 2 个元素
|
||||
- 要跑 N 轮 → `node_params` 有 N 个元素
|
||||
|
||||
### 每轮的字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| -------------- | ------------- | ----------------------------------------- |
|
||||
| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
|
||||
| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
|
||||
|
||||
### datas 中每个节点
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| --------------- | ------ | -------------------------------------------- |
|
||||
| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #4 获取） |
|
||||
| `param` | object | 动作参数（根据本地注册表 schema 填写） |
|
||||
| `sample_params` | array | 样品相关参数（液体名、体积等） |
|
||||
|
||||
### sample_params 中每条
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| ---------------- | ------ | ---------------------------------------------------- |
|
||||
| `container_uuid` | string | 容器 UUID |
|
||||
| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
|
||||
|
||||
---
|
||||
|
||||
## 从本地注册表生成 param 模板
|
||||
|
||||
### 自动方式 — 运行脚本
|
||||
|
||||
```bash
|
||||
python scripts/gen_notebook_params.py \
|
||||
--auth <token> \
|
||||
--base <BASE_URL> \
|
||||
--workflow-uuid <workflow_uuid> \
|
||||
[--registry <path/to/req_device_registry_upload.json>] \
|
||||
[--rounds <轮次数>] \
|
||||
[--output <输出文件路径>]
|
||||
```
|
||||
|
||||
> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
|
||||
|
||||
脚本会：
|
||||
|
||||
1. 调用 workflow detail API 获取所有 action 节点
|
||||
2. 读取本地注册表，为每个节点查找对应的 action schema
|
||||
3. 生成 `notebook_template.json`，包含：
|
||||
- 完整 `node_params` 骨架
|
||||
- 每个节点的 param 字段及类型说明
|
||||
- `_schema_info` 辅助信息（不提交，仅供参考）
|
||||
|
||||
### 手动方式
|
||||
|
||||
如果脚本不可用或注册表不存在：
|
||||
|
||||
1. 调用 API #4 获取 workflow 详情
|
||||
2. 找到每个 action 节点的 `node_uuid`
|
||||
3. 在本地注册表中查找对应设备的 `action_value_mappings`：
|
||||
```
|
||||
resources[].id == <device_id>
|
||||
→ resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
|
||||
```
|
||||
4. 将 schema 中的 properties 作为 `param` 的字段模板
|
||||
5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
|
||||
|
||||
### 注册表结构参考
|
||||
|
||||
```json
|
||||
{
|
||||
"resources": [
|
||||
{
|
||||
"id": "liquid_handler.prcxi",
|
||||
"class": {
|
||||
"module": "unilabos.devices.xxx:ClassName",
|
||||
"action_value_mappings": {
|
||||
"transfer_liquid": {
|
||||
"type": "LiquidHandlerTransfer",
|
||||
"schema": {
|
||||
"properties": {
|
||||
"goal": {
|
||||
"properties": {
|
||||
"asp_vols": {
|
||||
"type": "array",
|
||||
"items": { "type": "number" }
|
||||
},
|
||||
"sources": { "type": "array" }
|
||||
},
|
||||
"required": ["asp_vols", "sources"]
|
||||
}
|
||||
}
|
||||
},
|
||||
"goal_default": {}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
`param` 填写时，使用 `goal.properties` 中的字段名和类型。
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
|
||||
- [ ] Step 4: GET /lab/project/list → 列出项目，让用户选择 → 获取 project_uuid
|
||||
- [ ] Step 5: 确认 workflow_uuid（用户提供或从 GET #3 列表选择）
|
||||
- [ ] Step 6: GET workflow detail (#4) → 提取各节点 uuid、设备ID、动作名
|
||||
- [ ] Step 7: 定位本地注册表 req_device_registry_upload.json
|
||||
- [ ] Step 8: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
|
||||
- [ ] Step 9: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
|
||||
- [ ] Step 10: 构建完整请求体（含 project_uuid）→ POST /lab/notebook 提交
|
||||
- [ ] Step 11: 检查返回结果，记录 notebook UUID
|
||||
- [ ] Step 12: GET /lab/notebook/status → 查询 notebook 状态，确认已调度
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
|
||||
|
||||
是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
|
||||
|
||||
### Q: 多轮实验的参数完全不同吗？
|
||||
|
||||
通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
|
||||
|
||||
### Q: 如何获取 sample_uuids 和 container_uuid？
|
||||
|
||||
这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。
|
||||
@@ -0,0 +1,395 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
|
||||
|
||||
用法:
|
||||
python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
|
||||
|
||||
选项:
|
||||
--auth <token> Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
|
||||
--base <url> API 基础 URL（如 https://leap-lab.test.bohrium.com）
|
||||
--workflow-uuid <uuid> 目标 workflow 的 UUID
|
||||
--registry <path> 本地注册表文件路径（默认自动搜索）
|
||||
--rounds <n> 实验轮次数（默认 1）
|
||||
--output <path> 输出模板文件路径（默认 notebook_template.json）
|
||||
--dump-response 打印 workflow detail API 的原始响应（调试用）
|
||||
|
||||
示例:
|
||||
python gen_notebook_params.py \\
|
||||
--auth YTFmZDlkNGUtxxxx \\
|
||||
--base https://leap-lab.test.bohrium.com \\
|
||||
--workflow-uuid abc-123-def \\
|
||||
--rounds 2
|
||||
"""
|
||||
import copy
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
from urllib.request import Request, urlopen
|
||||
from urllib.error import HTTPError, URLError
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""查找本地注册表文件，逻辑同 extract_device_actions.py"""
|
||||
if explicit_path:
|
||||
if os.path.isfile(explicit_path):
|
||||
return explicit_path
|
||||
if os.path.isdir(explicit_path):
|
||||
fp = os.path.join(explicit_path, REGISTRY_FILENAME)
|
||||
if os.path.isfile(fp):
|
||||
return fp
|
||||
print(f"警告: 指定的注册表路径不存在: {explicit_path}")
|
||||
return None
|
||||
|
||||
candidates = [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
]
|
||||
for c in candidates:
|
||||
if os.path.isfile(c):
|
||||
return c
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
|
||||
for c in candidates:
|
||||
path = os.path.join(workspace_root, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
cwd = os.getcwd()
|
||||
for _ in range(5):
|
||||
parent = os.path.dirname(cwd)
|
||||
if parent == cwd:
|
||||
break
|
||||
cwd = parent
|
||||
for c in candidates:
|
||||
path = os.path.join(cwd, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
return None
|
||||
|
||||
|
||||
def load_registry(path):
|
||||
with open(path, "r", encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def build_registry_index(registry_data):
|
||||
"""构建 device_id → action_value_mappings 的索引"""
|
||||
index = {}
|
||||
for res in registry_data.get("resources", []):
|
||||
rid = res.get("id", "")
|
||||
avm = res.get("class", {}).get("action_value_mappings", {})
|
||||
if rid and avm:
|
||||
index[rid] = avm
|
||||
return index
|
||||
|
||||
|
||||
def flatten_goal_schema(action_data):
|
||||
"""从 action_value_mappings 条目中提取 goal 层的 schema"""
|
||||
schema = action_data.get("schema", {})
|
||||
goal_schema = schema.get("properties", {}).get("goal", {})
|
||||
return goal_schema if goal_schema else schema
|
||||
|
||||
|
||||
def build_param_template(goal_schema):
|
||||
"""根据 goal schema 生成 param 模板，含类型标注"""
|
||||
properties = goal_schema.get("properties", {})
|
||||
required = set(goal_schema.get("required", []))
|
||||
template = {}
|
||||
for field_name, field_def in properties.items():
|
||||
if field_name == "unilabos_device_id":
|
||||
continue
|
||||
ftype = field_def.get("type", "any")
|
||||
default = field_def.get("default")
|
||||
if default is not None:
|
||||
template[field_name] = default
|
||||
elif ftype == "string":
|
||||
template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
|
||||
elif ftype == "number" or ftype == "integer":
|
||||
template[field_name] = 0
|
||||
elif ftype == "boolean":
|
||||
template[field_name] = False
|
||||
elif ftype == "array":
|
||||
template[field_name] = []
|
||||
elif ftype == "object":
|
||||
template[field_name] = {}
|
||||
else:
|
||||
template[field_name] = f"$TODO ({ftype})"
|
||||
return template
|
||||
|
||||
|
||||
def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
|
||||
"""调用 workflow detail API"""
|
||||
url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
|
||||
req = Request(url, method="GET")
|
||||
req.add_header("Authorization", f"Lab {auth_token}")
|
||||
try:
|
||||
with urlopen(req, timeout=30) as resp:
|
||||
return json.loads(resp.read().decode("utf-8"))
|
||||
except HTTPError as e:
|
||||
body = e.read().decode("utf-8", errors="replace")
|
||||
print(f"API 错误 {e.code}: {body}")
|
||||
return None
|
||||
except URLError as e:
|
||||
print(f"网络错误: {e.reason}")
|
||||
return None
|
||||
|
||||
|
||||
def extract_nodes_from_response(response):
|
||||
"""
|
||||
从 workflow detail 响应中提取 action 节点列表。
|
||||
适配多种可能的响应格式。
|
||||
|
||||
返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
|
||||
"""
|
||||
data = response.get("data", response)
|
||||
|
||||
search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
|
||||
nodes_raw = None
|
||||
for key in search_keys:
|
||||
if key in data and isinstance(data[key], list):
|
||||
nodes_raw = data[key]
|
||||
break
|
||||
|
||||
if nodes_raw is None:
|
||||
if isinstance(data, list):
|
||||
nodes_raw = data
|
||||
else:
|
||||
for v in data.values():
|
||||
if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
|
||||
nodes_raw = v
|
||||
break
|
||||
|
||||
if not nodes_raw:
|
||||
print("警告: 未能从响应中提取节点列表")
|
||||
print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
|
||||
return []
|
||||
|
||||
result = []
|
||||
for node in nodes_raw:
|
||||
if not isinstance(node, dict):
|
||||
continue
|
||||
|
||||
node_uuid = (
|
||||
node.get("uuid")
|
||||
or node.get("node_uuid")
|
||||
or node.get("id")
|
||||
or ""
|
||||
)
|
||||
resource_name = (
|
||||
node.get("resource_template_name")
|
||||
or node.get("device_id")
|
||||
or node.get("resource_name")
|
||||
or node.get("device_name")
|
||||
or ""
|
||||
)
|
||||
template_name = (
|
||||
node.get("node_template_name")
|
||||
or node.get("action_name")
|
||||
or node.get("template_name")
|
||||
or node.get("action")
|
||||
or node.get("name")
|
||||
or ""
|
||||
)
|
||||
existing_param = node.get("param", {}) or {}
|
||||
|
||||
if node_uuid:
|
||||
result.append((node_uuid, resource_name, template_name, existing_param))
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def generate_template(nodes, registry_index, rounds):
|
||||
"""生成 notebook 提交模板"""
|
||||
node_params = []
|
||||
schema_info = {}
|
||||
|
||||
datas_template = []
|
||||
for node_uuid, resource_name, template_name, existing_param in nodes:
|
||||
param_template = {}
|
||||
matched = False
|
||||
|
||||
if resource_name and template_name and resource_name in registry_index:
|
||||
avm = registry_index[resource_name]
|
||||
if template_name in avm:
|
||||
goal_schema = flatten_goal_schema(avm[template_name])
|
||||
param_template = build_param_template(goal_schema)
|
||||
goal_default = avm[template_name].get("goal_default", {})
|
||||
if goal_default:
|
||||
for k, v in goal_default.items():
|
||||
if k in param_template and v is not None:
|
||||
param_template[k] = v
|
||||
matched = True
|
||||
|
||||
schema_info[node_uuid] = {
|
||||
"device_id": resource_name,
|
||||
"action_name": template_name,
|
||||
"action_type": avm[template_name].get("type", ""),
|
||||
"schema_properties": list(goal_schema.get("properties", {}).keys()),
|
||||
"required": goal_schema.get("required", []),
|
||||
}
|
||||
|
||||
if not matched and existing_param:
|
||||
param_template = existing_param
|
||||
|
||||
if not matched and not existing_param:
|
||||
schema_info[node_uuid] = {
|
||||
"device_id": resource_name,
|
||||
"action_name": template_name,
|
||||
"warning": "未在本地注册表中找到匹配的 action schema",
|
||||
}
|
||||
|
||||
datas_template.append({
|
||||
"node_uuid": node_uuid,
|
||||
"param": param_template,
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "$TODO_CONTAINER_UUID",
|
||||
"sample_value": {
|
||||
"liquid_names": "$TODO_LIQUID_NAME",
|
||||
"volumes": 0,
|
||||
},
|
||||
}
|
||||
],
|
||||
})
|
||||
|
||||
for i in range(rounds):
|
||||
node_params.append({
|
||||
"sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
|
||||
"datas": copy.deepcopy(datas_template),
|
||||
})
|
||||
|
||||
return {
|
||||
"lab_uuid": "$TODO_LAB_UUID",
|
||||
"project_uuid": "$TODO_PROJECT_UUID",
|
||||
"workflow_uuid": "$TODO_WORKFLOW_UUID",
|
||||
"name": "$TODO_EXPERIMENT_NAME",
|
||||
"node_params": node_params,
|
||||
"_schema_info（仅参考，提交时删除）": schema_info,
|
||||
}
|
||||
|
||||
|
||||
def parse_args(argv):
|
||||
"""简单的参数解析"""
|
||||
opts = {
|
||||
"auth": None,
|
||||
"base": None,
|
||||
"workflow_uuid": None,
|
||||
"registry": None,
|
||||
"rounds": 1,
|
||||
"output": "notebook_template.json",
|
||||
"dump_response": False,
|
||||
}
|
||||
i = 0
|
||||
while i < len(argv):
|
||||
arg = argv[i]
|
||||
if arg == "--auth" and i + 1 < len(argv):
|
||||
opts["auth"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--base" and i + 1 < len(argv):
|
||||
opts["base"] = argv[i + 1].rstrip("/")
|
||||
i += 2
|
||||
elif arg == "--workflow-uuid" and i + 1 < len(argv):
|
||||
opts["workflow_uuid"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--registry" and i + 1 < len(argv):
|
||||
opts["registry"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--rounds" and i + 1 < len(argv):
|
||||
opts["rounds"] = int(argv[i + 1])
|
||||
i += 2
|
||||
elif arg == "--output" and i + 1 < len(argv):
|
||||
opts["output"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--dump-response":
|
||||
opts["dump_response"] = True
|
||||
i += 1
|
||||
else:
|
||||
print(f"未知参数: {arg}")
|
||||
i += 1
|
||||
return opts
|
||||
|
||||
|
||||
def main():
|
||||
opts = parse_args(sys.argv[1:])
|
||||
|
||||
if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
|
||||
print("用法:")
|
||||
print(" python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
|
||||
print()
|
||||
print("必需参数:")
|
||||
print(" --auth <token> Lab token（base64(ak:sk)）")
|
||||
print(" --base <url> API 基础 URL")
|
||||
print(" --workflow-uuid <uuid> 目标 workflow UUID")
|
||||
print()
|
||||
print("可选参数:")
|
||||
print(" --registry <path> 注册表文件路径（默认自动搜索）")
|
||||
print(" --rounds <n> 实验轮次数（默认 1）")
|
||||
print(" --output <path> 输出文件路径（默认 notebook_template.json）")
|
||||
print(" --dump-response 打印 API 原始响应")
|
||||
sys.exit(1)
|
||||
|
||||
# 1. 查找并加载本地注册表
|
||||
registry_path = find_registry(opts["registry"])
|
||||
registry_index = {}
|
||||
if registry_path:
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
print(f"注册表: {registry_path} (生成时间: {gen_time})")
|
||||
registry_data = load_registry(registry_path)
|
||||
registry_index = build_registry_index(registry_data)
|
||||
print(f"已索引 {len(registry_index)} 个设备的 action schemas")
|
||||
else:
|
||||
print("警告: 未找到本地注册表，将跳过 param 模板生成")
|
||||
print(" 提交时需要手动填写各节点的 param 字段")
|
||||
|
||||
# 2. 获取 workflow 详情
|
||||
print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
|
||||
response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
|
||||
if not response:
|
||||
print("错误: 无法获取 workflow 详情")
|
||||
sys.exit(1)
|
||||
|
||||
if opts["dump_response"]:
|
||||
print("\n=== API 原始响应 ===")
|
||||
print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
|
||||
print("=== 响应结束（截断至 5000 字符） ===\n")
|
||||
|
||||
# 3. 提取节点
|
||||
nodes = extract_nodes_from_response(response)
|
||||
if not nodes:
|
||||
print("错误: 未能从 workflow 中提取任何 action 节点")
|
||||
print("请使用 --dump-response 查看原始响应结构")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"\n找到 {len(nodes)} 个 action 节点:")
|
||||
print(f" {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
|
||||
print(" " + "-" * 110)
|
||||
for node_uuid, resource_name, template_name, _ in nodes:
|
||||
matched = "✓" if (resource_name in registry_index and
|
||||
template_name in registry_index.get(resource_name, {})) else "✗"
|
||||
print(f" {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
|
||||
|
||||
# 4. 生成模板
|
||||
template = generate_template(nodes, registry_index, opts["rounds"])
|
||||
template["workflow_uuid"] = opts["workflow_uuid"]
|
||||
|
||||
output_path = opts["output"]
|
||||
with open(output_path, "w", encoding="utf-8") as f:
|
||||
json.dump(template, f, indent=2, ensure_ascii=False)
|
||||
print(f"\n模板已写入: {output_path}")
|
||||
print(f" 轮次数: {opts['rounds']}")
|
||||
print(f" 节点数/轮: {len(nodes)}")
|
||||
print()
|
||||
print("下一步:")
|
||||
print(" 1. 打开模板文件，将 $TODO 占位符替换为实际值")
|
||||
print(" 2. 删除 _schema_info 字段（仅供参考）")
|
||||
print(" 3. 使用 POST /api/v1/lab/notebook 提交")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
500
.cursor/skills/create-device-skill/SKILL.md
Normal file
500
.cursor/skills/create-device-skill/SKILL.md
Normal file
@@ -0,0 +1,500 @@
|
||||
---
|
||||
name: create-device-skill
|
||||
description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
|
||||
---
|
||||
|
||||
# 创建设备 Skill 指南
|
||||
|
||||
本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
|
||||
|
||||
## 数据源
|
||||
|
||||
- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
|
||||
- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
|
||||
- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
|
||||
- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
|
||||
|
||||
## 创建流程
|
||||
|
||||
### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
|
||||
|
||||
开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
|
||||
|
||||
向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
|
||||
|
||||
#### 必备项 ①：ak / sk（认证凭据）
|
||||
|
||||
来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
|
||||
|
||||
获取后立即生成 AUTH token：
|
||||
|
||||
```bash
|
||||
python ./scripts/gen_auth.py <ak> <sk>
|
||||
# 或从 config.py 提取
|
||||
python ./scripts/gen_auth.py --config <config.py>
|
||||
```
|
||||
|
||||
认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
#### 必备项 ②：--addr（目标环境）
|
||||
|
||||
决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
|
||||
|
||||
| `--addr` 值 | BASE URL |
|
||||
| -------------- | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
|
||||
#### 必备项 ③：req_device_registry_upload.json（设备注册表）
|
||||
|
||||
数据文件由 `unilab` 启动时自动生成，需要定位它：
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 条件 | working_dir 取值 |
|
||||
| -------------------- | -------------------------------------------------------- |
|
||||
| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
|
||||
| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
|
||||
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
||||
|
||||
**按优先级搜索文件**：
|
||||
|
||||
```
|
||||
<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
|
||||
<推断的 working_dir>/req_device_registry_upload.json
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
|
||||
|
||||
找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
|
||||
|
||||
#### 必备项 ④：目标设备
|
||||
|
||||
用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
|
||||
|
||||
如果用户不确定，运行提取脚本列出所有设备供选择：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py --registry <找到的文件路径>
|
||||
```
|
||||
|
||||
**四项全部就绪后才进入 Step 1。**
|
||||
|
||||
### Step 1 — 列出可用设备
|
||||
|
||||
运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
|
||||
|
||||
```bash
|
||||
# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
|
||||
python ./scripts/extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
```
|
||||
|
||||
脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
|
||||
|
||||
### Step 2 — 提取 Action Schema
|
||||
|
||||
用户选择设备后，运行提取脚本：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
|
||||
```
|
||||
|
||||
脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
|
||||
|
||||
每个 action 生成一个 JSON 文件，包含：
|
||||
|
||||
- `type` — 作为 API 调用的 `action_type`
|
||||
- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
|
||||
- `goal` — goal 字段映射（含占位符 `$placeholder`）
|
||||
- `goal_default` — 默认值
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目（**必须包含 `action_type`**）：
|
||||
|
||||
```markdown
|
||||
### `<action_name>`
|
||||
|
||||
<用途描述（一句话）>
|
||||
|
||||
- **action_type**: `<从 actions/<name>.json 的 type 字段获取>`
|
||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||
- **可选参数**: `param3`, `param4`
|
||||
- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
|
||||
```
|
||||
|
||||
描述规则：
|
||||
|
||||
- **每个 action 必须标注 `action_type`**（从 JSON 的 `type` 字段读取），这是 API #9 调用时的必填参数，传错会导致任务永远卡住
|
||||
- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
|
||||
- 从 `schema.required` 区分核心/可选参数
|
||||
- 按功能分类（移液、枪头、外设等）
|
||||
- 标注 `placeholder_keys` 中的字段类型：
|
||||
- `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
|
||||
- `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
|
||||
- `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
|
||||
- `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
|
||||
- `unilabos_formulation` → **FormulationSlot**，填入配方数组 `[{well_name, liquids: [{name, volume}]}]`（well_name 为目标物料的 name）
|
||||
- array 类型字段 → `[{id, name, uuid}, ...]`
|
||||
- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
|
||||
|
||||
### Step 4 — 写 SKILL.md
|
||||
|
||||
直接复用 `unilab-device-api` 的 API 模板，修改：
|
||||
|
||||
- 设备名称
|
||||
- Action 数量
|
||||
- 目录列表
|
||||
- Session state 中的 `device_name`
|
||||
- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
|
||||
- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
|
||||
- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
|
||||
- **action_type 速查表** — 在 API #9 说明后面紧跟一个表格，列出每个 action 对应的 `action_type` 值（从 JSON `type` 字段提取），方便 agent 快速查找而无需打开 JSON 文件
|
||||
|
||||
API 模板结构：
|
||||
|
||||
```markdown
|
||||
## 设备信息
|
||||
|
||||
- device_id, Python 源码路径, 设备类名
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
- ak/sk → AUTH, --addr → BASE URL
|
||||
|
||||
## 请求约定
|
||||
|
||||
- Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
|
||||
|
||||
## Session State
|
||||
|
||||
- lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
|
||||
|
||||
## API Endpoints
|
||||
|
||||
# - #1 GET /edge/lab/info → 直接拿到 lab_uuid
|
||||
|
||||
# - #2 创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
|
||||
|
||||
# - #3 创建节点 POST /edge/workflow/node
|
||||
|
||||
# body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
|
||||
|
||||
# - #4 删除节点 DELETE /lab/workflow/nodes
|
||||
|
||||
# - #5 更新节点参数 PATCH /lab/workflow/node
|
||||
|
||||
# - #6 查询节点 handles POST /lab/workflow/node-handles
|
||||
|
||||
# body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
|
||||
|
||||
# - #7 批量创建边 POST /lab/workflow/edges
|
||||
|
||||
# body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
|
||||
|
||||
# - #8 启动工作流 POST /lab/workflow/{uuid}/run
|
||||
|
||||
# - #9 运行设备单动作 POST /lab/mcp/run/action（⚠️ action_type 必须从 action-index.md 或 actions/<name>.json 的 type 字段获取，传错会导致任务永远卡住）
|
||||
|
||||
# - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
|
||||
|
||||
# - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
|
||||
|
||||
# - #12 获取资源树 GET /lab/material/download/{lab_uuid}
|
||||
|
||||
# - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
|
||||
|
||||
# 返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
|
||||
|
||||
# - #14 按名称查询物料模板 GET /lab/material/template/by-name?lab_uuid=&name=
|
||||
|
||||
# 返回 res_template_uuid，用于 #15 创建物料时的必填字段
|
||||
|
||||
# - #15 创建物料节点 POST /edge/material/node
|
||||
|
||||
# body: {res_template_uuid(从#14获取), name(自定义), display_name, parent_uuid?(从#12获取), ...}
|
||||
|
||||
# - #16 更新物料节点 PUT /edge/material/node
|
||||
|
||||
# body: {uuid(从#12获取), display_name?, description?, init_param_data?, data?, ...}
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
|
||||
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
|
||||
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
|
||||
- unilabos_class → ClassSlot → "class_name" 字符串
|
||||
- unilabos_formulation → FormulationSlot → [{well_name, liquids: [{name, volume}]}] 配方数组
|
||||
- 特例：create_resource 的 res_id 允许填不存在的路径
|
||||
- 列出本设备所有 Slot 字段、类型及含义
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
## 完整工作流 Checklist
|
||||
```
|
||||
|
||||
### Step 5 — 验证
|
||||
|
||||
检查文件完整性：
|
||||
|
||||
- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情、#14-#16 物料管理）
|
||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + create_resource 特例）和本设备的 Slot 字段表
|
||||
- [ ] `action-index.md` 列出所有 action 并有描述
|
||||
- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
|
||||
- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
|
||||
- [ ] 描述能让 agent 判断该用哪个 action
|
||||
|
||||
## Action JSON 文件结构
|
||||
|
||||
```json
|
||||
{
|
||||
"type": "LiquidHandlerTransfer", // → API 的 action_type
|
||||
"goal": { // goal 字段映射
|
||||
"sources": "sources",
|
||||
"targets": "targets",
|
||||
"tip_racks": "tip_racks",
|
||||
"asp_vols": "asp_vols"
|
||||
},
|
||||
"schema": { // ← 直接是 goal 的 schema（已提升）
|
||||
"type": "object",
|
||||
"properties": { // 参数定义（即请求中 goal 的字段）
|
||||
"sources": { "type": "array", "items": { "type": "object" } },
|
||||
"targets": { "type": "array", "items": { "type": "object" } },
|
||||
"asp_vols": { "type": "array", "items": { "type": "number" } }
|
||||
},
|
||||
"required": [...],
|
||||
"_unilabos_placeholder_info": { // ← Slot 类型标记
|
||||
"sources": "unilabos_resources",
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": { ... }, // 默认值
|
||||
"placeholder_keys": { // ← 汇总所有 Slot 字段
|
||||
"sources": "unilabos_resources", // ResourceSlot
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources",
|
||||
"target_device_id": "unilabos_devices" // DeviceSlot
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
|
||||
> `schema.properties` 中的字段即为 API 创建节点返回的 `data.param` 中的字段，PATCH 更新时直接修改 `param` 即可。
|
||||
|
||||
## Placeholder Slot 类型体系
|
||||
|
||||
`placeholder_keys` / `_unilabos_placeholder_info` 中有 5 种值，对应不同的填写方式：
|
||||
|
||||
| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
| ---------------------- | --------------- | ----------------------------------------------------- | ----------------------------------------- |
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
|
||||
| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` | 资源树中物料节点的 **name**，配合液体配方 |
|
||||
|
||||
### ResourceSlot（`unilabos_resources`）
|
||||
|
||||
最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
|
||||
|
||||
- 单个：`{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-..."}`
|
||||
- 数组：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 从 parent 计算的路径格式，根据 action 语义选择正确的物料
|
||||
|
||||
> **特例**：`create_resource` 的 `res_id`，目标物料可能尚不存在，直接填期望路径，不需要 uuid。
|
||||
|
||||
### DeviceSlot / NodeSlot / ClassSlot
|
||||
|
||||
- **DeviceSlot**（`unilabos_devices`）：路径字符串如 `"/host_node"`，仅 type=device 的节点
|
||||
- **NodeSlot**（`unilabos_nodes`）：路径字符串如 `"/PRCXI/PRCXI_Deck"`，设备 + 物料均可选
|
||||
- **ClassSlot**（`unilabos_class`）：类名字符串如 `"container"`，从 `req_resource_registry_upload.json` 查找
|
||||
|
||||
### FormulationSlot（`unilabos_formulation`）
|
||||
|
||||
描述**液体配方**：向哪些容器中加入哪些液体及体积。
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"sample_uuid": "",
|
||||
"well_name": "bottle_A1",
|
||||
"liquids": [{ "name": "LiPF6", "volume": 0.6 }]
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
- `well_name` — 目标物料的 **name**（从资源树取，不是 `id` 路径）
|
||||
- `liquids[]` — 液体列表，每条含 `name`（试剂名）和 `volume`（体积，单位由上下文决定；pylabrobot 内部统一 uL）
|
||||
- `sample_uuid` — 样品 UUID，无样品传 `""`
|
||||
- 与 ResourceSlot 的区别：ResourceSlot 指向物料本身，FormulationSlot 引用物料名并附带配方信息
|
||||
|
||||
### 通过 API #12 获取资源树
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。返回结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"nodes": [
|
||||
{"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"}
|
||||
],
|
||||
"edges": [...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`
|
||||
- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等）
|
||||
- `parent` 为父节点名称（空字符串表示顶级）
|
||||
- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点
|
||||
- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid`
|
||||
|
||||
## 物料管理 API
|
||||
|
||||
设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。
|
||||
|
||||
典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。
|
||||
|
||||
### API #14 — 按名称查询物料模板
|
||||
|
||||
创建物料前，需要先获取物料模板的 UUID。通过模板名称查询：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
| 参数 | 必填 | 说明 |
|
||||
| ---------- | ------ | -------------------------------- |
|
||||
| `lab_uuid` | **是** | 实验室 UUID（从 API #1 获取） |
|
||||
| `name` | **是** | 物料模板名称（如 `"container"`） |
|
||||
|
||||
返回 `code: 0` 时，**`data.uuid`** 即为 `res_template_uuid`，用于 API #15 创建物料。返回还包含 `name`、`resource_type`、`handles`、`config_infos` 等模板元信息。
|
||||
|
||||
模板不存在时返回 `code: 10002`，`data` 为空对象。模板名称来自资源注册表中已注册的资源类型。
|
||||
|
||||
### API #15 — 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体：
|
||||
|
||||
```json
|
||||
{
|
||||
"res_template_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"name": "my_custom_bottle",
|
||||
"display_name": "自定义瓶子",
|
||||
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"type": "",
|
||||
"init_param_data": {},
|
||||
"schema": {},
|
||||
"data": {
|
||||
"liquids": [["water", 1000, "uL"]],
|
||||
"max_volume": 50000
|
||||
},
|
||||
"plate_well_datas": {},
|
||||
"plate_reagent_datas": {},
|
||||
"pose": {},
|
||||
"model": {}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||
| --------------------- | ------ | ------------- | ----------------------------------- | -------------------------------------- |
|
||||
| `res_template_uuid` | **是** | string (UUID) | **API #14** 按名称查询获取 | 物料模板 UUID |
|
||||
| `name` | 否 | string | **用户自定义** | 节点名称（标识符），可自由命名 |
|
||||
| `display_name` | 否 | string | 用户自定义 | 显示名称（UI 展示用） |
|
||||
| `parent_uuid` | 否 | string (UUID) | **API #12** 资源树中父节点的 `uuid` | 父节点，为空则创建顶级节点 |
|
||||
| `type` | 否 | string | 从模板继承 | 节点类型 |
|
||||
| `init_param_data` | 否 | object | 用户指定 | 初始化参数，覆盖模板默认值 |
|
||||
| `data` | 否 | object | 用户指定 | 节点数据，container 见下方 data 格式 |
|
||||
| `plate_well_datas` | 否 | object | 用户指定 | 孔板子节点数据（创建带孔位的板时使用） |
|
||||
| `plate_reagent_datas` | 否 | object | 用户指定 | 试剂关联数据 |
|
||||
| `schema` | 否 | object | 从模板继承 | 自定义 schema，不传则从模板继承 |
|
||||
| `pose` | 否 | object | 用户指定 | 位姿信息 |
|
||||
| `model` | 否 | object | 用户指定 | 3D 模型信息 |
|
||||
|
||||
#### container 的 `data` 格式
|
||||
|
||||
> **体积单位统一为 uL（微升）**。pylabrobot 体系中所有体积值（`max_volume`、`liquids` 中的 volume）均为 uL。外部如果是 mL 需乘 1000 转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"liquids": [["water", 1000, "uL"], ["ethanol", 500, "uL"]],
|
||||
"max_volume": 50000
|
||||
}
|
||||
```
|
||||
|
||||
- `liquids` — 液体列表，每条为 `[液体名称, 体积(uL), 单位字符串]`
|
||||
- `max_volume` — 容器最大容量（uL），如 50 mL = 50000 uL
|
||||
|
||||
### API #16 — 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体：
|
||||
|
||||
```json
|
||||
{
|
||||
"uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"display_name": "新显示名称",
|
||||
"description": "新描述",
|
||||
"init_param_data": {},
|
||||
"data": {},
|
||||
"pose": {},
|
||||
"schema": {},
|
||||
"extra": {}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||
| ----------------- | ------ | ------------- | ------------------------------------- | ---------------- |
|
||||
| `uuid` | **是** | string (UUID) | **API #12** 资源树中目标节点的 `uuid` | 要更新的物料节点 |
|
||||
| `parent_uuid` | 否 | string (UUID) | API #12 资源树 | 移动到新父节点 |
|
||||
| `display_name` | 否 | string | 用户指定 | 更新显示名称 |
|
||||
| `description` | 否 | string | 用户指定 | 更新描述 |
|
||||
| `init_param_data` | 否 | object | 用户指定 | 更新初始化参数 |
|
||||
| `data` | 否 | object | 用户指定 | 更新节点数据 |
|
||||
| `pose` | 否 | object | 用户指定 | 更新位姿 |
|
||||
| `schema` | 否 | object | 用户指定 | 更新 schema |
|
||||
| `extra` | 否 | object | 用户指定 | 更新扩展数据 |
|
||||
|
||||
> 只传需要更新的字段，未传的字段保持不变。
|
||||
|
||||
## 最终目录结构
|
||||
|
||||
```
|
||||
./<skill-name>/
|
||||
├── SKILL.md # API 端点 + 渐进加载指引
|
||||
├── action-index.md # 动作索引：描述/用途/核心参数
|
||||
└── actions/ # 每个 action 的完整 JSON Schema
|
||||
├── action1.json
|
||||
├── action2.json
|
||||
└── ...
|
||||
```
|
||||
@@ -0,0 +1,200 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 req_device_registry_upload.json 中提取指定设备的 action schema。
|
||||
|
||||
用法:
|
||||
# 列出所有设备及 action 数量（自动搜索注册表文件）
|
||||
python extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
|
||||
# 提取指定设备的 action 到目录
|
||||
python extract_device_actions.py <device_id> <output_dir>
|
||||
python extract_device_actions.py --registry <path> <device_id> <output_dir>
|
||||
|
||||
示例:
|
||||
python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
|
||||
python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""
|
||||
查找 req_device_registry_upload.json 文件。
|
||||
|
||||
搜索优先级：
|
||||
1. 用户通过 --registry 显式指定的路径
|
||||
2. <cwd>/unilabos_data/req_device_registry_upload.json
|
||||
3. <cwd>/req_device_registry_upload.json
|
||||
4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
|
||||
5. 向上逐级搜索父目录（最多 5 层）
|
||||
"""
|
||||
if explicit_path:
|
||||
if os.path.isfile(explicit_path):
|
||||
return explicit_path
|
||||
if os.path.isdir(explicit_path):
|
||||
fp = os.path.join(explicit_path, REGISTRY_FILENAME)
|
||||
if os.path.isfile(fp):
|
||||
return fp
|
||||
print(f"警告: 指定的路径不存在: {explicit_path}")
|
||||
return None
|
||||
|
||||
candidates = [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
]
|
||||
|
||||
for c in candidates:
|
||||
if os.path.isfile(c):
|
||||
return c
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
|
||||
for c in candidates:
|
||||
path = os.path.join(workspace_root, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
cwd = os.getcwd()
|
||||
for _ in range(5):
|
||||
parent = os.path.dirname(cwd)
|
||||
if parent == cwd:
|
||||
break
|
||||
cwd = parent
|
||||
for c in candidates:
|
||||
path = os.path.join(cwd, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
return None
|
||||
|
||||
def load_registry(path):
|
||||
with open(path, 'r', encoding='utf-8') as f:
|
||||
return json.load(f)
|
||||
|
||||
def list_devices(data):
|
||||
"""列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
|
||||
resources = data.get('resources', [])
|
||||
devices = []
|
||||
for res in resources:
|
||||
rid = res.get('id', '')
|
||||
cls = res.get('class', {})
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
module = cls.get('module', '')
|
||||
if avm:
|
||||
devices.append((rid, len(avm), module))
|
||||
return devices
|
||||
|
||||
def flatten_schema_to_goal(action_data):
|
||||
"""将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
|
||||
schema = action_data.get('schema', {})
|
||||
goal_schema = schema.get('properties', {}).get('goal', {})
|
||||
if goal_schema:
|
||||
action_data = dict(action_data)
|
||||
action_data['schema'] = goal_schema
|
||||
return action_data
|
||||
|
||||
|
||||
def extract_actions(data, device_id, output_dir):
|
||||
"""提取指定设备的 action schema 到独立 JSON 文件"""
|
||||
resources = data.get('resources', [])
|
||||
for res in resources:
|
||||
if res.get('id') == device_id:
|
||||
cls = res.get('class', {})
|
||||
module = cls.get('module', '')
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
if not avm:
|
||||
print(f"设备 {device_id} 没有 action_value_mappings")
|
||||
return []
|
||||
|
||||
if module:
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py"
|
||||
class_name = module.split(":")[-1] if ":" in module else ""
|
||||
print(f"Python 源码: {py_path}")
|
||||
if class_name:
|
||||
print(f"设备类: {class_name}")
|
||||
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
written = []
|
||||
for action_name in sorted(avm.keys()):
|
||||
action_data = flatten_schema_to_goal(avm[action_name])
|
||||
filename = action_name.replace('-', '_') + '.json'
|
||||
filepath = os.path.join(output_dir, filename)
|
||||
with open(filepath, 'w', encoding='utf-8') as f:
|
||||
json.dump(action_data, f, indent=2, ensure_ascii=False)
|
||||
written.append(filename)
|
||||
print(f" {filepath}")
|
||||
return written
|
||||
|
||||
print(f"设备 {device_id} 未找到")
|
||||
return []
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
explicit_registry = None
|
||||
|
||||
if "--registry" in args:
|
||||
idx = args.index("--registry")
|
||||
if idx + 1 < len(args):
|
||||
explicit_registry = args[idx + 1]
|
||||
args = args[:idx] + args[idx + 2:]
|
||||
else:
|
||||
print("错误: --registry 需要指定路径")
|
||||
sys.exit(1)
|
||||
|
||||
registry_path = find_registry(explicit_registry)
|
||||
if not registry_path:
|
||||
print(f"错误: 找不到 {REGISTRY_FILENAME}")
|
||||
print()
|
||||
print("解决方法:")
|
||||
print(" 1. 先运行 unilab 启动命令，等待注册表生成")
|
||||
print(" 2. 用 --registry 指定文件路径:")
|
||||
print(f" python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
|
||||
print()
|
||||
print("搜索过的路径:")
|
||||
for p in [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
|
||||
]:
|
||||
print(f" - {p}")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"注册表: {registry_path}")
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
size_mb = os.path.getsize(registry_path) / (1024 * 1024)
|
||||
print(f"生成时间: {gen_time} (文件大小: {size_mb:.1f} MB)")
|
||||
data = load_registry(registry_path)
|
||||
|
||||
if len(args) == 0:
|
||||
devices = list_devices(data)
|
||||
print(f"\n找到 {len(devices)} 个设备:")
|
||||
print(f"{'设备 ID':<50} {'Actions':>7} {'Python 模块'}")
|
||||
print("-" * 120)
|
||||
for did, count, module in sorted(devices, key=lambda x: x[0]):
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
|
||||
print(f"{did:<50} {count:>7} {py_path}")
|
||||
|
||||
elif len(args) == 2:
|
||||
device_id = args[0]
|
||||
output_dir = args[1]
|
||||
print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
|
||||
written = extract_actions(data, device_id, output_dir)
|
||||
if written:
|
||||
print(f"\n共写入 {len(written)} 个 action 文件")
|
||||
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python extract_device_actions.py [--registry <path>] # 列出设备")
|
||||
print(" python extract_device_actions.py [--registry <path>] <device_id> <dir> # 提取 actions")
|
||||
sys.exit(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
69
.cursor/skills/create-device-skill/scripts/gen_auth.py
Normal file
69
.cursor/skills/create-device-skill/scripts/gen_auth.py
Normal file
@@ -0,0 +1,69 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 ak/sk 生成 UniLab API Authorization header。
|
||||
|
||||
算法: base64(ak:sk) → "Authorization: Lab <token>"
|
||||
|
||||
用法:
|
||||
python gen_auth.py <ak> <sk>
|
||||
python gen_auth.py --config <config.py>
|
||||
|
||||
示例:
|
||||
python gen_auth.py myak mysk
|
||||
python gen_auth.py --config experiments/config.py
|
||||
"""
|
||||
import base64
|
||||
import re
|
||||
import sys
|
||||
|
||||
|
||||
def gen_auth(ak: str, sk: str) -> str:
|
||||
token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
|
||||
return token
|
||||
|
||||
|
||||
def extract_from_config(config_path: str) -> tuple:
|
||||
"""从 config.py 中提取 ak 和 sk"""
|
||||
with open(config_path, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
|
||||
sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
|
||||
if not ak_match or not sk_match:
|
||||
return None, None
|
||||
return ak_match.group(1), sk_match.group(1)
|
||||
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
|
||||
if len(args) == 2 and args[0] == "--config":
|
||||
ak, sk = extract_from_config(args[1])
|
||||
if not ak or not sk:
|
||||
print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
|
||||
print("期望格式: ak = \"xxx\" sk = \"xxx\"")
|
||||
sys.exit(1)
|
||||
print(f"配置文件: {args[1]}")
|
||||
elif len(args) == 2:
|
||||
ak, sk = args
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python gen_auth.py <ak> <sk>")
|
||||
print(" python gen_auth.py --config <config.py>")
|
||||
sys.exit(1)
|
||||
|
||||
token = gen_auth(ak, sk)
|
||||
print(f"ak: {ak}")
|
||||
print(f"sk: {sk}")
|
||||
print()
|
||||
print(f"Authorization header:")
|
||||
print(f" Authorization: Lab {token}")
|
||||
print()
|
||||
print(f"curl 用法:")
|
||||
print(f' curl -H "Authorization: Lab {token}" ...')
|
||||
print()
|
||||
print(f"Shell 变量:")
|
||||
print(f' AUTH="Authorization: Lab {token}"')
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
251
.cursor/skills/host-node/SKILL.md
Normal file
251
.cursor/skills/host-node/SKILL.md
Normal file
@@ -0,0 +1,251 @@
|
||||
---
|
||||
name: host-node
|
||||
description: Operate Uni-Lab host node via REST API — create resources, test latency, test resource tree, manual confirm. Use when the user mentions host_node, creating resources, resource management, testing latency, or any host node operation.
|
||||
---
|
||||
|
||||
# Host Node API Skill
|
||||
|
||||
## 设备信息
|
||||
|
||||
- **device_id**: `host_node`
|
||||
- **Python 源码**: `unilabos/ros/nodes/presets/host_node.py`
|
||||
- **设备类**: `HostNode`
|
||||
- **动作数**: 4（`create_resource`, `test_latency`, `auto-test_resource`, `manual_confirm`）
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `device_name` — `host_node`
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||
|
||||
### 2. 创建工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||
|
||||
### 3. 创建节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"host_node","node_template_name":"<action_name>"}'
|
||||
```
|
||||
|
||||
- `resource_template_name` 固定为 `host_node`
|
||||
- `node_template_name` — action 名称（如 `create_resource`, `test_latency`）
|
||||
|
||||
### 4. 删除节点
|
||||
|
||||
```bash
|
||||
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||
```
|
||||
|
||||
### 5. 更新节点参数
|
||||
|
||||
```bash
|
||||
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接使用创建节点返回的 `data.param` 结构，修改需要填入的字段值。参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||
|
||||
### 6. 查询节点 handles
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||
```
|
||||
|
||||
### 7. 批量创建边
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||
```
|
||||
|
||||
### 8. 启动工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 9. 运行设备单动作
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"lab_uuid":"<lab_uuid>","device_id":"host_node","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||
|
||||
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||
|
||||
#### action_type 速查表
|
||||
|
||||
| action | action_type |
|
||||
|--------|-------------|
|
||||
| `test_latency` | `UniLabJsonCommand` |
|
||||
| `create_resource` | `ResourceCreateFromOuterEasy` |
|
||||
| `auto-test_resource` | `UniLabJsonCommand` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 11. 运行工作流单节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuid":"<node_uuid>"}'
|
||||
```
|
||||
|
||||
### 12. 获取资源树（物料信息）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||
|
||||
### 13. 获取工作流模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||
|
||||
### 14. 按名称查询物料模板
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||
|
||||
### 15. 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||
```
|
||||
|
||||
### 16. 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||
|
||||
### host_node 设备的 Slot 字段表
|
||||
|
||||
| Action | 字段 | Slot 类型 | 说明 |
|
||||
| ----------------- | ----------- | ------------ | ------------------------------ |
|
||||
| `create_resource` | `res_id` | ResourceSlot | 新资源路径（可填不存在的路径） |
|
||||
| `create_resource` | `device_id` | DeviceSlot | 归属设备 |
|
||||
| `create_resource` | `parent` | NodeSlot | 父节点路径 |
|
||||
| `create_resource` | `class_name`| ClassSlot | 资源类名如 `"container"` |
|
||||
| `auto-test_resource` | `resource` | ResourceSlot | 单个测试物料 |
|
||||
| `auto-test_resource` | `resources` | ResourceSlot | 测试物料数组 |
|
||||
| `auto-test_resource` | `device` | DeviceSlot | 测试设备 |
|
||||
| `auto-test_resource` | `devices` | DeviceSlot | 测试设备 |
|
||||
|
||||
---
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. **SKILL.md**（本文件）— API 端点 + session state 管理
|
||||
2. **[action-index.md](action-index.md)** — 按分类浏览 4 个动作的描述和核心参数
|
||||
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=host_node) → 记住 node_uuid + data.param
|
||||
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||
```
|
||||
58
.cursor/skills/host-node/action-index.md
Normal file
58
.cursor/skills/host-node/action-index.md
Normal file
@@ -0,0 +1,58 @@
|
||||
# Action Index — host_node
|
||||
|
||||
4 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
---
|
||||
|
||||
## 资源管理
|
||||
|
||||
### `create_resource`
|
||||
|
||||
在资源树中创建新资源（容器、物料等），支持指定位置、类型和初始液体
|
||||
|
||||
- **action_type**: `ResourceCreateFromOuterEasy`
|
||||
- **Schema**: [`actions/create_resource.json`](actions/create_resource.json)
|
||||
- **可选参数**: `res_id`, `device_id`, `class_name`, `parent`, `bind_locations`, `liquid_input_slot`, `liquid_type`, `liquid_volume`, `slot_on_deck`
|
||||
- **占位符字段**:
|
||||
- `res_id` — **ResourceSlot**（特例：目标物料可能尚不存在，直接填期望路径）
|
||||
- `device_id` — **DeviceSlot**，填路径字符串如 `"/host_node"`
|
||||
- `parent` — **NodeSlot**，填路径字符串如 `"/workstation/deck"`
|
||||
- `class_name` — **ClassSlot**，填类名如 `"container"`
|
||||
|
||||
### `auto-test_resource`
|
||||
|
||||
测试资源系统，返回当前资源树和设备列表
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/test_resource.json`](actions/test_resource.json)
|
||||
- **可选参数**: `resource`, `resources`, `device`, `devices`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，单个物料节点 `{id, name, uuid}`
|
||||
- `resources` — **ResourceSlot**，物料节点数组 `[{id, name, uuid}, ...]`
|
||||
- `device` — **DeviceSlot**，设备路径字符串
|
||||
- `devices` — **DeviceSlot**，设备路径字符串
|
||||
|
||||
---
|
||||
|
||||
## 系统工具
|
||||
|
||||
### `test_latency`
|
||||
|
||||
测试设备通信延迟，返回 RTT、时间差、任务延迟等指标
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/test_latency.json`](actions/test_latency.json)
|
||||
- **参数**: 无（零参数调用）
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `timeout_seconds`（超时时间，秒）, `assignee_user_ids`（指派用户 ID 列表）
|
||||
- **占位符字段**: `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
93
.cursor/skills/host-node/actions/create_resource.json
Normal file
93
.cursor/skills/host-node/actions/create_resource.json
Normal file
@@ -0,0 +1,93 @@
|
||||
{
|
||||
"type": "ResourceCreateFromOuterEasy",
|
||||
"goal": {
|
||||
"res_id": "res_id",
|
||||
"class_name": "class_name",
|
||||
"parent": "parent",
|
||||
"device_id": "device_id",
|
||||
"bind_locations": "bind_locations",
|
||||
"liquid_input_slot": "liquid_input_slot[]",
|
||||
"liquid_type": "liquid_type[]",
|
||||
"liquid_volume": "liquid_volume[]",
|
||||
"slot_on_deck": "slot_on_deck"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"res_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"device_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"class_name": {
|
||||
"type": "string"
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"bind_locations": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "bind_locations",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"liquid_input_slot": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"liquid_type": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"liquid_volume": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "number"
|
||||
}
|
||||
},
|
||||
"slot_on_deck": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"required": [],
|
||||
"_unilabos_placeholder_info": {
|
||||
"res_id": "unilabos_resources",
|
||||
"device_id": "unilabos_devices",
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"res_id": "unilabos_resources",
|
||||
"device_id": "unilabos_devices",
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class"
|
||||
}
|
||||
}
|
||||
32
.cursor/skills/host-node/actions/manual_confirm.json
Normal file
32
.cursor/skills/host-node/actions/manual_confirm.json
Normal file
@@ -0,0 +1,32 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"timeout_seconds": "timeout_seconds",
|
||||
"assignee_user_ids": "assignee_user_ids"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
11
.cursor/skills/host-node/actions/test_latency.json
Normal file
11
.cursor/skills/host-node/actions/test_latency.json
Normal file
@@ -0,0 +1,11 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
255
.cursor/skills/host-node/actions/test_resource.json
Normal file
255
.cursor/skills/host-node/actions/test_resource.json
Normal file
@@ -0,0 +1,255 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"resources": "resources",
|
||||
"device": "device",
|
||||
"devices": "devices"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"resources": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resources"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"devices": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
}
|
||||
},
|
||||
"required": [],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices"
|
||||
}
|
||||
}
|
||||
284
.cursor/skills/submit-agent-result/SKILL.md
Normal file
284
.cursor/skills/submit-agent-result/SKILL.md
Normal file
@@ -0,0 +1,284 @@
|
||||
---
|
||||
name: submit-agent-result
|
||||
description: Submit historical experiment results (agent_result) to Uni-Lab cloud platform (leap-lab) notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
|
||||
---
|
||||
|
||||
# Uni-Lab 提交历史实验记录指南
|
||||
|
||||
通过 Uni-Lab 云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token：
|
||||
|
||||
```bash
|
||||
# ⚠️ 注意：scheme 是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
```
|
||||
|
||||
输出即为 token 值，拼接为 `Authorization: Lab <token>`（`Lab` 是 Uni-Lab 平台 auth scheme，不可替换为 `Basic`）。
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. notebook_uuid（**必须询问用户**）
|
||||
|
||||
**必须主动询问用户**：「请提供要提交结果的 notebook UUID。」
|
||||
|
||||
notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
|
||||
|
||||
如果用户不记得，可提示：
|
||||
|
||||
- 查看之前的对话记录中创建 notebook 时返回的 UUID
|
||||
- 或通过平台页面查找对应的 notebook
|
||||
|
||||
**绝不能跳过此步骤，没有 notebook_uuid 无法提交。**
|
||||
|
||||
### 4. 实验结果数据
|
||||
|
||||
用户需要提供实验结果数据，支持以下方式：
|
||||
|
||||
| 方式 | 说明 |
|
||||
| --------- | ----------------------------------------------- |
|
||||
| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
|
||||
| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
|
||||
| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
|
||||
|
||||
**四项全部就绪后才可开始。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（通过 API #1 自动获取，**不需要问用户**）
|
||||
- `notebook_uuid` — 目标 notebook UUID（**必须询问用户**）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，PUT 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
>
|
||||
> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则 `@` 会被 PowerShell 解析为 splatting 运算符导致报错）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 提交实验结果（agent_result）
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"notebook_uuid": "<notebook_uuid>",
|
||||
"agent_result": {
|
||||
"<key1>": "<value1>",
|
||||
"<key2>": 123,
|
||||
"<nested_key>": {"a": 1, "b": 2},
|
||||
"<array_key>": [{"col1": "v1", "col2": "v2"}, ...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：HTTP 方法是 **PUT**（不是 POST）。
|
||||
|
||||
#### 必要字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| --------------- | ------------- | ------------------------------------------- |
|
||||
| `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
|
||||
| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
|
||||
|
||||
#### agent_result 内容格式
|
||||
|
||||
`agent_result` 接受**任意 JSON 对象**，常见格式：
|
||||
|
||||
**简单键值对**：
|
||||
|
||||
```json
|
||||
{
|
||||
"avg_rtt_ms": 12.5,
|
||||
"status": "success",
|
||||
"test_count": 5
|
||||
}
|
||||
```
|
||||
|
||||
**包含嵌套结构**：
|
||||
|
||||
```json
|
||||
{
|
||||
"summary": { "total": 100, "passed": 98, "failed": 2 },
|
||||
"measurements": [
|
||||
{ "sample_id": "S001", "value": 3.14, "unit": "mg/mL" },
|
||||
{ "sample_id": "S002", "value": 2.71, "unit": "mg/mL" }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**从 CSV 文件导入**（脚本自动转换）：
|
||||
|
||||
```json
|
||||
{
|
||||
"experiment_data": [
|
||||
{ "温度": 25, "压力": 101.3, "产率": 0.85 },
|
||||
{ "温度": 30, "压力": 101.3, "产率": 0.91 }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 整合脚本
|
||||
|
||||
本文档同级目录下的 `scripts/prepare_agent_result.py` 可自动读取文件并构建请求体。
|
||||
|
||||
### 用法
|
||||
|
||||
```bash
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid <uuid> \
|
||||
--files data1.json data2.csv \
|
||||
[--auth <token>] \
|
||||
[--base <BASE_URL>] \
|
||||
[--submit] \
|
||||
[--output <output.json>]
|
||||
```
|
||||
|
||||
| 参数 | 必选 | 说明 |
|
||||
| ----------------- | ---------- | ----------------------------------------------- |
|
||||
| `--notebook-uuid` | 是 | 目标 notebook UUID |
|
||||
| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
|
||||
| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
|
||||
| `--base` | 提交时必选 | API base URL |
|
||||
| `--submit` | 否 | 加上此标志则直接提交到云端 |
|
||||
| `--output` | 否 | 输出 JSON 路径（默认 `agent_result_body.json`） |
|
||||
|
||||
### 文件合并规则
|
||||
|
||||
| 文件类型 | 合并方式 |
|
||||
| --------------------- | -------------------------------------------- |
|
||||
| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
|
||||
| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
|
||||
| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
|
||||
|
||||
多个文件的字段会合并。JSON dict 中的重复 key 后者覆盖前者。
|
||||
|
||||
### 示例
|
||||
|
||||
```bash
|
||||
# 仅生成请求体文件（不提交）
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json measurements.csv
|
||||
|
||||
# 生成并直接提交
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json \
|
||||
--auth YTFmZDlkNGUt... \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--submit
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 手动构建方式
|
||||
|
||||
如果不使用脚本，也可手动构建请求体：
|
||||
|
||||
1. 将实验结果数据组装为 JSON 对象
|
||||
2. 写入临时文件：
|
||||
|
||||
```json
|
||||
{
|
||||
"notebook_uuid": "<uuid>",
|
||||
"agent_result": { ... }
|
||||
}
|
||||
```
|
||||
|
||||
3. 用 curl 提交：
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '@tmp_body.json'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
|
||||
- [ ] Step 4: **询问用户** notebook_uuid（必须，不可跳过）
|
||||
- [ ] Step 5: 确认实验结果数据来源（文件路径或手动数据）
|
||||
- [ ] Step 6: 运行 prepare_agent_result.py 或手动构建请求体
|
||||
- [ ] Step 7: PUT /lab/notebook/agent-result 提交
|
||||
- [ ] Step 8: 检查返回结果，确认提交成功
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: notebook_uuid 从哪里获取？
|
||||
|
||||
从之前「批量提交实验」时 `POST /api/v1/lab/notebook` 的返回值 `data.uuid` 获取。也可以在平台 UI 中查找对应的 notebook。
|
||||
|
||||
### Q: agent_result 有固定的 schema 吗？
|
||||
|
||||
没有严格 schema，接受任意 JSON 对象。但建议包含有意义的字段名和结构化数据，方便后续分析。
|
||||
|
||||
### Q: 可以多次提交同一个 notebook 的结果吗？
|
||||
|
||||
可以，后续提交会覆盖之前的 agent_result。
|
||||
|
||||
### Q: 认证方式是 Lab 还是 Api？
|
||||
|
||||
本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式（`Lab` 是 Uni-Lab 平台的 auth scheme，**绝不能用 `Basic` 替代**）。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
|
||||
@@ -0,0 +1,133 @@
|
||||
"""
|
||||
读取实验结果文件（JSON / CSV），整合为 agent_result 请求体并可选提交。
|
||||
|
||||
用法:
|
||||
python prepare_agent_result.py \
|
||||
--notebook-uuid <uuid> \
|
||||
--files data1.json data2.csv \
|
||||
[--auth <Lab token>] \
|
||||
[--base <BASE_URL>] \
|
||||
[--submit] \
|
||||
[--output <output.json>]
|
||||
|
||||
支持的输入文件格式:
|
||||
- .json → 直接作为 dict 合并
|
||||
- .csv → 转为 {"filename": [row_dict, ...]} 格式
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import base64
|
||||
import csv
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List
|
||||
|
||||
|
||||
def read_json_file(filepath: str) -> Dict[str, Any]:
|
||||
with open(filepath, "r", encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def read_csv_file(filepath: str) -> List[Dict[str, Any]]:
|
||||
rows = []
|
||||
with open(filepath, "r", encoding="utf-8-sig") as f:
|
||||
reader = csv.DictReader(f)
|
||||
for row in reader:
|
||||
converted = {}
|
||||
for k, v in row.items():
|
||||
try:
|
||||
converted[k] = int(v)
|
||||
except (ValueError, TypeError):
|
||||
try:
|
||||
converted[k] = float(v)
|
||||
except (ValueError, TypeError):
|
||||
converted[k] = v
|
||||
rows.append(converted)
|
||||
return rows
|
||||
|
||||
|
||||
def merge_files(filepaths: List[str]) -> Dict[str, Any]:
|
||||
"""将多个文件合并为一个 agent_result dict"""
|
||||
merged: Dict[str, Any] = {}
|
||||
for fp in filepaths:
|
||||
path = Path(fp)
|
||||
ext = path.suffix.lower()
|
||||
key = path.stem
|
||||
|
||||
if ext == ".json":
|
||||
data = read_json_file(fp)
|
||||
if isinstance(data, dict):
|
||||
merged.update(data)
|
||||
else:
|
||||
merged[key] = data
|
||||
elif ext == ".csv":
|
||||
merged[key] = read_csv_file(fp)
|
||||
else:
|
||||
print(f"[警告] 不支持的文件格式: {fp}，跳过", file=sys.stderr)
|
||||
|
||||
return merged
|
||||
|
||||
|
||||
def build_request_body(notebook_uuid: str, agent_result: Dict[str, Any]) -> Dict[str, Any]:
|
||||
return {
|
||||
"notebook_uuid": notebook_uuid,
|
||||
"agent_result": agent_result,
|
||||
}
|
||||
|
||||
|
||||
def submit(base: str, auth: str, body: Dict[str, Any]) -> Dict[str, Any]:
|
||||
try:
|
||||
import requests
|
||||
except ImportError:
|
||||
print("[错误] 提交需要 requests 库: pip install requests", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
url = f"{base}/api/v1/lab/notebook/agent-result"
|
||||
headers = {
|
||||
"Content-Type": "application/json",
|
||||
"Authorization": f"Lab {auth}",
|
||||
}
|
||||
resp = requests.put(url, json=body, headers=headers, timeout=30)
|
||||
return {"status_code": resp.status_code, "body": resp.json() if resp.headers.get("content-type", "").startswith("application/json") else resp.text}
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="整合实验结果文件并构建 agent_result 请求体")
|
||||
parser.add_argument("--notebook-uuid", required=True, help="目标 notebook UUID")
|
||||
parser.add_argument("--files", nargs="+", required=True, help="输入文件路径（JSON / CSV）")
|
||||
parser.add_argument("--auth", help="Lab token（base64(ak:sk)）")
|
||||
parser.add_argument("--base", help="API base URL")
|
||||
parser.add_argument("--submit", action="store_true", help="直接提交到云端")
|
||||
parser.add_argument("--output", default="agent_result_body.json", help="输出 JSON 文件路径")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
for fp in args.files:
|
||||
if not os.path.exists(fp):
|
||||
print(f"[错误] 文件不存在: {fp}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
agent_result = merge_files(args.files)
|
||||
body = build_request_body(args.notebook_uuid, agent_result)
|
||||
|
||||
with open(args.output, "w", encoding="utf-8") as f:
|
||||
json.dump(body, f, ensure_ascii=False, indent=2)
|
||||
print(f"[完成] 请求体已保存: {args.output}")
|
||||
print(f" notebook_uuid: {args.notebook_uuid}")
|
||||
print(f" agent_result 字段数: {len(agent_result)}")
|
||||
print(f" 合并文件数: {len(args.files)}")
|
||||
|
||||
if args.submit:
|
||||
if not args.auth or not args.base:
|
||||
print("[错误] 提交需要 --auth 和 --base 参数", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
print(f"\n[提交] PUT {args.base}/api/v1/lab/notebook/agent-result ...")
|
||||
result = submit(args.base, args.auth, body)
|
||||
print(f" HTTP {result['status_code']}")
|
||||
print(f" 响应: {json.dumps(result['body'], ensure_ascii=False)}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
272
.cursor/skills/virtual-workbench/SKILL.md
Normal file
272
.cursor/skills/virtual-workbench/SKILL.md
Normal file
@@ -0,0 +1,272 @@
|
||||
---
|
||||
name: virtual-workbench
|
||||
description: Operate Virtual Workbench via REST API — prepare materials, move to heating stations, start heating, move to output, transfer resources. Use when the user mentions virtual workbench, virtual_workbench, 虚拟工作台, heating stations, material processing, or workbench operations.
|
||||
---
|
||||
|
||||
# Virtual Workbench API Skill
|
||||
|
||||
## 设备信息
|
||||
|
||||
- **device_id**: `virtual_workbench`
|
||||
- **Python 源码**: `unilabos/devices/virtual/workbench.py`
|
||||
- **设备类**: `VirtualWorkbench`
|
||||
- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
|
||||
- **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
|
||||
|
||||
### 典型工作流程
|
||||
|
||||
1. `prepare_materials` — 生成 A1-A5 物料（5 个 output handle）
|
||||
2. `move_to_heating_station` — 物料并发竞争机械臂，移动到空闲加热台
|
||||
3. `start_heating` — 启动加热（3 个加热台可并行）
|
||||
4. `move_to_output` — 加热完成后移到输出位置 Cn
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `device_name` — `virtual_workbench`
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||
|
||||
### 2. 创建工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||
|
||||
### 3. 创建节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"virtual_workbench","node_template_name":"<action_name>"}'
|
||||
```
|
||||
|
||||
- `resource_template_name` 固定为 `virtual_workbench`
|
||||
- `node_template_name` — action 名称（如 `auto-prepare_materials`, `auto-move_to_heating_station`）
|
||||
|
||||
### 4. 删除节点
|
||||
|
||||
```bash
|
||||
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||
```
|
||||
|
||||
### 5. 更新节点参数
|
||||
|
||||
```bash
|
||||
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||
```
|
||||
|
||||
参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||
|
||||
### 6. 查询节点 handles
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||
```
|
||||
|
||||
### 7. 批量创建边
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||
```
|
||||
|
||||
### 8. 启动工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 9. 运行设备单动作
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"lab_uuid":"<lab_uuid>","device_id":"virtual_workbench","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||
|
||||
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||
|
||||
#### action_type 速查表
|
||||
|
||||
| action | action_type |
|
||||
|--------|-------------|
|
||||
| `auto-prepare_materials` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_heating_station` | `UniLabJsonCommand` |
|
||||
| `auto-start_heating` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_output` | `UniLabJsonCommand` |
|
||||
| `transfer` | `UniLabJsonCommandAsync` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 11. 运行工作流单节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuid":"<node_uuid>"}'
|
||||
```
|
||||
|
||||
### 12. 获取资源树（物料信息）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||
|
||||
### 13. 获取工作流模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||
|
||||
### 14. 按名称查询物料模板
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||
|
||||
### 15. 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||
```
|
||||
|
||||
### 16. 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||
|
||||
### virtual_workbench 设备的 Slot 字段表
|
||||
|
||||
| Action | 字段 | Slot 类型 | 说明 |
|
||||
| ----------------- | ---------------- | ------------ | -------------------- |
|
||||
| `transfer` | `resource` | ResourceSlot | 待转移物料数组 |
|
||||
| `transfer` | `target_device` | DeviceSlot | 目标设备路径 |
|
||||
| `transfer` | `mount_resource` | ResourceSlot | 目标孔位数组 |
|
||||
| `manual_confirm` | `resource` | ResourceSlot | 确认用物料数组 |
|
||||
| `manual_confirm` | `target_device` | DeviceSlot | 确认用目标设备 |
|
||||
| `manual_confirm` | `mount_resource` | ResourceSlot | 确认用目标孔位数组 |
|
||||
|
||||
> `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
|
||||
|
||||
---
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. **SKILL.md**（本文件）— API 端点 + session state 管理 + 设备工作流概览
|
||||
2. **[action-index.md](action-index.md)** — 按分类浏览 6 个动作的描述和核心参数
|
||||
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=virtual_workbench) → 记住 node_uuid + data.param
|
||||
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||
```
|
||||
|
||||
### 典型 5 物料并发加热工作流示例
|
||||
|
||||
```
|
||||
prepare_materials (count=5)
|
||||
├─ channel_1 → move_to_heating_station (material_number=1) → start_heating → move_to_output
|
||||
├─ channel_2 → move_to_heating_station (material_number=2) → start_heating → move_to_output
|
||||
├─ channel_3 → move_to_heating_station (material_number=3) → start_heating → move_to_output
|
||||
├─ channel_4 → move_to_heating_station (material_number=4) → start_heating → move_to_output
|
||||
└─ channel_5 → move_to_heating_station (material_number=5) → start_heating → move_to_output
|
||||
```
|
||||
|
||||
创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
|
||||
76
.cursor/skills/virtual-workbench/action-index.md
Normal file
76
.cursor/skills/virtual-workbench/action-index.md
Normal file
@@ -0,0 +1,76 @@
|
||||
# Action Index — virtual_workbench
|
||||
|
||||
6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
---
|
||||
|
||||
## 物料准备
|
||||
|
||||
### `auto-prepare_materials`
|
||||
|
||||
批量准备物料（虚拟起始节点），生成 A1-A5 物料编号，输出 5 个 handle 供后续节点使用
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/prepare_materials.json`](actions/prepare_materials.json)
|
||||
- **可选参数**: `count`（物料数量，默认 5）
|
||||
|
||||
---
|
||||
|
||||
## 机械臂 & 加热台操作
|
||||
|
||||
### `auto-move_to_heating_station`
|
||||
|
||||
将物料从 An 位置移动到空闲加热台（竞争机械臂，自动查找空闲加热台）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/move_to_heating_station.json`](actions/move_to_heating_station.json)
|
||||
- **核心参数**: `material_number`（物料编号，integer）
|
||||
|
||||
### `auto-start_heating`
|
||||
|
||||
启动指定加热台的加热程序（可并行，3 个加热台同时工作）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/start_heating.json`](actions/start_heating.json)
|
||||
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||
|
||||
### `auto-move_to_output`
|
||||
|
||||
将加热完成的物料从加热台移动到输出位置 Cn
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/move_to_output.json`](actions/move_to_output.json)
|
||||
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||
|
||||
---
|
||||
|
||||
## 物料转移
|
||||
|
||||
### `transfer`
|
||||
|
||||
异步转移物料到目标设备（通过 ROS 资源转移）
|
||||
|
||||
- **action_type**: `UniLabJsonCommandAsync`
|
||||
- **Schema**: [`actions/transfer.json`](actions/transfer.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，待转移的物料数组 `[{id, name, uuid}, ...]`
|
||||
- `target_device` — **DeviceSlot**，目标设备路径字符串
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组 `[{id, name, uuid}, ...]`
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，物料数组
|
||||
- `target_device` — **DeviceSlot**，目标设备路径
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组
|
||||
- `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
270
.cursor/skills/virtual-workbench/actions/manual_confirm.json
Normal file
270
.cursor/skills/virtual-workbench/actions/manual_confirm.json
Normal file
@@ -0,0 +1,270 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource",
|
||||
"timeout_seconds": "timeout_seconds",
|
||||
"assignee_user_ids": "assignee_user_ids"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource",
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
24
.cursor/skills/virtual-workbench/actions/move_to_output.json
Normal file
24
.cursor/skills/virtual-workbench/actions/move_to_output.json
Normal file
@@ -0,0 +1,24 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"count": "count"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"count": {
|
||||
"type": "integer",
|
||||
"default": 5
|
||||
}
|
||||
},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {
|
||||
"count": 5
|
||||
},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
24
.cursor/skills/virtual-workbench/actions/start_heating.json
Normal file
24
.cursor/skills/virtual-workbench/actions/start_heating.json
Normal file
@@ -0,0 +1,24 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
255
.cursor/skills/virtual-workbench/actions/transfer.json
Normal file
255
.cursor/skills/virtual-workbench/actions/transfer.json
Normal file
@@ -0,0 +1,255 @@
|
||||
{
|
||||
"type": "UniLabJsonCommandAsync",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
.conda
|
||||
# .github
|
||||
.idea
|
||||
# .vscode
|
||||
output
|
||||
pylabrobot_repo
|
||||
recipes
|
||||
scripts
|
||||
service
|
||||
temp
|
||||
# unilabos/test
|
||||
# unilabos/app/web
|
||||
unilabos/device_mesh
|
||||
unilabos_data
|
||||
unilabos_msgs
|
||||
unilabos.egg-info
|
||||
CONTRIBUTORS
|
||||
# LICENSE
|
||||
MANIFEST.in
|
||||
pyrightconfig.json
|
||||
# README.md
|
||||
# README_zh.md
|
||||
setup.py
|
||||
setup.cfg
|
||||
.gitattrubutes
|
||||
**/__pycache__
|
||||
19
.github/dependabot.yml
vendored
Normal file
19
.github/dependabot.yml
vendored
Normal file
@@ -0,0 +1,19 @@
|
||||
version: 2
|
||||
updates:
|
||||
# GitHub Actions
|
||||
- package-ecosystem: "github-actions"
|
||||
directory: "/"
|
||||
target-branch: "dev"
|
||||
schedule:
|
||||
interval: "weekly"
|
||||
day: "monday"
|
||||
time: "06:00"
|
||||
open-pull-requests-limit: 5
|
||||
reviewers:
|
||||
- "msgcenterpy-team"
|
||||
labels:
|
||||
- "dependencies"
|
||||
- "github-actions"
|
||||
commit-message:
|
||||
prefix: "ci"
|
||||
include: "scope"
|
||||
67
.github/workflows/ci-check.yml
vendored
Normal file
67
.github/workflows/ci-check.yml
vendored
Normal file
@@ -0,0 +1,67 @@
|
||||
name: CI Check
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main, dev]
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
|
||||
jobs:
|
||||
registry-check:
|
||||
runs-on: windows-latest
|
||||
|
||||
env:
|
||||
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
||||
PYTHONIOENCODING: utf-8
|
||||
PYTHONUTF8: 1
|
||||
|
||||
defaults:
|
||||
run:
|
||||
shell: cmd
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: robostack-staging,conda-forge,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: check-env
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
||||
|
||||
- name: Install pip dependencies and unilabos
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Installing pip dependencies...
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (AST registry validation)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
python -m unilabos --check_mode --skip_env_check
|
||||
|
||||
- name: Check for uncommitted changes
|
||||
shell: bash
|
||||
run: |
|
||||
if ! git diff --exit-code; then
|
||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
||||
echo "变化的文件:"
|
||||
git diff --name-only
|
||||
exit 1
|
||||
fi
|
||||
echo "检查通过：无文件变化"
|
||||
45
.github/workflows/conda-pack-build.yml
vendored
45
.github/workflows/conda-pack-build.yml
vendored
@@ -13,6 +13,11 @@ on:
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
build_full:
|
||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
@@ -24,7 +29,7 @@ jobs:
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
script_ext: sh
|
||||
- os: macos-13 # Intel
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
script_ext: sh
|
||||
@@ -57,7 +62,7 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
@@ -69,7 +74,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.11'
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -81,7 +86,14 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
echo Build full: ${{ github.event.inputs.build_full }}
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Installing unilabos-full ^(complete package^)...
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
) else (
|
||||
echo Installing unilabos ^(minimal package^)...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
)
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -89,7 +101,14 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Installing unilabos-full (complete package)..."
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
else
|
||||
echo "Installing unilabos (minimal package)..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
@@ -293,7 +312,7 @@ jobs:
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
@@ -308,7 +327,12 @@ jobs:
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.11
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
)
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
@@ -328,7 +352,12 @@ jobs:
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.11"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
fi
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
|
||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,10 +1,12 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -33,12 +35,19 @@ concurrency:
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -46,7 +55,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.11'
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -75,8 +84,10 @@ jobs:
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/configure-pages@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
@@ -94,14 +105,18 @@ jobs:
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/upload-pages-artifact@v4
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
|
||||
48
.github/workflows/multi-platform-build.yml
vendored
48
.github/workflows/multi-platform-build.yml
vendored
@@ -1,11 +1,16 @@
|
||||
name: Multi-Platform Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types:
|
||||
- completed
|
||||
branches: [main, dev]
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
@@ -17,9 +22,37 @@ on:
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -27,7 +60,7 @@ jobs:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
- os: macos-13 # Intel
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
- os: macos-latest # ARM64
|
||||
@@ -44,8 +77,10 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -69,7 +104,6 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -115,7 +149,7 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: conda-package-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
|
||||
115
.github/workflows/unilabos-conda-build.yml
vendored
115
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,32 +1,69 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'linux-64'
|
||||
build_full:
|
||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
upload_to_anaconda:
|
||||
description: '是否上传到Anaconda.org'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
- os: macos-13 # Intel
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
platform: osx-64
|
||||
- os: macos-latest # ARM64
|
||||
platform: osx-arm64
|
||||
@@ -40,8 +77,10 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -65,7 +104,6 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -81,12 +119,61 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Building UniLabOS package"
|
||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
|
||||
- name: Build conda package
|
||||
- name: Build unilabos-env (conda environment only, noarch)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-env to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos package..."
|
||||
# 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
|
||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-full to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: List built packages
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -108,17 +195,9 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v4
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: conda-package-unilabos-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
if-no-files-found: warn
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (uni-lab organization)
|
||||
if: github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to uni-lab organization..."
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
2
.gitignore
vendored
2
.gitignore
vendored
@@ -4,6 +4,8 @@ temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
device_package*/
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
87
AGENTS.md
Normal file
87
AGENTS.md
Normal file
@@ -0,0 +1,87 @@
|
||||
# AGENTS.md
|
||||
|
||||
This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
|
||||
|
||||
Also follow the monorepo-level rules in `../AGENTS.md`.
|
||||
|
||||
## Build & Development
|
||||
|
||||
```bash
|
||||
# Install in editable mode (requires mamba env with python 3.11)
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Run with a device graph
|
||||
unilab --graph <graph.json> --config <config.py> --backend ros
|
||||
unilab --graph <graph.json> --config <config.py> --backend simple # no ROS2 needed
|
||||
|
||||
# Common CLI flags
|
||||
unilab --app_bridges websocket fastapi # communication bridges
|
||||
unilab --test_mode # simulate hardware, no real execution
|
||||
unilab --check_mode # CI validation of registry imports
|
||||
unilab --skip_env_check # skip auto-install of dependencies
|
||||
unilab --visual rviz|web|disable # visualization mode
|
||||
unilab --is_slave # run as slave node
|
||||
|
||||
# Workflow upload subcommand
|
||||
unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
|
||||
|
||||
# Tests
|
||||
pytest tests/ # all tests
|
||||
pytest tests/resources/test_resourcetreeset.py # single test file
|
||||
pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test
|
||||
```
|
||||
|
||||
## Architecture
|
||||
|
||||
### Startup Flow
|
||||
|
||||
`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
|
||||
|
||||
### Core Layers
|
||||
|
||||
**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
|
||||
|
||||
**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
|
||||
|
||||
**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
|
||||
|
||||
**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
|
||||
|
||||
**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
|
||||
|
||||
**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
|
||||
|
||||
**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
|
||||
|
||||
### Configuration System
|
||||
|
||||
- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
|
||||
- Config files are `.py` files with matching class names (see `config/example_config.py`)
|
||||
- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
|
||||
- Device topology defined in graph files (JSON with node-link format, or GraphML)
|
||||
|
||||
### Key Data Flow
|
||||
|
||||
1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
|
||||
2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
|
||||
3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
|
||||
4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
|
||||
|
||||
### Test Data
|
||||
|
||||
Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
|
||||
|
||||
## Code Conventions
|
||||
|
||||
- Code comments and log messages in simplified Chinese
|
||||
- Python 3.11+, type hints expected
|
||||
- Pydantic models for data validation (`resource_tracker.py`)
|
||||
- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
|
||||
- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
|
||||
- CLI argument dashes auto-converted to underscores for consistency
|
||||
|
||||
## Licensing
|
||||
|
||||
- Framework code: GPL-3.0
|
||||
- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
|
||||
@@ -1,4 +1,5 @@
|
||||
recursive-include unilabos/test *
|
||||
recursive-include unilabos/utils *
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web/static *
|
||||
recursive-include unilabos/app/web/templates *
|
||||
|
||||
46
README.md
46
README.md
@@ -31,37 +31,63 @@ Detailed documentation can be found at:
|
||||
|
||||
## Quick Start
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
|
||||
### 1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||
|
||||
| Package | Use Case | Contents |
|
||||
|---------|----------|----------|
|
||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option A: Standard installation (recommended for most users)
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option B: For developers (editable mode development)
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# Then install unilabos and dependencies:
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Option C: Full installation (simulation/visualization)
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
## Install Dev Uni-Lab-OS
|
||||
**When to use which?**
|
||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||
|
||||
### 2. Clone Repository (Optional, for developers)
|
||||
|
||||
```bash
|
||||
# Clone the repository
|
||||
# Clone the repository (only needed for development or examples)
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System:
|
||||
3. Start Uni-Lab System
|
||||
|
||||
Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
4. Best Practice
|
||||
|
||||
See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
|
||||
|
||||
## Message Format
|
||||
|
||||
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
|
||||
|
||||
## Citation
|
||||
|
||||
If you use Uni-Lab-OS in academic research, please cite:
|
||||
If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
|
||||
|
||||
```bibtex
|
||||
@article{gao2025unilabos,
|
||||
|
||||
46
README_zh.md
46
README_zh.md
@@ -31,39 +31,63 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
## 快速开始
|
||||
|
||||
1. 配置 Conda 环境
|
||||
### 1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||
|
||||
| 安装包 | 适用场景 | 包含内容 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整安装（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
**如何选择？**
|
||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||
|
||||
### 2. 克隆仓库（可选，供开发者使用）
|
||||
|
||||
```bash
|
||||
# 克隆仓库
|
||||
# 克隆仓库（仅开发或查看示例时需要）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统:
|
||||
3. 启动 Uni-Lab 系统
|
||||
|
||||
请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
4. 最佳实践
|
||||
|
||||
请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
|
||||
|
||||
## 消息格式
|
||||
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## 引用
|
||||
|
||||
如果您在学术研究中使用 Uni-Lab-OS，请引用：
|
||||
如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
|
||||
|
||||
```bibtex
|
||||
@article{gao2025unilabos,
|
||||
|
||||
@@ -12,7 +12,7 @@ Uni-Lab 使用 Python 格式的配置文件（`.py`），默认为 `unilabos_dat
|
||||
|
||||
**获取方式：**
|
||||
|
||||
进入 [Uni-Lab 实验室](https://uni-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||
进入 [Uni-Lab 实验室](https://leap-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||
|
||||
|
||||
|
||||
@@ -69,7 +69,7 @@ class WSConfig:
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||
remote_addr = "https://leap-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||
|
||||
# ROS配置
|
||||
class ROSConfig:
|
||||
@@ -209,8 +209,8 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
||||
|
||||
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
||||
|
||||
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- `test` → `https://leap-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://leap-lab.uat.bohrium.com/api/v1`
|
||||
- `local` → `http://127.0.0.1:48197/api/v1`
|
||||
- 其他值 → 直接使用作为完整 URL
|
||||
|
||||
@@ -248,7 +248,7 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
||||
|
||||
`ak` 和 `sk` 是必需的认证参数：
|
||||
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://leap-lab.bohrium.com) 注册实验室后获得
|
||||
2. **配置方式**：
|
||||
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级，推荐）
|
||||
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
||||
@@ -275,15 +275,15 @@ WebSocket 是 Uni-Lab 的主要通信方式：
|
||||
|
||||
HTTP 客户端配置用于与云端服务通信：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | -------------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"https://uni-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | --------------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"https://leap-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||
|
||||
**预设环境地址**：
|
||||
|
||||
- 生产环境：`https://uni-lab.bohrium.com/api/v1`（默认）
|
||||
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- 生产环境：`https://leap-lab.bohrium.com/api/v1`（默认）
|
||||
- 测试环境：`https://leap-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://leap-lab.uat.bohrium.com/api/v1`
|
||||
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
||||
|
||||
### 4. ROSConfig - ROS 配置
|
||||
@@ -401,7 +401,7 @@ export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
|
||||
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
||||
|
||||
# 设置HTTP配置
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.test.bohrium.com/api/v1"
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://leap-lab.test.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
## 配置文件使用方法
|
||||
@@ -484,13 +484,13 @@ export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS=100
|
||||
|
||||
```python
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
**环境变量方式：**
|
||||
|
||||
```bash
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://uni-lab.test.bohrium.com/api/v1
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://leap-lab.test.bohrium.com/api/v1
|
||||
```
|
||||
|
||||
**命令行方式（推荐）：**
|
||||
|
||||
@@ -24,7 +24,7 @@ extensions = [
|
||||
"sphinx.ext.autodoc",
|
||||
"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
|
||||
"sphinx_rtd_theme",
|
||||
"sphinxcontrib.mermaid"
|
||||
"sphinxcontrib.mermaid",
|
||||
]
|
||||
|
||||
source_suffix = {
|
||||
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"
|
||||
|
||||
# sphinx-book-theme 主题选项
|
||||
html_theme_options = {
|
||||
"repository_url": "https://github.com/用户名/Uni-Lab",
|
||||
"repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
|
||||
"use_repository_button": True,
|
||||
"use_issues_button": True,
|
||||
"use_edit_page_button": True,
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -15,6 +15,9 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
|
||||
**示例：**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
|
||||
class MockGripper:
|
||||
def __init__(self):
|
||||
self._position: float = 0.0
|
||||
@@ -23,19 +26,23 @@ class MockGripper:
|
||||
self._status = "Idle"
|
||||
|
||||
@property
|
||||
@topic_config() # 添加 @topic_config 才会定时广播
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def velocity(self) -> float:
|
||||
return self._velocity
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def torque(self) -> float:
|
||||
return self._torque
|
||||
|
||||
# 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
|
||||
# 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -149,7 +156,7 @@ my_device: # 设备唯一标识符
|
||||
|
||||
系统会自动分析您的 Python 驱动类并生成：
|
||||
|
||||
- `status_types`：从 `@property` 装饰的方法自动识别状态属性
|
||||
- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
|
||||
- `action_value_mappings`：从类方法自动生成动作映射
|
||||
- `init_param_schema`：从 `__init__` 方法分析初始化参数
|
||||
- `schema`：前端显示用的属性类型定义
|
||||
@@ -179,7 +186,9 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
|
||||
|
||||
```python
|
||||
from typing import Dict, Any
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="my_device", category=["general"], description="My Device")
|
||||
class MyDevice:
|
||||
"""设备类文档字符串
|
||||
|
||||
@@ -198,8 +207,9 @@ class MyDevice:
|
||||
# 初始化硬件连接
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加 @topic_config 才会广播
|
||||
def status(self) -> str:
|
||||
"""设备状态（会自动广播）"""
|
||||
"""设备状态（通过 @topic_config 广播）"""
|
||||
return self._status
|
||||
|
||||
def my_action(self, param: float) -> Dict[str, Any]:
|
||||
@@ -217,34 +227,61 @@ class MyDevice:
|
||||
|
||||
## 状态属性 vs 动作方法
|
||||
|
||||
### 状态属性（@property）
|
||||
### 状态属性（@property + @topic_config）
|
||||
|
||||
状态属性会被自动识别并定期广播：
|
||||
状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加，否则不会广播
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._read_temperature()
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期（秒）
|
||||
def status(self) -> str:
|
||||
"""设备状态: idle, running, error"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config(name="ready") # 可自定义发布名称
|
||||
def is_ready(self) -> bool:
|
||||
"""设备是否就绪"""
|
||||
return self._status == "idle"
|
||||
```
|
||||
|
||||
也可以使用普通方法（非 @property）配合 `@topic_config`：
|
||||
|
||||
```python
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
"""获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
|
||||
return {"temp": self._temp, "humidity": self._humidity}
|
||||
```
|
||||
|
||||
**`@topic_config` 参数**:
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `period` | float | 5.0 | 发布周期（秒） |
|
||||
| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
|
||||
| `qos` | int | 10 | QoS 深度 |
|
||||
| `name` | str | None | 自定义发布名称 |
|
||||
|
||||
**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
|
||||
|
||||
**特点**:
|
||||
|
||||
- 使用`@property`装饰器
|
||||
- 只读，不能有参数
|
||||
- 自动添加到注册表的`status_types`
|
||||
- 必须使用 `@topic_config` 装饰器
|
||||
- 支持 `@property` 和普通方法
|
||||
- 添加到注册表的 `status_types`
|
||||
- 定期发布到 ROS2 topic
|
||||
|
||||
> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
|
||||
|
||||
### 动作方法
|
||||
|
||||
动作方法是设备可以执行的操作：
|
||||
@@ -497,6 +534,7 @@ class LiquidHandler:
|
||||
self._status = "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -886,7 +924,52 @@ class MyDevice:
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 类型注解
|
||||
### 1. 使用 `@device` 装饰器标识设备类
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
- `id`：设备唯一标识符，用于注册表匹配
|
||||
- `category`：分类列表，前端用于分组显示
|
||||
- `description`：设备描述
|
||||
- `icon`：图标文件名（可选）
|
||||
|
||||
### 2. 使用 `@topic_config` 声明需要广播的状态
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ @property + @topic_config → 会广播
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
return {"temp": self._temp}
|
||||
|
||||
# ✓ 使用 name 参数自定义发布名称
|
||||
@property
|
||||
@topic_config(name="ready")
|
||||
def is_ready(self) -> bool:
|
||||
return self._status == "idle"
|
||||
|
||||
# ✗ 仅有 @property，没有 @topic_config → 不会广播
|
||||
@property
|
||||
def internal_state(self) -> str:
|
||||
return self._state
|
||||
```
|
||||
|
||||
> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
|
||||
|
||||
### 3. 类型注解
|
||||
|
||||
```python
|
||||
from typing import Dict, Any, Optional, List
|
||||
@@ -901,7 +984,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
### 2. 文档字符串
|
||||
### 4. 文档字符串
|
||||
|
||||
```python
|
||||
def method(self, param: float) -> Dict[str, Any]:
|
||||
@@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]:
|
||||
pass
|
||||
```
|
||||
|
||||
### 3. 配置验证
|
||||
### 5. 配置验证
|
||||
|
||||
```python
|
||||
def __init__(self, config: Dict[str, Any]):
|
||||
@@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]):
|
||||
self.baudrate = config['baudrate']
|
||||
```
|
||||
|
||||
### 4. 资源清理
|
||||
### 6. 资源清理
|
||||
|
||||
```python
|
||||
def __del__(self):
|
||||
@@ -946,7 +1029,7 @@ def __del__(self):
|
||||
self.connection.close()
|
||||
```
|
||||
|
||||
### 5. 设计前端友好的返回值
|
||||
### 7. 设计前端友好的返回值
|
||||
|
||||
**记住：返回值会直接显示在 Web 界面**
|
||||
|
||||
|
||||
@@ -422,18 +422,20 @@ placeholder_keys:
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
|
||||
系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
|
||||
is_heating: bool # 从 get_is_heating() 或 @property is_heating
|
||||
status: str # 从 get_status() 或 @property status
|
||||
current_temperature: float # 从 @topic_config 装饰的 @property 或方法
|
||||
is_heating: bool
|
||||
status: str
|
||||
```
|
||||
|
||||
**注意事项**：
|
||||
|
||||
- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
|
||||
- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
|
||||
- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
|
||||
- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
|
||||
- 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
|
||||
- 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
|
||||
|
||||
@@ -537,11 +539,13 @@ class AdvancedLiquidHandler:
|
||||
self._temperature = 25.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
"""设备状态"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._temperature
|
||||
@@ -809,21 +813,23 @@ my_temperature_controller:
|
||||
你的设备类需要符合以下要求：
|
||||
|
||||
```python
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
class MyDevice(DeviceBase):
|
||||
@device(id="my_device", category=["temperature"], description="My Device")
|
||||
class MyDevice:
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
# 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
@@ -1039,7 +1045,34 @@ resource.type # "resource"
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **始终使用类型注解**
|
||||
1. **使用 `@device` 装饰器标识设备类**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Device")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
2. **使用 `@topic_config` 声明广播属性**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ 需要广播的状态属性
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✗ 仅有 @property 不会广播
|
||||
@property
|
||||
def internal_counter(self) -> int:
|
||||
return self._counter
|
||||
```
|
||||
|
||||
3. **始终使用类型注解**
|
||||
|
||||
```python
|
||||
# ✓ 好
|
||||
@@ -1051,7 +1084,7 @@ def method(self, resource, device):
|
||||
pass
|
||||
```
|
||||
|
||||
2. **提供有意义的参数名**
|
||||
4. **提供有意义的参数名**
|
||||
|
||||
```python
|
||||
# ✓ 好 - 清晰的参数名
|
||||
@@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
|
||||
pass
|
||||
```
|
||||
|
||||
3. **使用 Optional 表示可选参数**
|
||||
5. **使用 Optional 表示可选参数**
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
@@ -1076,7 +1109,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
4. **添加详细的文档字符串**
|
||||
6. **添加详细的文档字符串**
|
||||
|
||||
```python
|
||||
def method(
|
||||
@@ -1096,13 +1129,13 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
5. **方法命名规范**
|
||||
7. **方法命名规范**
|
||||
|
||||
- 状态方法使用 `@property` 装饰器或 `get_` 前缀
|
||||
- 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
|
||||
- 动作方法使用动词开头
|
||||
- 保持命名清晰、一致
|
||||
|
||||
6. **完善的错误处理**
|
||||
8. **完善的错误处理**
|
||||
- 实现完善的错误处理
|
||||
- 添加日志记录
|
||||
- 提供有意义的错误信息
|
||||
|
||||
@@ -23,7 +23,7 @@ Uni-Lab-OS 支持多种部署模式：
|
||||
```
|
||||
┌──────────────────────────────────────────────┐
|
||||
│ Cloud Platform/Self-hosted Platform │
|
||||
│ uni-lab.bohrium.com │
|
||||
│ leap-lab.bohrium.com │
|
||||
│ (Resource Management, Task Scheduling, │
|
||||
│ Monitoring) │
|
||||
└────────────────────┬─────────────────────────┘
|
||||
@@ -221,10 +221,10 @@ Laboratory A Laboratory B
|
||||
|
||||
```bash
|
||||
# 实验室A
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
|
||||
# 实验室B
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
```
|
||||
|
||||
---
|
||||
@@ -444,7 +444,7 @@ ros2 daemon stop && ros2 daemon start
|
||||
|
||||
```bash
|
||||
# 测试云端连接
|
||||
curl https://uni-lab.bohrium.com/api/v1/health
|
||||
curl https://leap-lab.bohrium.com/api/v1/health
|
||||
|
||||
# 测试WebSocket
|
||||
# 启动Uni-Lab后查看日志
|
||||
|
||||
@@ -12,3 +12,7 @@ sphinx-copybutton>=0.5.0
|
||||
|
||||
# 用于自动摘要生成
|
||||
sphinx-autobuild>=2024.2.4
|
||||
|
||||
# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
|
||||
rinohtype>=0.5.4
|
||||
sphinx-simplepdf>=1.6.0
|
||||
@@ -31,6 +31,14 @@
|
||||
|
||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||
|
||||
**选择合适的安装包：**
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
| --------------- | ---------------------------- | --------------------------------------------- |
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
```bash
|
||||
@@ -38,15 +46,31 @@
|
||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||
|
||||
# 2. 创建 Conda 环境
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba create -n unilab python=3.11.14
|
||||
|
||||
# 3. 激活环境
|
||||
mamba activate unilab
|
||||
|
||||
# 4. 安装 Uni-Lab-OS
|
||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||
|
||||
# 方案 C：完整版（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**选择建议：**
|
||||
|
||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||
|
||||
#### 1.2 验证安装
|
||||
|
||||
```bash
|
||||
@@ -65,7 +89,7 @@ python -c "from unilabos_msgs.msg import Resource; print('ROS msgs OK')"
|
||||
|
||||
#### 2.1 注册实验室账号
|
||||
|
||||
1. 访问 [https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
1. 访问 [https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
2. 注册账号并登录
|
||||
3. 创建新实验室
|
||||
|
||||
@@ -274,7 +298,7 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
|
||||
#### 5.2 访问 Web 界面
|
||||
|
||||
启动系统后，访问[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
启动系统后，访问[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
|
||||
#### 5.3 添加设备和物料
|
||||
|
||||
@@ -283,12 +307,10 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**示例场景：** 创建一个简单的液体转移实验
|
||||
|
||||
1. **添加工作站（必需）：**
|
||||
|
||||
- 在"仪器设备"中找到 `work_station`
|
||||
- 添加 `workstation` x1
|
||||
|
||||
2. **添加虚拟转移泵：**
|
||||
|
||||
- 在"仪器设备"中找到 `virtual_device`
|
||||
- 添加 `virtual_transfer_pump` x1
|
||||
|
||||
@@ -416,6 +438,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
1. 访问 Web 界面，进入"仪器耗材"模块
|
||||
2. 在"仪器设备"区域找到并添加上述设备
|
||||
3. 在"物料耗材"区域找到并添加容器
|
||||
4. 在workstation中配置protocol_type包含PumpTransferProtocol
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -426,8 +451,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**操作步骤：**
|
||||
|
||||
1. 将两个 `container` 拖拽到 `workstation` 中
|
||||
2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
3. 在画布上连接它们（建立父子关系）
|
||||
2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
|
||||
3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
4. 在画布上连接它们（建立父子关系）
|
||||
|
||||
|
||||
|
||||
@@ -768,7 +794,44 @@ Waiting for host service...
|
||||
|
||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||
|
||||
#### 9.1 为什么需要自定义设备？
|
||||
#### 9.1 开发环境准备
|
||||
|
||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||
|
||||
```bash
|
||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
|
||||
# 2. 克隆代码
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或手动安装：
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
|
||||
**为什么使用这种方式？**
|
||||
|
||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||
|
||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||
|
||||
```bash
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
#### 9.2 为什么需要自定义设备？
|
||||
|
||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||
|
||||
@@ -777,7 +840,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
||||
- 特殊的实验流程
|
||||
- 第三方设备集成
|
||||
|
||||
#### 9.2 创建 Python 包
|
||||
#### 9.3 创建 Python 包
|
||||
|
||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||
|
||||
@@ -814,7 +877,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||
```
|
||||
|
||||
#### 9.3 创建 setup.py
|
||||
#### 9.4 创建 setup.py
|
||||
|
||||
```python
|
||||
# my_lab_devices/setup.py
|
||||
@@ -845,7 +908,7 @@ setup(
|
||||
)
|
||||
```
|
||||
|
||||
#### 9.4 开发安装
|
||||
#### 9.5 开发安装
|
||||
|
||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||
|
||||
@@ -860,7 +923,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
- 方便调试和测试
|
||||
- 支持版本控制（git）
|
||||
|
||||
#### 9.5 编写设备驱动
|
||||
#### 9.6 编写设备驱动
|
||||
|
||||
创建设备驱动文件：
|
||||
|
||||
@@ -1001,7 +1064,7 @@ class MyPump:
|
||||
- **返回 Dict**：所有动作方法返回字典类型
|
||||
- **文档字符串**：详细说明参数和功能
|
||||
|
||||
#### 9.6 测试设备驱动
|
||||
#### 9.7 测试设备驱动
|
||||
|
||||
创建简单的测试脚本：
|
||||
|
||||
@@ -1733,32 +1796,27 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
**详细步骤：**
|
||||
|
||||
1. **需求分析**：
|
||||
|
||||
- 明确实验流程
|
||||
- 列出所需设备和物料
|
||||
- 设计工作流程图
|
||||
|
||||
2. **环境搭建**：
|
||||
|
||||
- 安装 Uni-Lab-OS
|
||||
- 创建实验室账号
|
||||
- 准备开发工具（IDE、Git）
|
||||
|
||||
3. **原型验证**：
|
||||
|
||||
- 使用虚拟设备测试流程
|
||||
- 验证工作流逻辑
|
||||
- 调整参数
|
||||
|
||||
4. **迭代开发**：
|
||||
|
||||
- 实现自定义设备驱动（同时撰写单点函数测试）
|
||||
- 编写注册表
|
||||
- 单元测试
|
||||
- 集成测试
|
||||
|
||||
5. **测试部署**：
|
||||
|
||||
- 连接真实硬件
|
||||
- 空跑测试
|
||||
- 小规模试验
|
||||
@@ -1808,7 +1866,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
#### 14.5 社区支持
|
||||
|
||||
- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
- **官方网站**：[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
|
||||
### 使用示例
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
|
||||
from unilabos.resources.resource_tracker import ResourceDictInstance
|
||||
|
||||
# 旧格式节点
|
||||
old_format_node = {
|
||||
@@ -477,10 +477,10 @@ old_format_node = {
|
||||
instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
|
||||
|
||||
# 访问标准化后的数据
|
||||
print(instance.res_content.id) # "pump_1"
|
||||
print(instance.res_content.uuid) # 自动生成的 UUID
|
||||
print(instance.res_content.id) # "pump_1"
|
||||
print(instance.res_content.uuid) # 自动生成的 UUID
|
||||
print(instance.res_content.config) # {}
|
||||
print(instance.res_content.data) # {}
|
||||
print(instance.res_content.data) # {}
|
||||
```
|
||||
|
||||
### 格式迁移建议
|
||||
@@ -626,7 +626,7 @@ unilab
|
||||
|
||||
**云端图文件管理**:
|
||||
|
||||
1. 登录 https://uni-lab.bohrium.com
|
||||
1. 登录 https://leap-lab.bohrium.com
|
||||
2. 进入"设备配置"
|
||||
3. 创建或编辑配置
|
||||
4. 保存到云端
|
||||
|
||||
BIN
docs/user_guide/image/add_protocol.png
Normal file
BIN
docs/user_guide/image/add_protocol.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 81 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 275 KiB After Width: | Height: | Size: 415 KiB |
@@ -13,15 +13,26 @@
|
||||
- 开发者需要 Git 和基本的 Python 开发知识
|
||||
- 自定义 msgs 需要 GitHub 账号
|
||||
|
||||
## 安装包选择
|
||||
|
||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||
|--------|----------|----------|----------|
|
||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||
|
||||
## 安装方式选择
|
||||
|
||||
根据您的使用场景，选择合适的安装方式：
|
||||
|
||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||
|
||||
---
|
||||
|
||||
@@ -144,17 +155,38 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
||||
使用以下命令创建 Uni-Lab 专用环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||
mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 选择安装包（三选一）：
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和 pip 依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整版（含仿真和可视化工具）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**参数说明**:
|
||||
|
||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||
|
||||
**包选择建议**：
|
||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||
|
||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||
|
||||
```bash
|
||||
@@ -163,8 +195,14 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||
|
||||
# 然后重新执行安装命令
|
||||
# 然后重新执行安装命令（推荐标准安装）
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||
|
||||
# 或完整版（仿真/可视化）
|
||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||
|
||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
@@ -203,58 +241,87 @@ cd Uni-Lab-OS
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
### 第二步：安装基础环境
|
||||
### 第二步：安装开发环境（unilabos-env）
|
||||
|
||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||
|
||||
#### 选项 A：通过一键安装（推荐）
|
||||
|
||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||
|
||||
```bash
|
||||
# 创建并激活环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
|
||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
#### 选项 B：通过手动安装
|
||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||
|
||||
参考上文"方式二：手动安装"，创建并安装环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11
|
||||
conda activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||
|
||||
### 第三步：切换到开发版本
|
||||
|
||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||
克隆代码并安装依赖：
|
||||
|
||||
```bash
|
||||
# 确保环境已激活
|
||||
conda activate unilab
|
||||
|
||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||
pip uninstall unilabos -y
|
||||
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
# 克隆仓库（如果还未克隆）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 切换到 dev 分支（可选）
|
||||
git checkout dev
|
||||
git pull
|
||||
|
||||
# 以可编辑模式安装开发版 unilabos
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**参数说明**：
|
||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||
|
||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||
- `-i`: 使用清华镜像源加速下载
|
||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||
```bash
|
||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或者手动指定：
|
||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||
```
|
||||
|
||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||
|
||||
```bash
|
||||
# 1. 安装 unilabos（可编辑模式）
|
||||
pip install -e .
|
||||
|
||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 国内用户使用清华镜像：
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**注意**：
|
||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||
|
||||
**为什么使用可编辑模式？**
|
||||
|
||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||
- 适合开发调试：修改代码后直接运行测试
|
||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||
|
||||
**验证安装**：
|
||||
|
||||
```bash
|
||||
# 检查 unilabos 版本
|
||||
python -c "import unilabos; print(unilabos.__version__)"
|
||||
|
||||
# 检查安装位置（应该指向你的代码目录）
|
||||
pip show unilabos | grep Location
|
||||
```
|
||||
|
||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||
|
||||
@@ -464,7 +531,45 @@ cd $CONDA_PREFIX/envs/unilab
|
||||
|
||||
### 问题 8: 环境很大，有办法减小吗？
|
||||
|
||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||
**解决方案**:
|
||||
|
||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||
|
||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后手动安装依赖
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
开发者版只包含环境依赖，体积最小约 2GB。
|
||||
|
||||
3. **按需安装额外组件**：
|
||||
如果后续需要特定功能，可以单独安装：
|
||||
```bash
|
||||
# 需要 Jupyter
|
||||
mamba install jupyter jupyros
|
||||
|
||||
# 需要可视化
|
||||
mamba install matplotlib opencv
|
||||
|
||||
# 需要仿真（注意：这会安装大量依赖）
|
||||
mamba install ros-humble-gazebo-ros
|
||||
```
|
||||
|
||||
4. **预打包环境问题**：
|
||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||
|
||||
**包选择建议**：
|
||||
| 需求 | 推荐包 | 预估大小 |
|
||||
|------|--------|----------|
|
||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||
|
||||
### 问题 9: 如何更新到最新版本？
|
||||
|
||||
@@ -511,6 +616,7 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
|
||||
**提示**:
|
||||
|
||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||
- 开发和测试推荐使用方式三（开发者安装）
|
||||
- 快速体验和演示推荐使用方式一（一键安装）
|
||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||
|
||||
@@ -22,7 +22,6 @@ options:
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
@@ -55,7 +54,6 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
||||
|
||||
- **工作目录设置**：
|
||||
|
||||
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
||||
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
||||
- 可通过 `--working_dir` 指定自定义工作目录
|
||||
@@ -69,8 +67,8 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
|
||||
支持多种后端环境：
|
||||
|
||||
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr test`：测试环境 (`https://leap-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://leap-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
||||
- 自定义地址：直接指定完整 URL
|
||||
|
||||
@@ -85,7 +83,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
- **远程资源**：不指定本地文件即可
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
@@ -177,7 +175,7 @@ unilab --config path/to/your/config.py
|
||||
|
||||
如果是首次使用，系统会：
|
||||
|
||||
1. 提示前往 https://uni-lab.bohrium.com 注册实验室
|
||||
1. 提示前往 https://leap-lab.bohrium.com 注册实验室
|
||||
2. 引导创建配置文件
|
||||
3. 设置工作目录
|
||||
|
||||
@@ -196,7 +194,7 @@ unilab --config path/to/your/config.py
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
unilab --ak your_ak --sk your_sk
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
@@ -217,7 +215,7 @@ unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
|
||||
|
||||
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
||||
|
||||
- 已在 https://uni-lab.bohrium.com 注册实验室
|
||||
- 已在 https://leap-lab.bohrium.com 注册实验室
|
||||
- 正确设置了 `--ak` 和 `--sk` 参数
|
||||
- 配置文件中包含正确的认证信息
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.14
|
||||
version: 0.11.1
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
@@ -25,7 +25,7 @@ requirements:
|
||||
build:
|
||||
- ${{ compiler('cxx') }}
|
||||
- ${{ compiler('c') }}
|
||||
- python ==3.11.11
|
||||
- python ==3.11.14
|
||||
- numpy
|
||||
- if: build_platform != target_platform
|
||||
then:
|
||||
@@ -63,14 +63,14 @@ requirements:
|
||||
- robostack-staging::ros-humble-rosidl-default-generators
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
run:
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-ros-workspace
|
||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- if: osx and x86_64
|
||||
then:
|
||||
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.14"
|
||||
version: "0.11.1"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -85,7 +85,7 @@ Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.11)
|
||||
- Python version (3.11.14)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
@@ -104,7 +104,7 @@ Build Information:
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.11
|
||||
Python: 3.11.14
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
|
||||
214
scripts/dev_install.py
Normal file
214
scripts/dev_install.py
Normal file
@@ -0,0 +1,214 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Development installation script for UniLabOS.
|
||||
Auto-detects Chinese locale and uses appropriate mirror.
|
||||
|
||||
Usage:
|
||||
python scripts/dev_install.py
|
||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||
python scripts/dev_install.py --china # Force China mirror
|
||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||
|
||||
Flow:
|
||||
1. pip install -e . (install unilabos in editable mode)
|
||||
2. Detect Chinese locale
|
||||
3. Use uv to install pip dependencies from requirements.txt
|
||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||
"""
|
||||
|
||||
import locale
|
||||
import subprocess
|
||||
import sys
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
|
||||
# Tsinghua mirror URL
|
||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
def is_chinese_locale() -> bool:
|
||||
"""
|
||||
Detect if system is in Chinese locale.
|
||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||
"""
|
||||
try:
|
||||
lang = locale.getdefaultlocale()[0]
|
||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||
"""Run command with retry support."""
|
||||
print(f"[INFO] {description}")
|
||||
print(f"[CMD] {' '.join(cmd)}")
|
||||
|
||||
for attempt in range(retry + 1):
|
||||
try:
|
||||
result = subprocess.run(cmd, check=True, timeout=600)
|
||||
print(f"[OK] {description}")
|
||||
return True
|
||||
except subprocess.CalledProcessError as e:
|
||||
if attempt < retry:
|
||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||
else:
|
||||
print(f"[ERROR] {description} failed: {e}")
|
||||
return False
|
||||
except subprocess.TimeoutExpired:
|
||||
print(f"[ERROR] {description} timed out")
|
||||
return False
|
||||
return False
|
||||
|
||||
|
||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||
"""Install unilabos in editable mode using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing unilabos in editable mode")
|
||||
|
||||
|
||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||
|
||||
|
||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Fallback: Install pip dependencies using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||
|
||||
|
||||
def check_uv_available() -> bool:
|
||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||
try:
|
||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||
return True
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||
parser.add_argument(
|
||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||
)
|
||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Determine project root
|
||||
script_dir = Path(__file__).parent
|
||||
project_root = script_dir.parent
|
||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||
|
||||
if not (project_root / "setup.py").exists():
|
||||
print(f"[ERROR] setup.py not found in {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Development Installation")
|
||||
print("=" * 60)
|
||||
print(f"Project root: {project_root}")
|
||||
print()
|
||||
|
||||
# Determine mirror usage based on locale
|
||||
if args.no_mirror:
|
||||
use_mirror = False
|
||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||
elif args.china:
|
||||
use_mirror = True
|
||||
print("[INFO] China mirror enabled by --china flag")
|
||||
else:
|
||||
use_mirror = is_chinese_locale()
|
||||
if use_mirror:
|
||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||
else:
|
||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||
|
||||
print()
|
||||
|
||||
# Step 1: Install unilabos in editable mode
|
||||
print("[STEP 1] Installing unilabos in editable mode...")
|
||||
if not install_editable(project_root, use_mirror):
|
||||
print("[ERROR] Failed to install unilabos")
|
||||
print()
|
||||
print("Manual fallback:")
|
||||
if use_mirror:
|
||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" pip install -e {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
|
||||
# Step 2: Install pip dependencies
|
||||
if args.skip_deps:
|
||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||
else:
|
||||
print("[STEP 2] Installing pip dependencies...")
|
||||
|
||||
if not requirements_file.exists():
|
||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||
print("[INFO] Skipping dependencies installation")
|
||||
else:
|
||||
# Try uv first (faster), fallback to pip
|
||||
if args.use_pip:
|
||||
print("[INFO] Using pip (--use-pip flag)")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
elif check_uv_available():
|
||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||
success = install_requirements_uv(requirements_file, use_mirror)
|
||||
if not success:
|
||||
print("[WARN] uv failed, falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
else:
|
||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||
print("[INFO] Falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
|
||||
if not success:
|
||||
print()
|
||||
print("[WARN] Failed to install some dependencies automatically.")
|
||||
print("You can manually install them:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" uv pip install -r {requirements_file}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file}")
|
||||
|
||||
print()
|
||||
print("=" * 60)
|
||||
print("Installation complete!")
|
||||
print("=" * 60)
|
||||
print()
|
||||
print("Note: Some special packages (like pylabrobot) are installed")
|
||||
print("automatically at runtime by unilabos if needed.")
|
||||
print()
|
||||
print("Verify installation:")
|
||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||
print()
|
||||
print("If you encounter issues, you can manually install dependencies:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||
print()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.14',
|
||||
version='0.11.1',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -2,9 +2,8 @@ import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
213
tests/workflow/test.json
Normal file
213
tests/workflow/test.json
Normal file
@@ -0,0 +1,213 @@
|
||||
{
|
||||
"workflow": [
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_1",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_4",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_5",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_6",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
}
|
||||
],
|
||||
"reagent": {
|
||||
"Liquid_1": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_4": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"dest_set": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_5": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"dest_set_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"Liquid_6": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"dest_set_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"cell_lines": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_2": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_3": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.14"
|
||||
__version__ = "0.11.1"
|
||||
|
||||
6
unilabos/__main__.py
Normal file
6
unilabos/__main__.py
Normal file
@@ -0,0 +1,6 @@
|
||||
"""Entry point for `python -m unilabos`."""
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,6 +1,6 @@
|
||||
import threading
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
|
||||
@@ -1,25 +1,119 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
|
||||
# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
|
||||
if sys.platform == "win32":
|
||||
for _stream in (sys.stdout, sys.stderr):
|
||||
try:
|
||||
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
_restart_reason: str = ""
|
||||
|
||||
RESTART_EXIT_CODE = 42
|
||||
|
||||
|
||||
def _build_child_argv():
|
||||
"""Build sys.argv for child process, stripping supervisor-only arguments."""
|
||||
result = []
|
||||
skip_next = False
|
||||
for arg in sys.argv:
|
||||
if skip_next:
|
||||
skip_next = False
|
||||
continue
|
||||
if arg in ("--restart_mode", "--restart-mode"):
|
||||
continue
|
||||
if arg in ("--auto_restart_count", "--auto-restart-count"):
|
||||
skip_next = True
|
||||
continue
|
||||
if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
|
||||
continue
|
||||
result.append(arg)
|
||||
return result
|
||||
|
||||
|
||||
def _run_as_supervisor(max_restarts: int):
|
||||
"""
|
||||
Supervisor process that spawns and monitors child processes.
|
||||
|
||||
Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
|
||||
it only launches the real process as a child and restarts it when the child
|
||||
exits with RESTART_EXIT_CODE.
|
||||
"""
|
||||
child_argv = [sys.executable] + _build_child_argv()
|
||||
restart_count = 0
|
||||
|
||||
print_status(
|
||||
f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
|
||||
f"child command: {' '.join(child_argv)}",
|
||||
"info",
|
||||
)
|
||||
|
||||
while True:
|
||||
print_status(
|
||||
f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
|
||||
"info",
|
||||
)
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(child_argv)
|
||||
exit_code = process.wait()
|
||||
except KeyboardInterrupt:
|
||||
print_status("[Supervisor] Interrupted, terminating child process...", "info")
|
||||
process.terminate()
|
||||
try:
|
||||
process.wait(timeout=10)
|
||||
except subprocess.TimeoutExpired:
|
||||
process.kill()
|
||||
process.wait()
|
||||
sys.exit(1)
|
||||
|
||||
if exit_code == RESTART_EXIT_CODE:
|
||||
restart_count += 1
|
||||
if restart_count > max_restarts:
|
||||
print_status(
|
||||
f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
|
||||
"warning",
|
||||
)
|
||||
sys.exit(1)
|
||||
print_status(
|
||||
f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
|
||||
"info",
|
||||
)
|
||||
time.sleep(2)
|
||||
else:
|
||||
if exit_code != 0:
|
||||
print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
|
||||
else:
|
||||
print_status("[Supervisor] Child exited normally", "info")
|
||||
sys.exit(exit_code)
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
|
||||
@@ -41,7 +135,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
for i, arg in enumerate(sys.argv):
|
||||
for option_string in option_strings:
|
||||
if arg.startswith(option_string):
|
||||
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
|
||||
new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
|
||||
sys.argv[i] = new_arg
|
||||
break
|
||||
|
||||
@@ -49,6 +143,8 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
def parse_args():
|
||||
"""解析命令行参数"""
|
||||
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
|
||||
subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
|
||||
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
|
||||
parser.add_argument(
|
||||
@@ -58,6 +154,13 @@ def parse_args():
|
||||
action="append",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--devices",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to Python code directory for AST-based device/resource scanning",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
type=str,
|
||||
@@ -139,7 +242,7 @@ def parse_args():
|
||||
parser.add_argument(
|
||||
"--addr",
|
||||
type=str,
|
||||
default="https://uni-lab.bohrium.com/api/v1",
|
||||
default="https://leap-lab.bohrium.com/api/v1",
|
||||
help="Laboratory backend address",
|
||||
)
|
||||
parser.add_argument(
|
||||
@@ -147,11 +250,91 @@ def parse_args():
|
||||
action="store_true",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
help="Complete and rewrite YAML registry files using AST analysis results",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
help="Disable sending update feedback to server",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--test_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Test mode: all actions simulate execution and return mock results without running real hardware",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--external_devices_only",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--extra_resource",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--restart_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--auto_restart_count",
|
||||
type=int,
|
||||
default=500,
|
||||
help="Maximum number of automatic restarts in restart mode (default: 500)",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
aliases=["wf"],
|
||||
help="Upload workflow from xdl/json/python files",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"-f",
|
||||
"--workflow_file",
|
||||
type=str,
|
||||
required=True,
|
||||
help="Path to the workflow file (JSON format)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"-n",
|
||||
"--workflow_name",
|
||||
type=str,
|
||||
default=None,
|
||||
help="Workflow name, if not provided will use the name from file or filename",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--tags",
|
||||
type=str,
|
||||
nargs="*",
|
||||
default=[],
|
||||
help="Tags for the workflow (space-separated)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--published",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Whether to publish the workflow (default: False)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--description",
|
||||
type=str,
|
||||
default="",
|
||||
help="Workflow description, used when publishing the workflow",
|
||||
)
|
||||
return parser
|
||||
|
||||
@@ -164,70 +347,110 @@ def main():
|
||||
args = parser.parse_args()
|
||||
args_dict = vars(args)
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
if not args_dict.get("skip_env_check", False):
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
# Supervisor mode: spawn child processes and monitor for restart
|
||||
if args_dict.get("restart_mode", False):
|
||||
_run_as_supervisor(args_dict.get("auto_restart_count", 5))
|
||||
return
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
|
||||
if not skip_env_check:
|
||||
from unilabos.utils.environment_check import check_environment, check_device_package_requirements
|
||||
|
||||
print_status("正在进行环境依赖检查...", "info")
|
||||
if not check_environment(auto_install=True):
|
||||
print_status("环境检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
|
||||
# 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
|
||||
devices_dirs_for_req = args_dict.get("devices", None)
|
||||
if devices_dirs_for_req:
|
||||
if not check_device_package_requirements(devices_dirs_for_req):
|
||||
print_status("设备包依赖检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("跳过环境依赖检查", "warning")
|
||||
|
||||
# 加载配置文件，优先加载config，然后从env读取
|
||||
config_path = args_dict.get("config")
|
||||
if os.getcwd().endswith("unilabos_data"):
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir", "")
|
||||
if config_path and not os.path.exists(config_path):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
if not os.path.exists(config_path):
|
||||
print_status(
|
||||
f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
# === 解析 working_dir ===
|
||||
# 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
|
||||
# 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
|
||||
# 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
|
||||
raw_working_dir = args_dict.get("working_dir")
|
||||
if raw_working_dir:
|
||||
working_dir = os.path.abspath(raw_working_dir)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not config_path and (
|
||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||
):
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
working_dir = os.path.dirname(os.path.abspath(config_path))
|
||||
else:
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
|
||||
# unilabos_data 子目录自动检测
|
||||
if os.path.basename(working_dir) != "unilabos_data":
|
||||
unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
|
||||
if os.path.isdir(unilabos_data_sub):
|
||||
working_dir = unilabos_data_sub
|
||||
elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
|
||||
# 未显式指定路径，默认使用 cwd/unilabos_data
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# === 解析 config_path ===
|
||||
if config_path and not os.path.exists(config_path):
|
||||
# config_path 传入但不存在，尝试在 working_dir 中查找
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"在工作目录中发现配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(
|
||||
f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
|
||||
f"请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
# 加载配置文件
|
||||
elif not config_path:
|
||||
# 规则3: 未传入 config_path，尝试 working_dir/local_config.py
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"发现本地配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if check_mode or input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
|
||||
config_path,
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
|
||||
# 加载配置文件 (check_mode 跳过)
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
load_config_from_file(config_path)
|
||||
if not check_mode:
|
||||
load_config_from_file(config_path)
|
||||
|
||||
# 根据配置重新设置日志级别
|
||||
from unilabos.utils.log import configure_logger, logger
|
||||
|
||||
if hasattr(BasicConfig, "log_level"):
|
||||
logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
|
||||
configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
if file_path is not None:
|
||||
logger.info(f"[LOG_FILE] {file_path}")
|
||||
|
||||
if args.addr != parser.get_default("addr"):
|
||||
if args.addr == "test":
|
||||
print_status("使用测试环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||
elif args.addr == "uat":
|
||||
print_status("使用uat环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
|
||||
HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
|
||||
elif args.addr == "local":
|
||||
print_status("使用本地环境地址", "info")
|
||||
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
||||
@@ -241,9 +464,12 @@ def main():
|
||||
if args_dict.get("sk", ""):
|
||||
BasicConfig.sk = args_dict.get("sk", "")
|
||||
print_status("传入了sk参数，优先采用传入参数！", "info")
|
||||
BasicConfig.working_dir = working_dir
|
||||
|
||||
workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
|
||||
|
||||
# 使用远程资源启动
|
||||
if args_dict["use_remote_resource"]:
|
||||
if not workflow_upload and args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
|
||||
@@ -256,40 +482,87 @@ def main():
|
||||
|
||||
BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
|
||||
BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
|
||||
BasicConfig.test_mode = args_dict.get("test_mode", False)
|
||||
if BasicConfig.test_mode:
|
||||
print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
|
||||
BasicConfig.extra_resource = args_dict.get("extra_resource", False)
|
||||
if BasicConfig.extra_resource:
|
||||
print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = platform.node()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||
BasicConfig.check_mode = check_mode
|
||||
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
)
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表
|
||||
# Step 0: AST 分析优先 + YAML 注册表加载
|
||||
# check_mode 和 upload_registry 都会执行实际 import 验证
|
||||
devices_dirs = args_dict.get("devices", None)
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
external_only = args_dict.get("external_devices_only", False)
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
|
||||
registry_paths=args_dict["registry_path"],
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=BasicConfig.upload_registry,
|
||||
check_mode=check_mode,
|
||||
complete_registry=complete_registry,
|
||||
external_only=external_only,
|
||||
)
|
||||
|
||||
# Check mode: 注册表验证完成后直接退出
|
||||
if check_mode:
|
||||
device_count = len(lab_registry.device_type_registry)
|
||||
resource_count = len(lab_registry.resource_type_registry)
|
||||
print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
# 以下导入依赖 ROS2 环境，check_mode 已退出不需要
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
modify_to_backend_format,
|
||||
)
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
|
||||
if BasicConfig.upload_registry:
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
# print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
# print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
|
||||
|
||||
# 处理 workflow_upload 子命令
|
||||
if workflow_upload:
|
||||
from unilabos.workflow.wf_utils import handle_workflow_upload_command
|
||||
|
||||
handle_workflow_upload_command(args_dict)
|
||||
print_status("工作流上传完成，程序退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
graph: nx.Graph
|
||||
resource_tree_set: ResourceTreeSet
|
||||
@@ -357,31 +630,21 @@ def main():
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
if file_path is not None and request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
print_status("远端物料同步完成", "info")
|
||||
|
||||
# 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
|
||||
# TODO: 当 community device package 功能上线后，在这里调用
|
||||
# install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
|
||||
|
||||
# 使用 ResourceTreeSet 代替 list
|
||||
args_dict["resources_config"] = resource_tree_set
|
||||
args_dict["devices_config"] = resource_tree_set
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
|
||||
|
||||
if args_dict["controllers"] is not None:
|
||||
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
|
||||
else:
|
||||
@@ -396,6 +659,7 @@ def main():
|
||||
comm_client = get_communication_client()
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
|
||||
def _exit(signum, frame):
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
@@ -437,16 +701,13 @@ def main():
|
||||
resource_visualization.start()
|
||||
except OSError as e:
|
||||
if "AMENT_PREFIX_PATH" in str(e):
|
||||
print_status(
|
||||
f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
|
||||
"warning"
|
||||
)
|
||||
print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
|
||||
print_status(
|
||||
"建议解决方案：\n"
|
||||
"1. 激活Conda环境: conda activate unilab\n"
|
||||
"2. 或使用 --backend simple 参数\n"
|
||||
"3. 或使用 --visual disable 参数禁用可视化",
|
||||
"info"
|
||||
"info",
|
||||
)
|
||||
else:
|
||||
raise
|
||||
@@ -454,16 +715,26 @@ def main():
|
||||
time.sleep(1)
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
start_server(
|
||||
restart_requested = start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
return
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
start_server(
|
||||
|
||||
# 启动服务器（默认支持WebSocket触发重启）
|
||||
restart_requested = start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
os._exit(RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -54,6 +54,7 @@ class JobAddReq(BaseModel):
|
||||
action_type: str = Field(
|
||||
examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
|
||||
)
|
||||
sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
|
||||
action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
|
||||
task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
from typing import Any, Dict, Optional, Tuple
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
from unilabos.utils.tools import normalize_json as _normalize_device
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
@@ -11,50 +10,63 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
# 注册设备
|
||||
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(devices_to_register.values())},
|
||||
tag="device_registry",
|
||||
)
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 设备注册跳过（内容未变化）"
|
||||
f" {len(devices_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
if resources_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(resources_to_register.values())},
|
||||
tag="resource_registry",
|
||||
)
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 资源注册跳过（内容未变化）"
|
||||
f" {len(resources_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
176
unilabos/app/utils.py
Normal file
176
unilabos/app/utils.py
Normal file
@@ -0,0 +1,176 @@
|
||||
"""
|
||||
UniLabOS 应用工具函数
|
||||
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import glob
|
||||
import os
|
||||
import shutil
|
||||
import sys
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
try:
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
import gc
|
||||
import threading
|
||||
import time
|
||||
|
||||
from unilabos.utils.banner_print import print_status
|
||||
|
||||
|
||||
def cleanup_for_restart() -> bool:
|
||||
"""
|
||||
Clean up all resources for restart without exiting the process.
|
||||
|
||||
This function prepares the system for re-initialization by:
|
||||
1. Stopping all communication clients
|
||||
2. Destroying ROS nodes
|
||||
3. Resetting singletons
|
||||
4. Waiting for threads to finish
|
||||
|
||||
Returns:
|
||||
bool: True if cleanup was successful, False otherwise
|
||||
"""
|
||||
print_status("[Restart] Starting cleanup for restart...", "info")
|
||||
|
||||
# Step 1: Stop WebSocket communication client
|
||||
print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
|
||||
try:
|
||||
from unilabos.app.communication import get_communication_client
|
||||
|
||||
comm_client = get_communication_client()
|
||||
if comm_client is not None:
|
||||
comm_client.stop()
|
||||
print_status("[Restart] WebSocket client stopped", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
|
||||
|
||||
# Step 2: Get HostNode and cleanup ROS
|
||||
print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
import rclpy
|
||||
from rclpy.timer import Timer
|
||||
|
||||
host_instance = HostNode.get_instance(timeout=5)
|
||||
if host_instance is not None:
|
||||
print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
|
||||
|
||||
# Gracefully shutdown background threads
|
||||
print_status("[Restart] Shutting down background threads...", "info")
|
||||
HostNode.shutdown_background_threads(timeout=5.0)
|
||||
print_status("[Restart] Background threads shutdown complete", "info")
|
||||
|
||||
# Stop discovery timer
|
||||
if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
|
||||
host_instance._discovery_timer.cancel()
|
||||
print_status("[Restart] Discovery timer cancelled", "info")
|
||||
|
||||
# Destroy device nodes
|
||||
device_count = len(host_instance.devices_instances)
|
||||
print_status(f"[Restart] Destroying {device_count} device instances...", "info")
|
||||
for device_id, device_node in list(host_instance.devices_instances.items()):
|
||||
try:
|
||||
if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
|
||||
device_node.ros_node_instance.destroy_node()
|
||||
print_status(f"[Restart] Device {device_id} destroyed", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
|
||||
|
||||
# Clear devices instances
|
||||
host_instance.devices_instances.clear()
|
||||
host_instance.devices_names.clear()
|
||||
|
||||
# Destroy host node
|
||||
try:
|
||||
host_instance.destroy_node()
|
||||
print_status("[Restart] HostNode destroyed", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
|
||||
|
||||
# Reset HostNode state
|
||||
HostNode.reset_state()
|
||||
print_status("[Restart] HostNode state reset", "info")
|
||||
|
||||
# Shutdown executor first (to stop executor.spin() gracefully)
|
||||
if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
|
||||
try:
|
||||
rclpy.__executor.shutdown()
|
||||
rclpy.__executor = None # Clear for restart
|
||||
print_status("[Restart] ROS executor shutdown complete", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error shutting down executor: {e}", "warning")
|
||||
|
||||
# Shutdown rclpy
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
print_status("[Restart] rclpy shutdown complete", "info")
|
||||
|
||||
except ImportError as e:
|
||||
print_status(f"[Restart] ROS modules not available: {e}", "warning")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
|
||||
return False
|
||||
|
||||
# Step 3: Reset communication client singleton
|
||||
print_status("[Restart] Step 3: Resetting singletons...", "info")
|
||||
try:
|
||||
from unilabos.app import communication
|
||||
|
||||
if hasattr(communication, "_communication_client"):
|
||||
communication._communication_client = None
|
||||
print_status("[Restart] Communication client singleton reset", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
|
||||
|
||||
# Step 4: Wait for threads to finish
|
||||
print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
|
||||
time.sleep(3) # Give threads time to finish
|
||||
|
||||
# Check remaining threads
|
||||
remaining_threads = []
|
||||
for t in threading.enumerate():
|
||||
if t.name != "MainThread" and t.is_alive():
|
||||
remaining_threads.append(t.name)
|
||||
|
||||
if remaining_threads:
|
||||
print_status(
|
||||
f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
|
||||
)
|
||||
else:
|
||||
print_status("[Restart] All threads stopped", "info")
|
||||
|
||||
# Step 5: Force garbage collection
|
||||
print_status("[Restart] Step 5: Running garbage collection...", "info")
|
||||
gc.collect()
|
||||
gc.collect() # Run twice for weak references
|
||||
print_status("[Restart] Garbage collection complete", "info")
|
||||
|
||||
print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
|
||||
return True
|
||||
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
|
||||
"result": {},
|
||||
"schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": [],
|
||||
"handles": {},
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
|
||||
# 启动广播任务
|
||||
@app.on_event("startup")
|
||||
async def startup_event():
|
||||
asyncio.create_task(broadcast_device_status())
|
||||
asyncio.create_task(broadcast_status_page_data())
|
||||
asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
|
||||
asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
|
||||
|
||||
@@ -3,15 +3,15 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
|
||||
import gzip
|
||||
import json
|
||||
import os
|
||||
import time
|
||||
from threading import Thread
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
|
||||
|
||||
import requests
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
from unilabos.config.config import HTTPConfig, BasicConfig
|
||||
from unilabos.utils import logger
|
||||
@@ -36,6 +36,9 @@ class HTTPClient:
|
||||
auth_secret = BasicConfig.auth_secret()
|
||||
self.auth = auth_secret
|
||||
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
||||
# 复用 TCP/TLS 连接，避免每次请求重新握手
|
||||
self._session = requests.Session()
|
||||
self._session.headers.update({"Authorization": f"Lab {self.auth}"})
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
@@ -48,7 +51,7 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/edge/material/edge",
|
||||
json={
|
||||
"edges": resources,
|
||||
@@ -75,24 +78,28 @@ class HTTPClient:
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
# dump() 只调用一次，复用给文件保存和 HTTP 请求
|
||||
nodes_info = [x for xs in resources.dump() for x in xs]
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
|
||||
body_bytes = _fast_dumps(payload)
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
|
||||
f.write(_fast_dumps_pretty(payload))
|
||||
http_headers = {"Content-Type": "application/json"}
|
||||
if not self.initialized or first_add:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
timeout=60,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
response = self._session.put(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
timeout=10,
|
||||
)
|
||||
|
||||
@@ -110,6 +117,7 @@ class HTTPClient:
|
||||
uuid_mapping[i["uuid"]] = i["cloud_uuid"]
|
||||
else:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
logger.trace(f"添加物料失败: {nodes_info}")
|
||||
for u, n in old_uuids.items():
|
||||
if u in uuid_mapping:
|
||||
n.res_content.uuid = uuid_mapping[u]
|
||||
@@ -130,7 +138,7 @@ class HTTPClient:
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/edge/material/query",
|
||||
json={"uuids": uuid_list, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -144,6 +152,7 @@ class HTTPClient:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]["nodes"]
|
||||
logger.trace(f"resource_tree_get查询到物料: {data}")
|
||||
return data
|
||||
else:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
@@ -161,14 +170,14 @@ class HTTPClient:
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
response = self._session.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -195,7 +204,7 @@ class HTTPClient:
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
|
||||
response = requests.get(
|
||||
response = self._session.get(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -236,14 +245,14 @@ class HTTPClient:
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
response = self._session.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -273,7 +282,7 @@ class HTTPClient:
|
||||
with open(file_path, "rb") as file:
|
||||
files = {"files": file}
|
||||
logger.info(f"上传文件: {file_path} 到 {scene}")
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
||||
files=files,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -281,22 +290,54 @@ class HTTPClient:
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
|
||||
def resource_registry(
|
||||
self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
|
||||
) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器
|
||||
注册资源到服务器，同步保存请求/响应到 unilabos_data
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
# 序列化一次，同时用于保存和发送
|
||||
json_bytes = _fast_dumps(registry_data)
|
||||
|
||||
# 保存请求数据到 unilabos_data
|
||||
req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
|
||||
try:
|
||||
os.makedirs(BasicConfig.working_dir, exist_ok=True)
|
||||
with open(req_path, "wb") as f:
|
||||
f.write(_fast_dumps_pretty(registry_data))
|
||||
logger.trace(f"注册表请求数据已保存: {req_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表请求数据失败: {e}")
|
||||
|
||||
compressed_body = gzip.compress(json_bytes)
|
||||
headers = {
|
||||
"Authorization": f"Lab {self.auth}",
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
timeout=30,
|
||||
)
|
||||
|
||||
# 保存响应数据到 unilabos_data
|
||||
res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
|
||||
try:
|
||||
with open(res_path, "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}\n{response.text}")
|
||||
logger.trace(f"注册表响应数据已保存: {res_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表响应数据失败: {e}")
|
||||
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
if response.status_code == 200:
|
||||
@@ -315,7 +356,7 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.get(
|
||||
response = self._session.get(
|
||||
f"{self.remote_addr}/edge/material/download",
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
@@ -335,6 +376,106 @@ class HTTPClient:
|
||||
logger.error(f"响应内容: {response.text}")
|
||||
return None
|
||||
|
||||
def workflow_import(
|
||||
self,
|
||||
name: str,
|
||||
workflow_uuid: str,
|
||||
workflow_name: str,
|
||||
nodes: List[Dict[str, Any]],
|
||||
edges: List[Dict[str, Any]],
|
||||
tags: Optional[List[str]] = None,
|
||||
published: bool = False,
|
||||
description: str = "",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
导入工作流到服务器，如果 published 为 True，则额外发起发布请求
|
||||
|
||||
Args:
|
||||
name: 工作流名称（顶层）
|
||||
workflow_uuid: 工作流UUID
|
||||
workflow_name: 工作流名称（data内部）
|
||||
nodes: 工作流节点列表
|
||||
edges: 工作流边列表
|
||||
tags: 工作流标签列表，默认为空列表
|
||||
published: 是否发布工作流，默认为False
|
||||
description: 工作流描述，发布时使用
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据，包含 code 和 data (uuid, name)
|
||||
"""
|
||||
payload = {
|
||||
"name": name,
|
||||
"data": {
|
||||
"workflow_uuid": workflow_uuid,
|
||||
"workflow_name": workflow_name,
|
||||
"nodes": nodes,
|
||||
"edges": edges,
|
||||
"tags": tags if tags is not None else [],
|
||||
},
|
||||
}
|
||||
# 保存请求到文件
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
|
||||
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
# 保存响应到文件
|
||||
with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}" + "\n" + response.text)
|
||||
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"导入工作流失败: {response.text}")
|
||||
return res
|
||||
# 导入成功后，如果需要发布则额外发起发布请求
|
||||
if published:
|
||||
imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
|
||||
publish_res = self.workflow_publish(imported_uuid, description)
|
||||
res["publish_result"] = publish_res
|
||||
return res
|
||||
else:
|
||||
logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
|
||||
"""
|
||||
发布工作流
|
||||
|
||||
Args:
|
||||
workflow_uuid: 工作流UUID
|
||||
description: 工作流描述
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据
|
||||
"""
|
||||
payload = {
|
||||
"uuid": workflow_uuid,
|
||||
"description": description,
|
||||
"published": True,
|
||||
}
|
||||
logger.info(f"正在发布工作流: {workflow_uuid}")
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/workflow/owner",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"发布工作流失败: {response.text}")
|
||||
else:
|
||||
logger.info(f"工作流发布成功: {workflow_uuid}")
|
||||
return res
|
||||
else:
|
||||
logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -58,14 +58,14 @@ class JobResultStore:
|
||||
feedback=feedback or {},
|
||||
timestamp=time.time(),
|
||||
)
|
||||
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
|
||||
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||
"""获取并删除任务结果"""
|
||||
with self._results_lock:
|
||||
result = self._results.pop(job_id, None)
|
||||
if result:
|
||||
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
return result
|
||||
|
||||
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||
@@ -327,6 +327,7 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
queue_item,
|
||||
action_type=action_type,
|
||||
action_kwargs=action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=server_info,
|
||||
)
|
||||
|
||||
|
||||
@@ -6,7 +6,6 @@ Web服务器模块
|
||||
|
||||
import webbrowser
|
||||
|
||||
import uvicorn
|
||||
from fastapi import FastAPI, Request
|
||||
from fastapi.middleware.cors import CORSMiddleware
|
||||
from starlette.responses import Response
|
||||
@@ -87,7 +86,7 @@ def setup_server() -> FastAPI:
|
||||
# 设置页面路由
|
||||
try:
|
||||
setup_web_pages(pages)
|
||||
info("[Web] 已加载Web UI模块")
|
||||
# info("[Web] 已加载Web UI模块")
|
||||
except ImportError as e:
|
||||
info(f"[Web] 未找到Web页面模块: {str(e)}")
|
||||
except Exception as e:
|
||||
@@ -96,7 +95,7 @@ def setup_server() -> FastAPI:
|
||||
return app
|
||||
|
||||
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
|
||||
"""
|
||||
启动服务器
|
||||
|
||||
@@ -104,7 +103,14 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
host: 服务器主机
|
||||
port: 服务器端口
|
||||
open_browser: 是否自动打开浏览器
|
||||
|
||||
Returns:
|
||||
bool: True if restart was requested, False otherwise
|
||||
"""
|
||||
import threading
|
||||
import time
|
||||
from uvicorn import Config, Server
|
||||
|
||||
# 设置服务器
|
||||
setup_server()
|
||||
|
||||
@@ -123,7 +129,37 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
|
||||
# 启动服务器
|
||||
info(f"[Web] 启动FastAPI服务器: {host}:{port}")
|
||||
uvicorn.run(app, host=host, port=port, log_config=log_config)
|
||||
|
||||
# 使用支持重启的模式
|
||||
config = Config(app=app, host=host, port=port, log_config=log_config)
|
||||
server = Server(config)
|
||||
|
||||
# 启动服务器线程
|
||||
server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
|
||||
server_thread.start()
|
||||
|
||||
# info("[Web] Server started, monitoring for restart requests...")
|
||||
|
||||
# 监控重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
while server_thread.is_alive():
|
||||
if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
|
||||
info(
|
||||
f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
|
||||
)
|
||||
main_module._restart_requested = False
|
||||
|
||||
# 停止服务器
|
||||
server.should_exit = True
|
||||
server_thread.join(timeout=5)
|
||||
|
||||
info("[Web] Server stopped, ready for restart")
|
||||
return True
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
return False
|
||||
|
||||
|
||||
# 当脚本直接运行时启动服务器
|
||||
|
||||
@@ -23,9 +23,10 @@ from typing import Optional, Dict, Any, List
|
||||
from urllib.parse import urlparse
|
||||
from enum import Enum
|
||||
|
||||
from jedi.inference.gradual.typing import TypedDict
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.resources.resource_tracker import ResourceDictType
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.app.communication import BaseCommunicationClient
|
||||
@@ -76,6 +77,7 @@ class JobInfo:
|
||||
start_time: float
|
||||
last_update_time: float = field(default_factory=time.time)
|
||||
ready_timeout: Optional[float] = None # READY状态的超时时间
|
||||
always_free: bool = False # 是否为永久闲置动作(不受排队限制)
|
||||
|
||||
def update_timestamp(self):
|
||||
"""更新最后更新时间"""
|
||||
@@ -127,6 +129,15 @@ class DeviceActionManager:
|
||||
# 总是将job添加到all_jobs中
|
||||
self.all_jobs[job_info.job_id] = job_info
|
||||
|
||||
# always_free的动作不受排队限制，直接设为READY
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.READY
|
||||
job_info.update_timestamp()
|
||||
job_info.set_ready_timeout(10)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
|
||||
return True
|
||||
|
||||
# 检查是否有正在执行或准备执行的任务
|
||||
if device_key in self.active_jobs:
|
||||
# 有正在执行或准备执行的任务，加入队列
|
||||
@@ -154,7 +165,7 @@ class DeviceActionManager:
|
||||
job_info.set_ready_timeout(10) # 设置10秒超时
|
||||
self.active_jobs[device_key] = job_info
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
return True
|
||||
|
||||
def start_job(self, job_id: str) -> bool:
|
||||
@@ -176,11 +187,15 @@ class DeviceActionManager:
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
|
||||
return False
|
||||
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
# always_free的job不需要检查active_jobs
|
||||
if not job_info.always_free:
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
|
||||
# 开始执行任务，将状态从READY转换为STARTED
|
||||
job_info.status = JobStatus.STARTED
|
||||
@@ -203,6 +218,13 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理，不影响队列
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
job_info.update_timestamp()
|
||||
del self.all_jobs[job_id]
|
||||
return None
|
||||
|
||||
# 移除活跃任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
del self.active_jobs[device_key]
|
||||
@@ -210,8 +232,9 @@ class DeviceActionManager:
|
||||
job_info.update_timestamp()
|
||||
# 从all_jobs中移除已结束的job
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
# logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
pass
|
||||
else:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
||||
@@ -227,15 +250,20 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
return next_job
|
||||
|
||||
return None
|
||||
|
||||
def get_active_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有正在执行的任务"""
|
||||
"""获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
|
||||
with self.lock:
|
||||
return list(self.active_jobs.values())
|
||||
jobs = list(self.active_jobs.values())
|
||||
# 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
|
||||
jobs.append(job)
|
||||
return jobs
|
||||
|
||||
def get_queued_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有排队中的任务"""
|
||||
@@ -260,6 +288,14 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
|
||||
return True
|
||||
|
||||
# 如果是正在执行的任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
# 清理active job状态
|
||||
@@ -268,7 +304,7 @@ class DeviceActionManager:
|
||||
# 从all_jobs中移除
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
|
||||
# 启动下一个任务
|
||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
@@ -281,7 +317,7 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
return True
|
||||
|
||||
# 如果是排队中的任务
|
||||
@@ -295,7 +331,7 @@ class DeviceActionManager:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
return True
|
||||
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
@@ -333,13 +369,18 @@ class DeviceActionManager:
|
||||
timeout_jobs = []
|
||||
|
||||
with self.lock:
|
||||
# 统计READY状态的任务数量
|
||||
ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
|
||||
# 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
|
||||
ready_candidates = list(self.active_jobs.values())
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
|
||||
ready_candidates.append(job)
|
||||
|
||||
ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
|
||||
if ready_jobs_count > 0:
|
||||
logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout") # type: ignore # noqa: E501
|
||||
|
||||
# 找到所有超时的READY任务（只检测，不处理）
|
||||
for job_info in self.active_jobs.values():
|
||||
for job_info in ready_candidates:
|
||||
if job_info.is_ready_timeout():
|
||||
timeout_jobs.append(job_info)
|
||||
job_log = format_job_log(
|
||||
@@ -359,7 +400,7 @@ class MessageProcessor:
|
||||
self.device_manager = device_manager
|
||||
self.queue_processor = None # 延迟设置
|
||||
self.websocket_client = None # 延迟设置
|
||||
self.session_id = ""
|
||||
self.session_id = str(uuid.uuid4())[:6] # 产生一个随机的session_id
|
||||
|
||||
# WebSocket连接
|
||||
self.websocket = None
|
||||
@@ -368,6 +409,7 @@ class MessageProcessor:
|
||||
# 线程控制
|
||||
self.is_running = False
|
||||
self.thread = None
|
||||
self._loop = None # asyncio event loop引用，用于外部关闭websocket
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
|
||||
@@ -394,22 +436,31 @@ class MessageProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止消息处理线程"""
|
||||
self.is_running = False
|
||||
# 主动关闭websocket以快速中断消息接收循环
|
||||
ws = self.websocket
|
||||
loop = self._loop
|
||||
if ws and loop and loop.is_running():
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(ws.close(), loop)
|
||||
except Exception:
|
||||
pass
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[MessageProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行消息处理主循环"""
|
||||
loop = asyncio.new_event_loop()
|
||||
self._loop = asyncio.new_event_loop()
|
||||
try:
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_until_complete(self._connection_handler())
|
||||
asyncio.set_event_loop(self._loop)
|
||||
self._loop.run_until_complete(self._connection_handler())
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Thread error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
if loop:
|
||||
loop.close()
|
||||
if self._loop:
|
||||
self._loop.close()
|
||||
self._loop = None
|
||||
|
||||
async def _connection_handler(self):
|
||||
"""处理WebSocket连接和重连逻辑"""
|
||||
@@ -426,8 +477,10 @@ class MessageProcessor:
|
||||
async with websockets.connect(
|
||||
self.websocket_url,
|
||||
ssl=ssl_context,
|
||||
open_timeout=20,
|
||||
ping_interval=WSConfig.ping_interval,
|
||||
ping_timeout=10,
|
||||
close_timeout=5,
|
||||
additional_headers={
|
||||
"Authorization": f"Lab {BasicConfig.auth_secret()}",
|
||||
"EdgeSession": f"{self.session_id}",
|
||||
@@ -438,72 +491,98 @@ class MessageProcessor:
|
||||
self.connected = True
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
|
||||
|
||||
# 启动发送协程
|
||||
send_task = asyncio.create_task(self._send_handler())
|
||||
send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
|
||||
|
||||
# 每次连接（含重连）后重新向服务端注册，
|
||||
# 否则服务端不知道客户端已上线，不会推送消息。
|
||||
if self.websocket_client:
|
||||
self.websocket_client.publish_host_ready()
|
||||
|
||||
try:
|
||||
# 接收消息循环
|
||||
await self._message_handler()
|
||||
finally:
|
||||
# 必须在 async with __aexit__ 之前停止 send_task，
|
||||
# 否则 send_task 会在关闭握手期间继续发送数据，
|
||||
# 干扰 websockets 库的内部清理，导致 task 泄漏。
|
||||
self.connected = False
|
||||
send_task.cancel()
|
||||
try:
|
||||
await send_task
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
self.connected = False
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.warning("[MessageProcessor] Connection closed")
|
||||
self.connected = False
|
||||
logger.warning("[MessageProcessor] 与服务端连接中断")
|
||||
except TimeoutError:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
|
||||
)
|
||||
except websockets.exceptions.InvalidStatus as e:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Connection error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
self.connected = False
|
||||
logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
|
||||
finally:
|
||||
self.connected = False
|
||||
self.websocket = None
|
||||
|
||||
# 重连逻辑
|
||||
if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
if not self.is_running:
|
||||
break
|
||||
if self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
self.reconnect_count += 1
|
||||
backoff = WSConfig.reconnect_interval
|
||||
logger.info(
|
||||
f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
|
||||
f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(WSConfig.reconnect_interval)
|
||||
elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
logger.error("[MessageProcessor] Max reconnection attempts reached")
|
||||
break
|
||||
else:
|
||||
self.reconnect_count -= 1
|
||||
|
||||
async def _message_handler(self):
|
||||
"""处理接收到的消息"""
|
||||
"""处理接收到的消息。
|
||||
|
||||
ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
|
||||
以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
|
||||
正确清理内部 task，避免 task 泄漏。
|
||||
"""
|
||||
if not self.websocket:
|
||||
logger.error("[MessageProcessor] WebSocket connection is None")
|
||||
return
|
||||
|
||||
try:
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
await self._process_message(data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.info("[MessageProcessor] Message handler stopped - connection closed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
async def _send_handler(self):
|
||||
"""处理发送队列中的消息"""
|
||||
logger.debug("[MessageProcessor] Send handler started")
|
||||
logger.trace("[MessageProcessor] Send handler started")
|
||||
|
||||
try:
|
||||
while self.connected and self.websocket:
|
||||
@@ -531,7 +610,7 @@ class MessageProcessor:
|
||||
try:
|
||||
message_str = json.dumps(msg, ensure_ascii=False)
|
||||
await self.websocket.send(message_str)
|
||||
logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
# logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -548,18 +627,16 @@ class MessageProcessor:
|
||||
|
||||
except asyncio.CancelledError:
|
||||
logger.debug("[MessageProcessor] Send handler cancelled")
|
||||
raise
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
logger.debug("[MessageProcessor] Send handler stopped")
|
||||
|
||||
async def _process_message(self, data: Dict[str, Any]):
|
||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||
"""处理收到的消息"""
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
logger.trace(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
try:
|
||||
if message_type == "pong":
|
||||
@@ -571,16 +648,23 @@ class MessageProcessor:
|
||||
elif message_type == "cancel_action" or message_type == "cancel_task":
|
||||
await self._handle_cancel_action(message_data)
|
||||
elif message_type == "add_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "add")
|
||||
elif message_type == "update_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "update")
|
||||
elif message_type == "remove_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "remove")
|
||||
elif message_type == "session_id":
|
||||
self.session_id = message_data.get("session_id")
|
||||
logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "request_reload":
|
||||
await self._handle_request_reload(message_data)
|
||||
# elif message_type == "session_id":
|
||||
# self.session_id = message_data.get("session_id")
|
||||
# logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "add_device":
|
||||
await self._handle_device_manage(message_data, "add")
|
||||
elif message_type == "remove_device":
|
||||
await self._handle_device_manage(message_data, "remove")
|
||||
elif message_type == "request_restart":
|
||||
await self._handle_request_restart(message_data)
|
||||
else:
|
||||
logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
|
||||
|
||||
@@ -594,6 +678,24 @@ class MessageProcessor:
|
||||
if host_node:
|
||||
host_node.handle_pong_response(pong_data)
|
||||
|
||||
def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
|
||||
"""检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if not host_node:
|
||||
return False
|
||||
# noinspection PyProtectedMember
|
||||
action_mappings = host_node._action_value_mappings.get(device_id)
|
||||
if not action_mappings:
|
||||
return False
|
||||
# 尝试直接匹配或 auto- 前缀匹配
|
||||
for key in [action_name, f"auto-{action_name}"]:
|
||||
if key in action_mappings:
|
||||
return action_mappings[key].get("always_free", False)
|
||||
return False
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
async def _handle_query_action_state(self, data: Dict[str, Any]):
|
||||
"""处理query_action_state消息"""
|
||||
device_id = data.get("device_id", "")
|
||||
@@ -608,6 +710,9 @@ class MessageProcessor:
|
||||
|
||||
device_action_key = f"/devices/{device_id}/{action_name}"
|
||||
|
||||
# 检查action是否为always_free
|
||||
action_always_free = self._check_action_always_free(device_id, action_name)
|
||||
|
||||
# 创建任务信息
|
||||
job_info = JobInfo(
|
||||
job_id=job_id,
|
||||
@@ -617,6 +722,7 @@ class MessageProcessor:
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=action_always_free,
|
||||
)
|
||||
|
||||
# 添加到设备管理器
|
||||
@@ -628,13 +734,13 @@ class MessageProcessor:
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
||||
)
|
||||
logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
else:
|
||||
# 需要排队
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
||||
)
|
||||
logger.info(f"[MessageProcessor] Job {job_log} queued")
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||
|
||||
# 通知QueueProcessor有新的队列更新
|
||||
if self.queue_processor:
|
||||
@@ -643,9 +749,37 @@ class MessageProcessor:
|
||||
async def _handle_job_start(self, data: Dict[str, Any]):
|
||||
"""处理job_start消息"""
|
||||
try:
|
||||
if not data.get("sample_material"):
|
||||
data["sample_material"] = {}
|
||||
req = JobAddReq(**data)
|
||||
|
||||
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
||||
|
||||
# 服务端对always_free动作可能跳过query_action_state直接发job_start，
|
||||
# 此时job尚未注册，需要自动补注册
|
||||
existing_job = self.device_manager.get_job_info(req.job_id)
|
||||
if not existing_job:
|
||||
action_name = req.action
|
||||
device_action_key = f"/devices/{req.device_id}/{action_name}"
|
||||
action_always_free = self._check_action_always_free(req.device_id, action_name)
|
||||
|
||||
if action_always_free:
|
||||
job_info = JobInfo(
|
||||
job_id=req.job_id,
|
||||
task_id=req.task_id,
|
||||
device_id=req.device_id,
|
||||
action_name=action_name,
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=True,
|
||||
)
|
||||
self.device_manager.add_queue_request(job_info)
|
||||
logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
|
||||
else:
|
||||
logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
|
||||
return
|
||||
|
||||
success = self.device_manager.start_job(req.job_id)
|
||||
if not success:
|
||||
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
|
||||
@@ -674,6 +808,7 @@ class MessageProcessor:
|
||||
queue_item,
|
||||
action_type=req.action_type,
|
||||
action_kwargs=req.action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=req.server_info,
|
||||
)
|
||||
|
||||
@@ -838,9 +973,7 @@ class MessageProcessor:
|
||||
device_action_groups[key_add] = []
|
||||
device_action_groups[key_add].append(item["uuid"])
|
||||
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||
)
|
||||
logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
|
||||
else:
|
||||
# 正常update
|
||||
key = (device_id, "update")
|
||||
@@ -854,11 +987,13 @@ class MessageProcessor:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
|
||||
logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||
logger.trace(
|
||||
f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
|
||||
)
|
||||
|
||||
# 为每个(device_id, action)创建独立的更新线程
|
||||
for (device_id, actual_action), items in device_action_groups.items():
|
||||
logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
|
||||
logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
|
||||
|
||||
def _notify_resource_tree(dev_id, act, item_list):
|
||||
try:
|
||||
@@ -890,19 +1025,80 @@ class MessageProcessor:
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_reload(self, data: Dict[str, Any]):
|
||||
async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
|
||||
"""Handle add_device / remove_device from LabGo server."""
|
||||
if not device_list:
|
||||
return
|
||||
|
||||
for item in device_list:
|
||||
target_node_id = item.get("target_node_id", "host_node")
|
||||
|
||||
def _notify(target_id: str, act: str, cfg: ResourceDictType):
|
||||
try:
|
||||
host_node = HostNode.get_instance(timeout=5)
|
||||
if not host_node:
|
||||
logger.error(f"[DeviceManage] HostNode not available for {act}_device")
|
||||
return
|
||||
success = host_node.notify_device_manage(target_id, act, cfg)
|
||||
if success:
|
||||
logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
|
||||
else:
|
||||
logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
|
||||
except Exception as e:
|
||||
logger.error(f"[DeviceManage] Error in {act}_device: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
thread = threading.Thread(
|
||||
target=_notify,
|
||||
args=(target_node_id, action, item),
|
||||
daemon=True,
|
||||
name=f"DeviceManage-{action}-{item.get('id', '')}",
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重载请求
|
||||
|
||||
当LabGo发送request_reload时，重新发送设备注册信息
|
||||
处理重启请求
|
||||
|
||||
当LabGo发送request_restart时，执行清理并触发重启
|
||||
"""
|
||||
reason = data.get("reason", "unknown")
|
||||
logger.info(f"[MessageProcessor] Received reload request, reason: {reason}")
|
||||
|
||||
# 重新发送host_node_ready信息
|
||||
if self.websocket_client:
|
||||
self.websocket_client.publish_host_ready()
|
||||
logger.info("[MessageProcessor] Re-sent host_node_ready after reload request")
|
||||
delay = data.get("delay", 2) # 默认延迟2秒
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
# 发送确认消息
|
||||
self.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
main_module._restart_requested = True
|
||||
main_module._restart_reason = reason
|
||||
|
||||
# 延迟后执行清理
|
||||
await asyncio.sleep(delay)
|
||||
|
||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||
def do_cleanup():
|
||||
import time
|
||||
|
||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||
try:
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
if cleanup_for_restart():
|
||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||
else:
|
||||
logger.error("[MessageProcessor] Cleanup failed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error during cleanup: {e}")
|
||||
|
||||
cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
|
||||
cleanup_thread.start()
|
||||
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
||||
|
||||
async def _send_action_state_response(
|
||||
self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
|
||||
@@ -917,7 +1113,7 @@ class MessageProcessor:
|
||||
"task_id": task_id,
|
||||
"job_id": job_id,
|
||||
"free": free,
|
||||
"need_more": need_more,
|
||||
"need_more": need_more + 1,
|
||||
},
|
||||
}
|
||||
|
||||
@@ -975,13 +1171,14 @@ class QueueProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止队列处理线程"""
|
||||
self.is_running = False
|
||||
self.queue_update_event.set() # 立即唤醒等待中的线程
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[QueueProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行队列处理主循环"""
|
||||
logger.debug("[QueueProcessor] Queue processor started")
|
||||
logger.trace("[QueueProcessor] Queue processor started")
|
||||
|
||||
while self.is_running:
|
||||
try:
|
||||
@@ -1056,7 +1253,7 @@ class QueueProcessor:
|
||||
"task_id": job_info.task_id,
|
||||
"job_id": job_info.job_id,
|
||||
"free": False,
|
||||
"need_more": 10,
|
||||
"need_more": 10 + 1,
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
@@ -1072,9 +1269,20 @@ class QueueProcessor:
|
||||
if not queued_jobs:
|
||||
return
|
||||
|
||||
logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
|
||||
queue_summary = {}
|
||||
for j in queued_jobs:
|
||||
key = f"{j.device_id}/{j.action_name}"
|
||||
queue_summary[key] = queue_summary.get(key, 0) + 1
|
||||
logger.debug(
|
||||
f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
|
||||
)
|
||||
|
||||
for job_info in queued_jobs:
|
||||
# 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
|
||||
# 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
|
||||
if job_info.status != JobStatus.QUEUE:
|
||||
continue
|
||||
|
||||
message = {
|
||||
"action": "report_action_state",
|
||||
"data": {
|
||||
@@ -1084,13 +1292,13 @@ class QueueProcessor:
|
||||
"task_id": job_info.task_id,
|
||||
"job_id": job_info.job_id,
|
||||
"free": False,
|
||||
"need_more": 10,
|
||||
"need_more": 10 + 1,
|
||||
},
|
||||
}
|
||||
success = self.message_processor.send_message(message)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
if success:
|
||||
logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
else:
|
||||
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
||||
|
||||
@@ -1113,7 +1321,7 @@ class QueueProcessor:
|
||||
job_info.action_name,
|
||||
)
|
||||
|
||||
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
|
||||
# 结束任务，获取下一个可执行的任务
|
||||
next_job = self.device_manager.end_job(job_id)
|
||||
@@ -1133,8 +1341,8 @@ class QueueProcessor:
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
|
||||
# 立即触发下一轮状态检查
|
||||
self.notify_queue_update()
|
||||
@@ -1167,6 +1375,10 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
|
||||
self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
|
||||
|
||||
# running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
|
||||
self._job_running_last_sent: Dict[str, tuple] = {}
|
||||
self._job_running_debounce_interval: float = 10.0 # 秒
|
||||
|
||||
# 设置相互引用
|
||||
self.message_processor.set_queue_processor(self.queue_processor)
|
||||
self.message_processor.set_websocket_client(self)
|
||||
@@ -1191,7 +1403,6 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
else:
|
||||
url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
|
||||
|
||||
logger.debug(f"[WebSocketClient] URL: {url}")
|
||||
return url
|
||||
|
||||
def start(self) -> None:
|
||||
@@ -1204,13 +1415,11 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.error("[WebSocketClient] WebSocket URL not configured")
|
||||
return
|
||||
|
||||
logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
|
||||
|
||||
# 启动两个核心线程
|
||||
self.message_processor.start()
|
||||
self.queue_processor.start()
|
||||
|
||||
logger.info("[WebSocketClient] All threads started")
|
||||
logger.trace("[WebSocketClient] All threads started")
|
||||
|
||||
def stop(self) -> None:
|
||||
"""停止WebSocket客户端"""
|
||||
@@ -1226,8 +1435,8 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
message = {"action": "normal_exit", "data": {"session_id": session_id}}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
|
||||
# 给一点时间让消息发送出去
|
||||
time.sleep(1)
|
||||
# send_handler 每100ms检查一次队列，等300ms足以让消息发出
|
||||
time.sleep(0.3)
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
|
||||
|
||||
@@ -1259,7 +1468,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
@@ -1269,22 +1478,32 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
|
||||
return
|
||||
|
||||
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
|
||||
|
||||
# 拦截最终结果状态，与原版本逻辑一致
|
||||
if status in ["success", "failed"]:
|
||||
self._job_running_last_sent.pop(item.job_id, None)
|
||||
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 从HostNode的device_action_status中移除job_id
|
||||
try:
|
||||
host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
|
||||
except (KeyError, AttributeError):
|
||||
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
|
||||
|
||||
logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
|
||||
# 通知队列处理器job完成（包括timeout的job）
|
||||
self.queue_processor.handle_job_completed(item.job_id, status)
|
||||
|
||||
# 发送job状态消息
|
||||
# running状态按job_id做debounce，内容变化时仍然上报
|
||||
if status == "running":
|
||||
now = time.time()
|
||||
cached = self._job_running_last_sent.get(item.job_id)
|
||||
if cached is not None:
|
||||
last_ts, last_data = cached
|
||||
if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
|
||||
logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
|
||||
return
|
||||
self._job_running_last_sent[item.job_id] = (now, feedback_data)
|
||||
|
||||
message = {
|
||||
"action": "job_status",
|
||||
"data": {
|
||||
@@ -1300,7 +1519,6 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
|
||||
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
|
||||
logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
@@ -1340,15 +1558,17 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
# 收集设备信息
|
||||
devices = []
|
||||
machine_name = BasicConfig.machine_name
|
||||
|
||||
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 获取设备信息
|
||||
for device_id, namespace in host_node.devices_names.items():
|
||||
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
device_key = (
|
||||
f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
)
|
||||
is_online = device_key in host_node._online_devices
|
||||
|
||||
|
||||
# 获取设备的动作信息
|
||||
actions = {}
|
||||
for action_id, client in host_node._action_clients.items():
|
||||
@@ -1359,16 +1579,18 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
"action_path": action_id,
|
||||
"action_type": str(type(client).__name__),
|
||||
}
|
||||
|
||||
devices.append({
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
})
|
||||
|
||||
|
||||
devices.append(
|
||||
{
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
}
|
||||
)
|
||||
|
||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
|
||||
|
||||
@@ -95,8 +95,29 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
||||
return total_volume
|
||||
|
||||
|
||||
def is_integrated_pump(node_name):
|
||||
return "pump" in node_name and "valve" in node_name
|
||||
def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
|
||||
"""
|
||||
判断是否为泵阀一体设备
|
||||
"""
|
||||
class_lower = (node_class or "").lower()
|
||||
name_lower = (node_name or "").lower()
|
||||
|
||||
if "pump" not in class_lower and "pump" not in name_lower:
|
||||
return False
|
||||
|
||||
integrated_markers = [
|
||||
"valve",
|
||||
"pump_valve",
|
||||
"pumpvalve",
|
||||
"integrated",
|
||||
"transfer_pump",
|
||||
]
|
||||
|
||||
for marker in integrated_markers:
|
||||
if marker in class_lower or marker in name_lower:
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
|
||||
def find_connected_pump(G, valve_node):
|
||||
@@ -186,7 +207,9 @@ def build_pump_valve_maps(G, pump_backbone):
|
||||
debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
|
||||
|
||||
for node in filtered_backbone:
|
||||
if is_integrated_pump(G.nodes[node]["class"]):
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
if is_integrated_pump(node_class, node):
|
||||
pumps_from_node[node] = node
|
||||
valve_from_node[node] = node
|
||||
debug_print(f" - 集成泵-阀: {node}")
|
||||
|
||||
@@ -16,12 +16,17 @@ class BasicConfig:
|
||||
upload_registry = False
|
||||
machine_name = "undefined"
|
||||
vis_2d_enable = False
|
||||
no_update_feedback = False
|
||||
enable_resource_load = True
|
||||
communication_protocol = "websocket"
|
||||
startup_json_path = None # 填写绝对路径
|
||||
disable_browser = False # 禁止浏览器自动打开
|
||||
port = 8002 # 本地HTTP服务
|
||||
log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG" # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
test_mode = False # 测试模式，所有动作不实际执行，返回模拟结果
|
||||
extra_resource = False # 是否加载lab_开头的额外资源
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
|
||||
@classmethod
|
||||
def auth_secret(cls):
|
||||
@@ -36,12 +41,12 @@ class BasicConfig:
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
ping_interval = 20 # ping间隔（秒）
|
||||
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
||||
remote_addr = "https://leap-lab.bohrium.com/api/v1"
|
||||
|
||||
|
||||
# ROS配置
|
||||
@@ -65,13 +70,14 @@ def _update_config_from_module(module):
|
||||
if not attr.startswith("_"):
|
||||
setattr(obj, attr, getattr(getattr(module, name), attr))
|
||||
|
||||
|
||||
def _update_config_from_env():
|
||||
prefix = "UNILABOS_"
|
||||
for env_key, env_value in os.environ.items():
|
||||
if not env_key.startswith(prefix):
|
||||
continue
|
||||
try:
|
||||
key_path = env_key[len(prefix):] # Remove UNILAB_ prefix
|
||||
key_path = env_key[len(prefix) :] # Remove UNILAB_ prefix
|
||||
class_field = key_path.upper().split("_", 1)
|
||||
if len(class_field) != 2:
|
||||
logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
|
||||
@@ -141,5 +147,5 @@ def load_config(config_path=None):
|
||||
traceback.print_exc()
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
|
||||
load_config(config_path)
|
||||
|
||||
@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
|
||||
"""
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
|
||||
from unilabos.device_comms.workstation_communication import (
|
||||
WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
|
||||
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
# 创建资源跟踪器（如果没有提供）
|
||||
if resource_tracker is None:
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
|
||||
resource_tracker = DeviceNodeResourceTracker()
|
||||
|
||||
# 初始化基类
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -43,7 +43,7 @@ class Base(ABC):
|
||||
self._type = typ
|
||||
self._data_type = data_type
|
||||
self._node: Optional[Node] = None
|
||||
|
||||
|
||||
def _get_node(self) -> Node:
|
||||
if self._node is None:
|
||||
try:
|
||||
@@ -66,7 +66,7 @@ class Base(ABC):
|
||||
# 直接以字符串形式处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
|
||||
# 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
|
||||
# 提取括号内的内容
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
@@ -116,16 +116,16 @@ class Base(ABC):
|
||||
def read(self) -> Tuple[Any, bool]:
|
||||
"""读取节点值，返回(值, 是否出错)"""
|
||||
pass
|
||||
|
||||
|
||||
@abstractmethod
|
||||
def write(self, value: Any) -> bool:
|
||||
"""写入节点值，返回是否出错"""
|
||||
pass
|
||||
|
||||
|
||||
@property
|
||||
def type(self) -> NodeType:
|
||||
return self._type
|
||||
|
||||
|
||||
@property
|
||||
def node_id(self) -> str:
|
||||
return self._node_id
|
||||
@@ -210,15 +210,15 @@ class Method(Base):
|
||||
super().__init__(client, name, node_id, NodeType.METHOD, data_type)
|
||||
self._parent_node_id = parent_node_id
|
||||
self._parent_node = None
|
||||
|
||||
|
||||
def _get_parent_node(self) -> Node:
|
||||
if self._parent_node is None:
|
||||
try:
|
||||
# 处理父节点ID，使用与_get_node相同的解析逻辑
|
||||
import re
|
||||
|
||||
|
||||
nid = self._parent_node_id
|
||||
|
||||
|
||||
# 如果已经是 NodeId 对象，直接使用
|
||||
try:
|
||||
from opcua.ua import NodeId as UaNodeId
|
||||
@@ -227,16 +227,16 @@ class Method(Base):
|
||||
return self._parent_node
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
# 字符串处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
|
||||
# 处理包含类名的格式
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
if match_wrapped:
|
||||
nid = match_wrapped.group(2).strip()
|
||||
|
||||
|
||||
# 常见短格式
|
||||
if re.match(r'^ns=\d+;[is]=', nid):
|
||||
self._parent_node = self._client.get_node(nid)
|
||||
@@ -271,7 +271,7 @@ class Method(Base):
|
||||
def write(self, value: Any) -> bool:
|
||||
"""方法节点不支持写入操作"""
|
||||
return True
|
||||
|
||||
|
||||
def call(self, *args) -> Tuple[Any, bool]:
|
||||
"""调用方法，返回(返回值, 是否出错)"""
|
||||
try:
|
||||
@@ -285,7 +285,7 @@ class Method(Base):
|
||||
class Object(Base):
|
||||
def __init__(self, client: Client, name: str, node_id: str):
|
||||
super().__init__(client, name, node_id, NodeType.OBJECT, None)
|
||||
|
||||
|
||||
def read(self) -> Tuple[Any, bool]:
|
||||
"""对象节点不支持直接读取操作"""
|
||||
return None, True
|
||||
@@ -293,7 +293,7 @@ class Object(Base):
|
||||
def write(self, value: Any) -> bool:
|
||||
"""对象节点不支持直接写入操作"""
|
||||
return True
|
||||
|
||||
|
||||
def get_children(self) -> Tuple[List[Node], bool]:
|
||||
"""获取子节点列表，返回(子节点列表, 是否出错)"""
|
||||
try:
|
||||
@@ -301,4 +301,4 @@ class Object(Base):
|
||||
return children, False
|
||||
except Exception as e:
|
||||
print(f"获取对象 {self._name} 的子节点失败: {e}")
|
||||
return [], True
|
||||
return [], True
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
|
||||
from abc import abstractmethod
|
||||
from functools import wraps
|
||||
import inspect
|
||||
|
||||
@@ -13,7 +13,7 @@ from pylabrobot.resources import (
|
||||
import copy
|
||||
from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
||||
|
||||
|
||||
class LiquidHandlerBiomek:
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -30,9 +30,32 @@ from pylabrobot.liquid_handling.standard import (
|
||||
ResourceMove,
|
||||
ResourceDrop,
|
||||
)
|
||||
from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
|
||||
from pylabrobot.resources import (
|
||||
ResourceHolder,
|
||||
ResourceStack,
|
||||
Tip,
|
||||
Deck,
|
||||
Plate,
|
||||
Well,
|
||||
TipRack,
|
||||
Resource,
|
||||
Container,
|
||||
Coordinate,
|
||||
TipSpot,
|
||||
Trash,
|
||||
PlateAdapter,
|
||||
TubeRack,
|
||||
)
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import (
|
||||
LiquidHandlerAbstract,
|
||||
SimpleReturn,
|
||||
SetLiquidReturn,
|
||||
SetLiquidFromPlateReturn,
|
||||
TransferLiquidReturn,
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
@@ -68,19 +91,103 @@ class PRCXI9300Deck(Deck):
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位
|
||||
self.slot_locations = [Coordinate(0, 0, 0)] * 16
|
||||
# T1-T16 默认位置 (4列×4行)
|
||||
_DEFAULT_SITE_POSITIONS = [
|
||||
(0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4
|
||||
(0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8
|
||||
(0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12
|
||||
(0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16
|
||||
]
|
||||
_DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0}
|
||||
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"]
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
if sites is not None:
|
||||
self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
|
||||
else:
|
||||
self.sites = []
|
||||
for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
|
||||
self.sites.append({
|
||||
"label": f"T{i + 1}",
|
||||
"visible": True,
|
||||
"position": {"x": x, "y": y, "z": z},
|
||||
"size": dict(self._DEFAULT_SITE_SIZE),
|
||||
"content_type": list(self._DEFAULT_CONTENT_TYPE),
|
||||
})
|
||||
# _ordering: label -> None, 用于外部通过 list(keys()).index(site) 将 Tn 转换为 spot index
|
||||
self._ordering = collections.OrderedDict(
|
||||
(site["label"], None) for site in self.sites
|
||||
)
|
||||
|
||||
def _get_site_location(self, idx: int) -> Coordinate:
|
||||
pos = self.sites[idx]["position"]
|
||||
return Coordinate(pos["x"], pos["y"], pos["z"])
|
||||
|
||||
def _get_site_resource(self, idx: int) -> Optional[Resource]:
|
||||
site_loc = self._get_site_location(idx)
|
||||
for child in self.children:
|
||||
if child.location == site_loc:
|
||||
return child
|
||||
return None
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: Resource,
|
||||
location: Optional[Coordinate] = None,
|
||||
reassign: bool = True,
|
||||
spot: Optional[int] = None,
|
||||
):
|
||||
idx = spot
|
||||
if spot is not None:
|
||||
idx = spot
|
||||
else:
|
||||
for i, site in enumerate(self.sites):
|
||||
site_loc = self._get_site_location(i)
|
||||
if site.get("label") == resource.name:
|
||||
idx = i
|
||||
break
|
||||
if location is not None and site_loc == location:
|
||||
idx = i
|
||||
break
|
||||
|
||||
if idx is None:
|
||||
for i in range(len(self.sites)):
|
||||
if self._get_site_resource(i) is None:
|
||||
idx = i
|
||||
break
|
||||
|
||||
if idx is None:
|
||||
raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
|
||||
|
||||
if not reassign and self._get_site_resource(idx) is not None:
|
||||
raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
|
||||
|
||||
loc = self._get_site_location(idx)
|
||||
super().assign_child_resource(resource, location=loc, reassign=reassign)
|
||||
|
||||
def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
|
||||
if self.slots[slot - 1] is not None and not reassign:
|
||||
raise ValueError(f"Spot {slot} is already occupied")
|
||||
self.assign_child_resource(resource, spot=slot - 1, reassign=reassign)
|
||||
|
||||
self.slots[slot - 1] = resource
|
||||
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
sites_out = []
|
||||
for i, site in enumerate(self.sites):
|
||||
occupied = self._get_site_resource(i)
|
||||
sites_out.append({
|
||||
"label": site["label"],
|
||||
"visible": site.get("visible", True),
|
||||
"occupied_by": occupied.name if occupied is not None else None,
|
||||
"position": site["position"],
|
||||
"size": site["size"],
|
||||
"content_type": site["content_type"],
|
||||
})
|
||||
data["sites"] = sites_out
|
||||
return data
|
||||
|
||||
class PRCXI9300Container(Plate):
|
||||
|
||||
class PRCXI9300Container(Container):
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
@@ -93,11 +200,10 @@ class PRCXI9300Container(Plate):
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str,
|
||||
ordering: collections.OrderedDict,
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model)
|
||||
self._unilabos_state = {}
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
@@ -108,74 +214,81 @@ class PRCXI9300Container(Plate):
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300Plate(Plate):
|
||||
"""
|
||||
"""
|
||||
专用孔板类：
|
||||
1. 继承自 PLR 原生 Plate，保留所有物理特性。
|
||||
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "plate",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
items = None
|
||||
ordering_param = None
|
||||
if ordered_items is not None:
|
||||
items = ordered_items
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
# 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
|
||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
|
||||
items = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
if ordering:
|
||||
values = list(ordering.values())
|
||||
value = values[0]
|
||||
if isinstance(value, str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
|
||||
items = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
elif value is None:
|
||||
ordering_param = ordering
|
||||
else:
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
items = ordering
|
||||
ordering_param = None
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
|
||||
)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 Plate 自己创建 Well 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
|
||||
)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -188,35 +301,45 @@ class PRCXI9300Plate(Plate):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data # 其他顶层属性也进行类型检查
|
||||
return data # 其他顶层属性也进行类型检查
|
||||
|
||||
|
||||
class PRCXI9300TipRack(TipRack):
|
||||
""" 专用吸头盒类 """
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tip_rack",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
"""专用吸头盒类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "tip_rack",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items = ordered_items
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
# 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
|
||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 检查 ordering 中的值类型来决定如何处理：
|
||||
# - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
|
||||
# - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
|
||||
# - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
|
||||
first_val = next(iter(ordering.values()), None) if ordering else None
|
||||
if not ordering or first_val is None or isinstance(first_val, str):
|
||||
# ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
|
||||
items = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
@@ -225,27 +348,23 @@ class PRCXI9300TipRack(TipRack):
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
|
||||
)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
|
||||
)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
@@ -255,7 +374,7 @@ class PRCXI9300TipRack(TipRack):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -268,26 +387,33 @@ class PRCXI9300TipRack(TipRack):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
|
||||
class PRCXI9300Trash(Trash):
|
||||
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
if name != "trash":
|
||||
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
@@ -306,7 +432,7 @@ class PRCXI9300Trash(Trash):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -319,42 +445,51 @@ class PRCXI9300Trash(Trash):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300TubeRack(TubeRack):
|
||||
"""
|
||||
专用管架类：用于 EP 管架、试管架等。
|
||||
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
ordering: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
ordering: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items_to_pass = ordered_items
|
||||
ordering_param = None
|
||||
elif ordering is not None:
|
||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||
# 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
|
||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 检查 ordering 中的值类型来决定如何处理：
|
||||
# - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
|
||||
# - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
|
||||
# - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
|
||||
first_val = next(iter(ordering.values()), None) if ordering else None
|
||||
if not ordering or first_val is None or isinstance(first_val, str):
|
||||
# ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
|
||||
# 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
|
||||
items_to_pass = None
|
||||
# 使用 ordering 参数，只包含位置信息（键）
|
||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||
else:
|
||||
# ordering 的值已经是对象，可以直接使用
|
||||
@@ -367,24 +502,16 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
else:
|
||||
items_to_pass = None
|
||||
ordering_param = None
|
||||
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items_to_pass is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items_to_pass,
|
||||
model=model,
|
||||
**kwargs)
|
||||
super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
model=model,
|
||||
**kwargs)
|
||||
super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
model=model,
|
||||
**kwargs)
|
||||
|
||||
super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
@@ -394,7 +521,7 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -407,33 +534,41 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
"""
|
||||
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
|
||||
支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate_adapter",
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
# 参数给予默认值 (标准96孔板尺寸)
|
||||
adapter_hole_size_x: float = 127.76,
|
||||
adapter_hole_size_y: float = 85.48,
|
||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||
dx: Optional[float] = None,
|
||||
dy: Optional[float] = None,
|
||||
dz: float = 0.0, # 默认Z轴偏移
|
||||
**kwargs):
|
||||
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "plate_adapter",
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
# 参数给予默认值 (标准96孔板尺寸)
|
||||
adapter_hole_size_x: float = 127.76,
|
||||
adapter_hole_size_y: float = 85.48,
|
||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||
dx: Optional[float] = None,
|
||||
dy: Optional[float] = None,
|
||||
dz: float = 0.0, # 默认Z轴偏移
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
|
||||
if dx is None:
|
||||
dx = (size_x - adapter_hole_size_x) / 2
|
||||
@@ -441,20 +576,20 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
dy = (size_y - adapter_hole_size_y) / 2
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
dx=dx,
|
||||
dy=dy,
|
||||
dz=dz,
|
||||
adapter_hole_size_x=adapter_hole_size_x,
|
||||
adapter_hole_size_y=adapter_hole_size_y,
|
||||
adapter_hole_size_z=adapter_hole_size_z,
|
||||
model=model,
|
||||
**kwargs
|
||||
model=model,
|
||||
**kwargs,
|
||||
)
|
||||
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
@@ -464,7 +599,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -477,15 +612,16 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
|
||||
@@ -498,7 +634,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck,
|
||||
deck: PRCXI9300Deck,
|
||||
host: str,
|
||||
port: int,
|
||||
timeout: float,
|
||||
@@ -512,14 +648,16 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
is_9320=False,
|
||||
):
|
||||
tablets_info = []
|
||||
count = 0
|
||||
for child in deck.children:
|
||||
if child.children:
|
||||
if "Material" in child.children[0]._unilabos_state:
|
||||
number = int(child.name.replace("T", ""))
|
||||
tablets_info.append(
|
||||
WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
|
||||
for site_id in range(len(deck.sites)):
|
||||
child = deck._get_site_resource(site_id)
|
||||
# 如果放其他类型的物料，是不可以的
|
||||
if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
|
||||
number = site_id + 1
|
||||
tablets_info.append(
|
||||
WorkTablets(
|
||||
Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
|
||||
)
|
||||
)
|
||||
if is_9320:
|
||||
print("当前设备是9320")
|
||||
# 始终初始化 step_mode 属性
|
||||
@@ -538,9 +676,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
super().post_init(ros_node)
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
|
||||
return super().set_liquid(wells, liquid_names, volumes)
|
||||
|
||||
def set_liquid_from_plate(
|
||||
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
|
||||
) -> SetLiquidFromPlateReturn:
|
||||
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
|
||||
|
||||
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
||||
return super().set_group(group_name, wells, volumes)
|
||||
|
||||
@@ -660,7 +803,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
) -> TransferLiquidReturn:
|
||||
return await super().transfer_liquid(
|
||||
sources,
|
||||
targets,
|
||||
@@ -799,7 +942,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
|
||||
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
return await self._unilabos_backend.heater_action(temperature, time)
|
||||
return await self._unilabos_backend.heater_action(temperature, time)
|
||||
|
||||
async def move_plate(
|
||||
self,
|
||||
plate: Plate,
|
||||
@@ -822,10 +966,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
drop_direction,
|
||||
pickup_direction,
|
||||
pickup_distance_from_top,
|
||||
target_plate_number = to,
|
||||
target_plate_number=to,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
|
||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
||||
|
||||
@@ -878,31 +1023,28 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
|
||||
|
||||
resource=pickup.resource
|
||||
offset=pickup.offset
|
||||
pickup_distance_from_top=pickup.pickup_distance_from_top
|
||||
direction=pickup.direction
|
||||
|
||||
resource = pickup.resource
|
||||
offset = pickup.offset
|
||||
pickup_distance_from_top = pickup.pickup_distance_from_top
|
||||
direction = pickup.direction
|
||||
|
||||
plate_number = int(resource.parent.name.replace("T", ""))
|
||||
is_whole_plate = True
|
||||
balance_height = 0
|
||||
step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
|
||||
|
||||
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
|
||||
|
||||
|
||||
plate_number = None
|
||||
target_plate_number = backend_kwargs.get("target_plate_number", None)
|
||||
if target_plate_number is not None:
|
||||
plate_number = int(target_plate_number.name.replace("T", ""))
|
||||
|
||||
|
||||
is_whole_plate = True
|
||||
balance_height = 0
|
||||
if plate_number is None:
|
||||
@@ -911,7 +1053,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
|
||||
# return await self.api_client.heater_action(temperature, time)
|
||||
@@ -968,7 +1109,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
error_code = self.api_client.get_error_code()
|
||||
if error_code:
|
||||
print(f"PRCXI9300 error code detected: {error_code}")
|
||||
|
||||
|
||||
# 清除错误代码
|
||||
self.api_client.clear_error_code()
|
||||
print("PRCXI9300 error code cleared.")
|
||||
@@ -976,11 +1117,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
# 执行重置
|
||||
print("Starting PRCXI9300 reset...")
|
||||
self.api_client.call("IAutomation", "Reset")
|
||||
|
||||
|
||||
# 检查重置状态并等待完成
|
||||
while not self.is_reset_ok:
|
||||
print("Waiting for PRCXI9300 to reset...")
|
||||
if hasattr(self, '_ros_node') and self._ros_node is not None:
|
||||
if hasattr(self, "_ros_node") and self._ros_node is not None:
|
||||
await self._ros_node.sleep(1)
|
||||
else:
|
||||
await asyncio.sleep(1)
|
||||
@@ -998,7 +1139,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""Pick up tips from the specified resource."""
|
||||
# INSERT_YOUR_CODE
|
||||
# Ensure use_channels is converted to a list of ints if it's an array
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1052,7 +1193,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
||||
"""Pick up tips from the specified resource."""
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1135,7 +1276,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
"""Mix liquid in the specified resources."""
|
||||
|
||||
|
||||
plate_indexes = []
|
||||
for op in targets:
|
||||
deck = op.parent.parent.parent
|
||||
@@ -1178,7 +1319,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
|
||||
"""Aspirate liquid from the specified resources."""
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1235,7 +1376,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
|
||||
"""Dispense liquid into the specified resources."""
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1416,7 +1557,6 @@ class PRCXI9300Api:
|
||||
time.sleep(1)
|
||||
return success
|
||||
|
||||
|
||||
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
|
||||
payload = json.dumps(
|
||||
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
|
||||
@@ -1543,7 +1683,7 @@ class PRCXI9300Api:
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
"Function": "Imbibing",
|
||||
@@ -1621,7 +1761,7 @@ class PRCXI9300Api:
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
"Function": "Blending",
|
||||
@@ -1681,11 +1821,11 @@ class PRCXI9300Api:
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
def clamp_jaw_pick_up(self,
|
||||
def clamp_jaw_pick_up(
|
||||
self,
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
@@ -1695,7 +1835,7 @@ class PRCXI9300Api:
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
"PlateOrHoleNum": f"T{plate_no}",
|
||||
}
|
||||
|
||||
def clamp_jaw_drop(
|
||||
@@ -1703,7 +1843,6 @@ class PRCXI9300Api:
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
@@ -1713,7 +1852,7 @@ class PRCXI9300Api:
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
"PlateOrHoleNum": f"T{plate_no}",
|
||||
}
|
||||
|
||||
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||
@@ -1726,6 +1865,7 @@ class PRCXI9300Api:
|
||||
"AssistFun4": is_wait,
|
||||
}
|
||||
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
def __init__(self, product_name: str = "PRCXI9300"):
|
||||
@@ -2104,7 +2244,9 @@ if __name__ == "__main__":
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="tip_rack",
|
||||
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
ordered_items=collections.OrderedDict(
|
||||
{k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
|
||||
),
|
||||
)
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
@@ -2299,43 +2441,37 @@ if __name__ == "__main__":
|
||||
|
||||
A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
with open("deck.json", "w", encoding="utf-8") as f:
|
||||
A.insert(0, {
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
|
||||
A.insert(
|
||||
0,
|
||||
{
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
},
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": False,
|
||||
"debug": True,
|
||||
"simulator": True,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"is_9320": True,
|
||||
},
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": False,
|
||||
"debug": True,
|
||||
"simulator": True,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"is_9320": True
|
||||
"data": {},
|
||||
"children": ["PRCXI_Deck"],
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
"PRCXI_Deck"
|
||||
]
|
||||
})
|
||||
)
|
||||
A[1]["parent"] = "PRCXI"
|
||||
json.dump({
|
||||
"nodes": A,
|
||||
"links": []
|
||||
}, f, indent=4, ensure_ascii=False)
|
||||
json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
|
||||
|
||||
handler = PRCXI9300Handler(
|
||||
deck=deck,
|
||||
@@ -2377,7 +2513,6 @@ if __name__ == "__main__":
|
||||
time.sleep(5)
|
||||
os._exit(0)
|
||||
|
||||
|
||||
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
|
||||
prcxi_api.list_matrices()
|
||||
prcxi_api.get_all_materials()
|
||||
|
||||
@@ -19,10 +19,11 @@ from rclpy.node import Node
|
||||
import re
|
||||
|
||||
class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
|
||||
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
|
||||
super().__init__(
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface={},
|
||||
|
||||
@@ -2,6 +2,8 @@ import time
|
||||
import logging
|
||||
from typing import Union, Dict, Optional
|
||||
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
|
||||
class VirtualMultiwayValve:
|
||||
"""
|
||||
@@ -41,13 +43,11 @@ class VirtualMultiwayValve:
|
||||
def target_position(self) -> int:
|
||||
return self._target_position
|
||||
|
||||
def get_current_position(self) -> int:
|
||||
"""获取当前阀门位置 📍"""
|
||||
return self._current_position
|
||||
|
||||
def get_current_port(self) -> str:
|
||||
"""获取当前连接的端口名称 🔌"""
|
||||
return self._current_position
|
||||
@property
|
||||
@topic_config()
|
||||
def current_port(self) -> str:
|
||||
"""当前连接的端口名称 🔌"""
|
||||
return self.port
|
||||
|
||||
def set_position(self, command: Union[int, str]):
|
||||
"""
|
||||
@@ -169,12 +169,14 @@ class VirtualMultiwayValve:
|
||||
self._status = "Idle"
|
||||
self._valve_state = "Closed"
|
||||
|
||||
close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
|
||||
close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
|
||||
self.logger.info(close_msg)
|
||||
return close_msg
|
||||
|
||||
def get_valve_position(self) -> int:
|
||||
"""获取阀门位置 - 兼容性方法 📍"""
|
||||
@property
|
||||
@topic_config()
|
||||
def valve_position(self) -> int:
|
||||
"""阀门位置 📍"""
|
||||
return self._current_position
|
||||
|
||||
def set_valve_position(self, command: Union[int, str]):
|
||||
@@ -229,19 +231,16 @@ class VirtualMultiwayValve:
|
||||
self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
|
||||
return self.set_to_pump_position()
|
||||
|
||||
def get_flow_path(self) -> str:
|
||||
"""获取当前流路路径描述 🌊"""
|
||||
current_port = self.get_current_port()
|
||||
@property
|
||||
@topic_config()
|
||||
def flow_path(self) -> str:
|
||||
"""当前流路路径描述 🌊"""
|
||||
if self._current_position == 0:
|
||||
flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
|
||||
else:
|
||||
flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
|
||||
|
||||
# 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
|
||||
return flow_path
|
||||
return f"🚰 转移泵已连接 (位置 {self._current_position})"
|
||||
return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
|
||||
|
||||
def __str__(self):
|
||||
current_port = self.get_current_port()
|
||||
current_port = self.current_port
|
||||
status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
|
||||
|
||||
return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
|
||||
@@ -253,7 +252,7 @@ if __name__ == "__main__":
|
||||
|
||||
print("🔄 === 虚拟九通阀门测试 === ✨")
|
||||
print(f"🏠 初始状态: {valve}")
|
||||
print(f"🌊 当前流路: {valve.get_flow_path()}")
|
||||
print(f"🌊 当前流路: {valve.flow_path}")
|
||||
|
||||
# 切换到试剂瓶1（1号位）
|
||||
print(f"\n🔌 切换到1号位: {valve.set_position(1)}")
|
||||
|
||||
88
unilabos/devices/virtual/virtual_sample_demo.py
Normal file
88
unilabos/devices/virtual/virtual_sample_demo.py
Normal file
@@ -0,0 +1,88 @@
|
||||
"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
|
||||
|
||||
import asyncio
|
||||
import logging
|
||||
import random
|
||||
import time
|
||||
from typing import Any, Dict, List, Optional
|
||||
|
||||
|
||||
class VirtualSampleDemo:
|
||||
"""虚拟样品追踪演示设备，提供两种典型返回模式：
|
||||
- measure_samples: 等长输入输出 (前端按 index 自动对齐)
|
||||
- split_and_measure: 输出比输入长，附带 samples 列标注归属
|
||||
"""
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[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_sample_demo"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 1: 等长输入输出，无 samples 列
|
||||
# ------------------------------------------------------------------
|
||||
async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
|
||||
"""模拟光度测量。absorbance = concentration * 0.05 + noise
|
||||
|
||||
入参和出参 list 长度相等，前端按 index 自动对齐。
|
||||
"""
|
||||
self.logger.info(f"measure_samples: concentrations={concentrations}")
|
||||
absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
|
||||
return {"concentrations": concentrations, "absorbance": absorbance}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 2: 输出比输入长，带 samples 列
|
||||
# ------------------------------------------------------------------
|
||||
async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
|
||||
"""将每个样品均分为 split_count 份后逐份测量。
|
||||
|
||||
返回的 list 长度 = len(volumes) * split_count，
|
||||
附带 samples 列标注每行属于第几个输入样品 (0-based index)。
|
||||
"""
|
||||
self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
|
||||
out_volumes: List[float] = []
|
||||
readings: List[float] = []
|
||||
samples: List[int] = []
|
||||
|
||||
for idx, vol in enumerate(volumes):
|
||||
split_vol = round(vol / split_count, 2)
|
||||
for _ in range(split_count):
|
||||
out_volumes.append(split_vol)
|
||||
readings.append(round(random.uniform(0.1, 1.0), 4))
|
||||
samples.append(idx)
|
||||
|
||||
return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 3: 入参和出参都带 samples 列（不等长）
|
||||
# ------------------------------------------------------------------
|
||||
async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
|
||||
"""对 split_and_measure 的输出做二次分析。
|
||||
|
||||
入参 readings/samples 长度相同但 > 原始样品数，
|
||||
出参同样带 samples 列，长度与入参一致。
|
||||
"""
|
||||
self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
|
||||
scores: List[float] = []
|
||||
passed: List[bool] = []
|
||||
threshold = 0.4
|
||||
|
||||
for r in readings:
|
||||
score = round(r * 100 + random.gauss(0, 2), 2)
|
||||
scores.append(score)
|
||||
passed.append(r >= threshold)
|
||||
|
||||
return {"scores": scores, "passed": passed, "unilabos_samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# 状态属性
|
||||
# ------------------------------------------------------------------
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
@@ -3,6 +3,7 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any
|
||||
|
||||
from unilabos.registry.decorators import topic_config
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class VirtualStirrer:
|
||||
@@ -314,9 +315,11 @@ class VirtualStirrer:
|
||||
def min_speed(self) -> float:
|
||||
return self._min_speed
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""获取设备状态信息 📊"""
|
||||
info = {
|
||||
@property
|
||||
@topic_config()
|
||||
def device_info(self) -> Dict[str, Any]:
|
||||
"""设备状态快照信息 📊"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"status": self.status,
|
||||
"operation_mode": self.operation_mode,
|
||||
@@ -325,12 +328,9 @@ class VirtualStirrer:
|
||||
"is_stirring": self.is_stirring,
|
||||
"remaining_time": self.remaining_time,
|
||||
"max_speed": self._max_speed,
|
||||
"min_speed": self._min_speed
|
||||
"min_speed": self._min_speed,
|
||||
}
|
||||
|
||||
# self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
||||
return info
|
||||
|
||||
|
||||
def __str__(self):
|
||||
status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
|
||||
return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"
|
||||
@@ -4,6 +4,7 @@ from enum import Enum
|
||||
from typing import Union, Optional
|
||||
import logging
|
||||
|
||||
from unilabos.registry.decorators import topic_config
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
@@ -15,35 +16,35 @@ class VirtualPumpMode(Enum):
|
||||
|
||||
class VirtualTransferPump:
|
||||
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
|
||||
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
|
||||
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
|
||||
"""
|
||||
初始化虚拟转移泵
|
||||
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
config: 配置字典，包含max_volume, port等参数
|
||||
**kwargs: 其他参数，确保兼容性
|
||||
"""
|
||||
self.device_id = device_id or "virtual_transfer_pump"
|
||||
|
||||
|
||||
# 从config或kwargs中获取参数，确保类型正确
|
||||
if config:
|
||||
self.max_volume = float(config.get('max_volume', 25.0))
|
||||
self.port = config.get('port', 'VIRTUAL')
|
||||
self.max_volume = float(config.get("max_volume", 25.0))
|
||||
self.port = config.get("port", "VIRTUAL")
|
||||
else:
|
||||
self.max_volume = float(kwargs.get('max_volume', 25.0))
|
||||
self.port = kwargs.get('port', 'VIRTUAL')
|
||||
|
||||
self._transfer_rate = float(kwargs.get('transfer_rate', 0))
|
||||
self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
|
||||
|
||||
self.max_volume = float(kwargs.get("max_volume", 25.0))
|
||||
self.port = kwargs.get("port", "VIRTUAL")
|
||||
|
||||
self._transfer_rate = float(kwargs.get("transfer_rate", 0))
|
||||
self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
|
||||
|
||||
# 状态变量 - 确保都是正确类型
|
||||
self._status = "Idle"
|
||||
self._position = 0.0 # float
|
||||
self._max_velocity = 5.0 # float
|
||||
self._max_velocity = 5.0 # float
|
||||
self._current_volume = 0.0 # float
|
||||
|
||||
# 🚀 新增：快速模式设置 - 大幅缩短执行时间
|
||||
@@ -52,14 +53,16 @@ class VirtualTransferPump:
|
||||
self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
|
||||
|
||||
|
||||
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
|
||||
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
|
||||
print(
|
||||
f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
|
||||
)
|
||||
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
|
||||
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化虚拟泵 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
|
||||
@@ -68,33 +71,33 @@ class VirtualTransferPump:
|
||||
self._current_volume = 0.0
|
||||
self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
|
||||
return True
|
||||
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理虚拟泵 🧹"""
|
||||
self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
|
||||
self._status = "Idle"
|
||||
self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
|
||||
return True
|
||||
|
||||
|
||||
# 基本属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
|
||||
@property
|
||||
def position(self) -> float:
|
||||
"""当前柱塞位置 (ml) 📍"""
|
||||
return self._position
|
||||
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
"""当前注射器中的体积 (ml) 💧"""
|
||||
return self._current_volume
|
||||
|
||||
|
||||
@property
|
||||
def max_velocity(self) -> float:
|
||||
return self._max_velocity
|
||||
|
||||
|
||||
@property
|
||||
def transfer_rate(self) -> float:
|
||||
return self._transfer_rate
|
||||
@@ -103,17 +106,17 @@ class VirtualTransferPump:
|
||||
"""设置最大速度 (ml/s) 🌊"""
|
||||
self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
|
||||
self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
|
||||
|
||||
|
||||
def get_status(self) -> str:
|
||||
"""获取泵状态 📋"""
|
||||
return self._status
|
||||
|
||||
|
||||
async def _simulate_operation(self, duration: float):
|
||||
"""模拟操作延时 ⏱️"""
|
||||
self._status = "Busy"
|
||||
await self._ros_node.sleep(duration)
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
|
||||
"""
|
||||
计算操作持续时间 ⏰
|
||||
@@ -121,10 +124,10 @@ class VirtualTransferPump:
|
||||
"""
|
||||
if velocity is None:
|
||||
velocity = self._max_velocity
|
||||
|
||||
|
||||
# 📊 计算理论时间（用于日志显示）
|
||||
theoretical_duration = abs(volume) / velocity
|
||||
|
||||
|
||||
# 🚀 如果启用快速模式，使用固定的快速时间
|
||||
if self._fast_mode:
|
||||
# 根据操作类型选择快速时间
|
||||
@@ -132,13 +135,13 @@ class VirtualTransferPump:
|
||||
actual_duration = self._fast_move_time
|
||||
else: # 很小的操作
|
||||
actual_duration = 0.5
|
||||
|
||||
|
||||
self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
|
||||
return actual_duration
|
||||
else:
|
||||
# 正常模式使用理论时间
|
||||
return theoretical_duration
|
||||
|
||||
|
||||
def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
|
||||
"""
|
||||
计算显示用的持续时间（用于日志） 📊
|
||||
@@ -147,16 +150,16 @@ class VirtualTransferPump:
|
||||
if velocity is None:
|
||||
velocity = self._max_velocity
|
||||
return abs(volume) / velocity
|
||||
|
||||
|
||||
# 新的set_position方法 - 专门用于SetPumpPosition动作
|
||||
async def set_position(self, position: float, max_velocity: float = None):
|
||||
"""
|
||||
移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
|
||||
|
||||
|
||||
Args:
|
||||
position (float): 目标位置 (ml)
|
||||
max_velocity (float): 移动速度 (ml/s)
|
||||
|
||||
|
||||
Returns:
|
||||
dict: 符合SetPumpPosition.action定义的结果
|
||||
"""
|
||||
@@ -164,19 +167,19 @@ class VirtualTransferPump:
|
||||
# 验证并转换参数
|
||||
target_position = float(position)
|
||||
velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
|
||||
|
||||
|
||||
# 限制位置在有效范围内
|
||||
target_position = max(0.0, min(float(self.max_volume), target_position))
|
||||
|
||||
|
||||
# 计算移动距离
|
||||
volume_to_move = abs(target_position - self._position)
|
||||
|
||||
|
||||
# 📊 计算显示用的时间（用于日志）
|
||||
display_duration = self._calculate_display_duration(volume_to_move, velocity)
|
||||
|
||||
|
||||
# ⚡ 计算实际执行时间（快速模式）
|
||||
actual_duration = self._calculate_duration(volume_to_move, velocity)
|
||||
|
||||
|
||||
# 🎯 确定操作类型和emoji
|
||||
if target_position > self._position:
|
||||
operation_type = "吸液"
|
||||
@@ -187,28 +190,34 @@ class VirtualTransferPump:
|
||||
else:
|
||||
operation_type = "保持"
|
||||
operation_emoji = "📍"
|
||||
|
||||
|
||||
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
|
||||
self.logger.info(
|
||||
f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
|
||||
)
|
||||
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
# 🚀 模拟移动过程
|
||||
if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
|
||||
start_position = self._position
|
||||
steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
|
||||
step_duration = actual_duration / steps
|
||||
|
||||
|
||||
self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
|
||||
|
||||
|
||||
for i in range(steps + 1):
|
||||
# 计算当前位置和进度
|
||||
progress = (i / steps) * 100 if steps > 0 else 100
|
||||
current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
|
||||
|
||||
current_pos = (
|
||||
start_position + (target_position - start_position) * (i / steps)
|
||||
if steps > 0
|
||||
else target_position
|
||||
)
|
||||
|
||||
# 更新状态
|
||||
if i < steps:
|
||||
self._status = f"{operation_type}中"
|
||||
@@ -216,10 +225,10 @@ class VirtualTransferPump:
|
||||
else:
|
||||
self._status = "Idle"
|
||||
status_emoji = "✅"
|
||||
|
||||
|
||||
self._position = current_pos
|
||||
self._current_volume = current_pos
|
||||
|
||||
|
||||
# 显示进度（每25%或最后一步）
|
||||
if i == 0:
|
||||
self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
|
||||
@@ -227,7 +236,7 @@ class VirtualTransferPump:
|
||||
self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
|
||||
elif i == steps:
|
||||
self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
|
||||
|
||||
|
||||
# 等待一小步时间
|
||||
if i < steps and step_duration > 0:
|
||||
await self._ros_node.sleep(step_duration)
|
||||
@@ -236,25 +245,27 @@ class VirtualTransferPump:
|
||||
self._position = target_position
|
||||
self._current_volume = target_position
|
||||
self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
|
||||
|
||||
|
||||
# 确保最终位置准确
|
||||
self._position = target_position
|
||||
self._current_volume = target_position
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
# 📊 最终状态日志
|
||||
if volume_to_move > 0.01:
|
||||
self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
self.logger.info(
|
||||
f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
|
||||
)
|
||||
|
||||
# 返回符合action定义的结果
|
||||
return {
|
||||
"success": True,
|
||||
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
|
||||
"final_position": self._position,
|
||||
"final_volume": self._current_volume,
|
||||
"operation_type": operation_type
|
||||
"operation_type": operation_type,
|
||||
}
|
||||
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"❌ 设置位置失败: {str(e)}"
|
||||
self.logger.error(error_msg)
|
||||
@@ -262,134 +273,138 @@ class VirtualTransferPump:
|
||||
"success": False,
|
||||
"message": error_msg,
|
||||
"final_position": self._position,
|
||||
"final_volume": self._current_volume
|
||||
"final_volume": self._current_volume,
|
||||
}
|
||||
|
||||
|
||||
# 其他泵操作方法
|
||||
async def pull_plunger(self, volume: float, velocity: float = None):
|
||||
"""
|
||||
拉取柱塞（吸液） 📥
|
||||
|
||||
|
||||
Args:
|
||||
volume (float): 要拉取的体积 (ml)
|
||||
velocity (float): 拉取速度 (ml/s)
|
||||
"""
|
||||
new_position = min(self.max_volume, self._position + volume)
|
||||
actual_volume = new_position - self._position
|
||||
|
||||
|
||||
if actual_volume <= 0:
|
||||
self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
|
||||
return
|
||||
|
||||
|
||||
display_duration = self._calculate_display_duration(actual_volume, velocity)
|
||||
actual_duration = self._calculate_duration(actual_volume, velocity)
|
||||
|
||||
|
||||
self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
await self._simulate_operation(actual_duration)
|
||||
|
||||
|
||||
self._position = new_position
|
||||
self._current_volume = new_position
|
||||
|
||||
|
||||
self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
async def push_plunger(self, volume: float, velocity: float = None):
|
||||
"""
|
||||
推出柱塞（排液） 📤
|
||||
|
||||
|
||||
Args:
|
||||
volume (float): 要推出的体积 (ml)
|
||||
velocity (float): 推出速度 (ml/s)
|
||||
"""
|
||||
new_position = max(0, self._position - volume)
|
||||
actual_volume = self._position - new_position
|
||||
|
||||
|
||||
if actual_volume <= 0:
|
||||
self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
|
||||
return
|
||||
|
||||
|
||||
display_duration = self._calculate_display_duration(actual_volume, velocity)
|
||||
actual_duration = self._calculate_duration(actual_volume, velocity)
|
||||
|
||||
|
||||
self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
await self._simulate_operation(actual_duration)
|
||||
|
||||
|
||||
self._position = new_position
|
||||
self._current_volume = new_position
|
||||
|
||||
|
||||
self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
# 便捷操作方法
|
||||
async def aspirate(self, volume: float, velocity: float = None):
|
||||
"""吸液操作 📥"""
|
||||
await self.pull_plunger(volume, velocity)
|
||||
|
||||
|
||||
async def dispense(self, volume: float, velocity: float = None):
|
||||
"""排液操作 📤"""
|
||||
await self.push_plunger(volume, velocity)
|
||||
|
||||
|
||||
async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
|
||||
"""转移操作（先吸后排） 🔄"""
|
||||
self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
|
||||
|
||||
|
||||
# 吸液
|
||||
await self.aspirate(volume, aspirate_velocity)
|
||||
|
||||
|
||||
# 短暂停顿
|
||||
self.logger.debug("⏸️ 短暂停顿...")
|
||||
await self._ros_node.sleep(0.1)
|
||||
|
||||
|
||||
# 排液
|
||||
await self.dispense(volume, dispense_velocity)
|
||||
|
||||
|
||||
async def empty_syringe(self, velocity: float = None):
|
||||
"""清空注射器"""
|
||||
await self.set_position(0, velocity)
|
||||
|
||||
|
||||
async def fill_syringe(self, velocity: float = None):
|
||||
"""充满注射器"""
|
||||
await self.set_position(self.max_volume, velocity)
|
||||
|
||||
|
||||
async def stop_operation(self):
|
||||
"""停止当前操作"""
|
||||
self._status = "Idle"
|
||||
self.logger.info("Operation stopped")
|
||||
|
||||
|
||||
# 状态查询方法
|
||||
def get_position(self) -> float:
|
||||
"""获取当前位置"""
|
||||
return self._position
|
||||
|
||||
|
||||
def get_current_volume(self) -> float:
|
||||
"""获取当前体积"""
|
||||
return self._current_volume
|
||||
|
||||
def get_remaining_capacity(self) -> float:
|
||||
"""获取剩余容量"""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def remaining_capacity(self) -> float:
|
||||
"""剩余容量 (ml)"""
|
||||
return self.max_volume - self._current_volume
|
||||
|
||||
|
||||
def is_empty(self) -> bool:
|
||||
"""检查是否为空"""
|
||||
return self._current_volume <= 0.01 # 允许小量误差
|
||||
|
||||
|
||||
def is_full(self) -> bool:
|
||||
"""检查是否已满"""
|
||||
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
||||
|
||||
|
||||
def __str__(self):
|
||||
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
|
||||
return (
|
||||
f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
)
|
||||
|
||||
def __repr__(self):
|
||||
return self.__str__()
|
||||
|
||||
@@ -398,20 +413,20 @@ class VirtualTransferPump:
|
||||
async def demo():
|
||||
"""虚拟泵使用示例"""
|
||||
pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
|
||||
|
||||
|
||||
await pump.initialize()
|
||||
|
||||
|
||||
print(f"Initial state: {pump}")
|
||||
|
||||
|
||||
# 测试set_position方法
|
||||
result = await pump.set_position(10.0, max_velocity=2.0)
|
||||
print(f"Set position result: {result}")
|
||||
print(f"After setting position to 10ml: {pump}")
|
||||
|
||||
|
||||
# 吸液测试
|
||||
await pump.aspirate(5.0, velocity=2.0)
|
||||
print(f"After aspirating 5ml: {pump}")
|
||||
|
||||
|
||||
# 清空测试
|
||||
result = await pump.set_position(0.0)
|
||||
print(f"Empty result: {result}")
|
||||
|
||||
995
unilabos/devices/virtual/workbench.py
Normal file
995
unilabos/devices/virtual/workbench.py
Normal file
@@ -0,0 +1,995 @@
|
||||
"""
|
||||
Virtual Workbench Device - 模拟工作台设备
|
||||
包含:
|
||||
- 1个机械臂 (每次操作3s, 独占锁)
|
||||
- 3个加热台 (每次加热10s, 可并行)
|
||||
|
||||
工作流程:
|
||||
1. A1-A5 物料同时启动, 竞争机械臂
|
||||
2. 机械臂将物料移动到空闲加热台
|
||||
3. 加热完成后, 机械臂将物料移动到C1-C5
|
||||
|
||||
注意: 调用来自线程池, 使用 threading.Lock 进行同步
|
||||
"""
|
||||
|
||||
import logging
|
||||
import time
|
||||
from typing import Dict, Any, Optional, List
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from threading import Lock, RLock
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
|
||||
|
||||
class MoveToHeatingStationResult(TypedDict):
|
||||
"""move_to_heating_station 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class StartHeatingResult(TypedDict):
|
||||
"""start_heating 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class MoveToOutputResult(TypedDict):
|
||||
"""move_to_output 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
output_position: str
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class PrepareMaterialsResult(TypedDict):
|
||||
"""prepare_materials 返回类型 - 批量准备物料"""
|
||||
|
||||
success: bool
|
||||
count: int
|
||||
material_1: int # 物料编号1
|
||||
material_2: int # 物料编号2
|
||||
material_3: int # 物料编号3
|
||||
material_4: int # 物料编号4
|
||||
material_5: int # 物料编号5
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
# ============ 状态枚举 ============
|
||||
|
||||
|
||||
class HeatingStationState(Enum):
|
||||
"""加热台状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
OCCUPIED = "occupied" # 已放置物料, 等待加热
|
||||
HEATING = "heating" # 加热中
|
||||
COMPLETED = "completed" # 加热完成, 等待取走
|
||||
|
||||
|
||||
class ArmState(Enum):
|
||||
"""机械臂状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
BUSY = "busy" # 工作中
|
||||
|
||||
|
||||
@dataclass
|
||||
class HeatingStation:
|
||||
"""加热台数据结构"""
|
||||
|
||||
station_id: int
|
||||
state: HeatingStationState = HeatingStationState.IDLE
|
||||
current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
|
||||
material_number: Optional[int] = None # 物料编号 (1-5)
|
||||
heating_start_time: Optional[float] = None
|
||||
heating_progress: float = 0.0
|
||||
|
||||
|
||||
@device(
|
||||
id="virtual_workbench",
|
||||
category=["virtual_device"],
|
||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||
)
|
||||
class VirtualWorkbench:
|
||||
"""
|
||||
Virtual Workbench Device - 虚拟工作台设备
|
||||
|
||||
模拟一个包含1个机械臂和3个加热台的工作站
|
||||
- 机械臂操作耗时3秒, 同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒, 3个加热台可并行工作
|
||||
|
||||
工作流:
|
||||
1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
|
||||
2. 获取机械臂后, 查找空闲加热台
|
||||
3. 机械臂将物料放入加热台, 开始加热
|
||||
4. 加热完成后, 机械臂将物料移动到目标位置Cn
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
# 配置常量
|
||||
ARM_OPERATION_TIME: float = 2 # 机械臂操作时间(秒)
|
||||
HEATING_TIME: float = 60.0 # 加热时间(秒)
|
||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
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 "virtual_workbench"
|
||||
self.config = config or {}
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {}
|
||||
|
||||
# 从config中获取可配置参数
|
||||
self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
|
||||
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
||||
|
||||
# 机械臂状态和锁
|
||||
self._arm_lock = Lock()
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task: Optional[str] = None
|
||||
|
||||
# 加热台状态
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock()
|
||||
|
||||
# 任务追踪
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {}
|
||||
self._tasks_lock = Lock()
|
||||
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
|
||||
self.logger.info(
|
||||
f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
|
||||
f"加热时间: {self.HEATING_TIME}s | "
|
||||
f"加热台数量: {self.NUM_HEATING_STATIONS}"
|
||||
)
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点初始化后回调"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
@not_action
|
||||
def initialize(self) -> bool:
|
||||
"""初始化虚拟工作台"""
|
||||
self.logger.info(f"初始化虚拟工作台 {self.device_id}")
|
||||
|
||||
with self._stations_lock:
|
||||
for station in self._heating_stations.values():
|
||||
station.state = HeatingStationState.IDLE
|
||||
station.current_material = None
|
||||
station.material_number = None
|
||||
station.heating_progress = 0.0
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Ready",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"arm_current_task": None,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": 0,
|
||||
"message": "工作台就绪",
|
||||
}
|
||||
)
|
||||
|
||||
self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
|
||||
return True
|
||||
|
||||
@not_action
|
||||
def cleanup(self) -> bool:
|
||||
"""清理虚拟工作台"""
|
||||
self.logger.info(f"清理虚拟工作台 {self.device_id}")
|
||||
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations.clear()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks.clear()
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Offline",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"heating_stations": {},
|
||||
"message": "工作台已关闭",
|
||||
}
|
||||
)
|
||||
return True
|
||||
|
||||
def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
|
||||
"""获取所有加热台状态"""
|
||||
with self._stations_lock:
|
||||
return {
|
||||
station_id: {
|
||||
"state": station.state.value,
|
||||
"current_material": station.current_material,
|
||||
"material_number": station.material_number,
|
||||
"heating_progress": station.heating_progress,
|
||||
}
|
||||
for station_id, station in self._heating_stations.items()
|
||||
}
|
||||
|
||||
def _update_data_status(self, message: Optional[str] = None):
|
||||
"""更新状态数据"""
|
||||
self.data.update(
|
||||
{
|
||||
"arm_state": self._arm_state.value,
|
||||
"arm_current_task": self._arm_current_task,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": len(self._active_tasks),
|
||||
}
|
||||
)
|
||||
if message:
|
||||
self.data["message"] = message
|
||||
|
||||
def _find_available_heating_station(self) -> Optional[int]:
|
||||
"""查找空闲的加热台"""
|
||||
with self._stations_lock:
|
||||
for station_id, station in self._heating_stations.items():
|
||||
if station.state == HeatingStationState.IDLE:
|
||||
return station_id
|
||||
return None
|
||||
|
||||
def _acquire_arm(self, task_description: str) -> bool:
|
||||
"""获取机械臂使用权(阻塞直到获取)"""
|
||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
||||
self._arm_lock.acquire()
|
||||
self._arm_state = ArmState.BUSY
|
||||
self._arm_current_task = task_description
|
||||
self._update_data_status(f"机械臂执行: {task_description}")
|
||||
self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
|
||||
return True
|
||||
|
||||
def _release_arm(self):
|
||||
"""释放机械臂"""
|
||||
task = self._arm_current_task
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
self._arm_lock.release()
|
||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
@action(
|
||||
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}, goal_default={
|
||||
"timeout_seconds": 3600,
|
||||
"assignee_user_ids": []
|
||||
}, feedback_interval=300,
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
ActionInputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
|
||||
# transfer使用
|
||||
ActionOutputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
|
||||
# test使用
|
||||
ActionOutputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
|
||||
]
|
||||
)
|
||||
def manual_confirm(
|
||||
self,
|
||||
resource: List[ResourceSlot],
|
||||
target_device: DeviceSlot,
|
||||
mount_resource: List[ResourceSlot],
|
||||
collector_mass: List[float],
|
||||
active_material: List[float],
|
||||
capacity: List[float],
|
||||
battery_system: List[str],
|
||||
timeout_seconds: int,
|
||||
assignee_user_ids: list[str],
|
||||
**kwargs
|
||||
) -> dict:
|
||||
"""
|
||||
timeout_seconds: 超时时间（秒），默认3600秒
|
||||
collector_mass: 极流体质量
|
||||
active_material: 活性物质含量
|
||||
capacity: 克容量（mAh/g）
|
||||
battery_system: 电池体系
|
||||
修改的结果无效，是只读的
|
||||
"""
|
||||
resource = ResourceTreeSet.from_plr_resources(resource).dump()
|
||||
mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
|
||||
kwargs.update(locals())
|
||||
kwargs.pop("kwargs")
|
||||
kwargs.pop("self")
|
||||
return kwargs
|
||||
|
||||
@action(
|
||||
description="转移物料",
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
]
|
||||
)
|
||||
async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
|
||||
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
|
||||
**{
|
||||
"plr_resources": resource,
|
||||
"target_device_id": target_device,
|
||||
"target_resources": mount_resource,
|
||||
"sites": [None] * len(mount_resource),
|
||||
})
|
||||
result = await future
|
||||
return result
|
||||
|
||||
|
||||
@action(
|
||||
description="扣电测试启动",
|
||||
handles=[
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
ActionInputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
|
||||
]
|
||||
)
|
||||
async def test(
|
||||
self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
|
||||
):
|
||||
print(resource)
|
||||
print(mount_resource)
|
||||
print(collector_mass)
|
||||
print(active_material)
|
||||
print(capacity)
|
||||
print(battery_system)
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
|
||||
handles=[
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material",
|
||||
label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material",
|
||||
label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material",
|
||||
label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material",
|
||||
label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material",
|
||||
label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def prepare_materials(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
count: int = 5,
|
||||
) -> PrepareMaterialsResult:
|
||||
"""
|
||||
批量准备物料 - 虚拟起始节点
|
||||
|
||||
作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
|
||||
"""
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
self.logger.info(
|
||||
f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"count": count,
|
||||
"material_1": materials[0] if len(materials) > 0 else 0,
|
||||
"material_2": materials[1] if len(materials) > 1 else 0,
|
||||
"material_3": materials[2] if len(materials) > 2 else 0,
|
||||
"material_4": materials[3] if len(materials) > 3 else 0,
|
||||
"material_5": materials[4] if len(materials) > 4 else 0,
|
||||
"message": f"已准备 {count} 个物料: A1-A{count}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
|
||||
handles=[
|
||||
ActionInputHandle(key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="material_number_output", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def move_to_heating_station(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
material_number: int,
|
||||
) -> MoveToHeatingStationResult:
|
||||
"""
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
|
||||
"""
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id] = {
|
||||
"status": "waiting_for_arm",
|
||||
"start_time": time.time(),
|
||||
}
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "finding_station"
|
||||
station_id = None
|
||||
|
||||
while station_id is None:
|
||||
station_id = self._find_available_heating_station()
|
||||
if station_id is None:
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
||||
self._heating_stations[station_id].current_material = material_id
|
||||
self._heating_stations[station_id].material_number = material_number
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
||||
self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
|
||||
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "placed_on_station"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": -1,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
always_free=True,
|
||||
description="启动指定加热台的加热程序",
|
||||
handles=[
|
||||
ActionInputHandle(key="station_id_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="material_number_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
|
||||
label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
|
||||
label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def start_heating(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
|
||||
if station.current_material is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": station.current_material,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}已经在加热中",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
with self._stations_lock:
|
||||
heating_list = [
|
||||
f"加热台{sid}:{s.current_material}"
|
||||
for sid, s in self._heating_stations.items()
|
||||
if s.state == HeatingStationState.HEATING and s.current_material
|
||||
]
|
||||
self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
|
||||
|
||||
start_time = time.time()
|
||||
last_countdown_log = start_time
|
||||
while True:
|
||||
elapsed = time.time() - start_time
|
||||
remaining = max(0.0, self.HEATING_TIME - elapsed)
|
||||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].heating_progress = progress
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
if time.time() - last_countdown_log >= 5.0:
|
||||
self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
|
||||
last_countdown_log = time.time()
|
||||
|
||||
if elapsed >= self.HEATING_TIME:
|
||||
break
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||||
self._heating_stations[station_id].heating_progress = 100.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热完成")
|
||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}加热完成",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="将物料从加热台移动到输出位置Cn",
|
||||
handles=[
|
||||
ActionInputHandle(key="output_station_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="output_material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
],
|
||||
)
|
||||
def move_to_output(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
"""
|
||||
output_number = material_number
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
material_id = station.current_material
|
||||
|
||||
if material_id is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
||||
self.logger.info(f"[任务] {task_desc}")
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||||
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||||
|
||||
self.logger.info(
|
||||
f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
|
||||
)
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||||
self._heating_stations[station_id].current_material = None
|
||||
self._heating_stations[station_id].material_number = None
|
||||
self._heating_stations[station_id].heating_progress = 0.0
|
||||
self._heating_stations[station_id].heating_start_time = None
|
||||
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "completed"
|
||||
self._active_tasks[material_id]["end_time"] = time.time()
|
||||
|
||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": output_position,
|
||||
"message": f"{material_id}已成功移动到{output_position}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content is not None else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": output_position,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
@@ -1,9 +1,5 @@
|
||||
# 工作站抽象基类物料系统架构说明
|
||||
|
||||
## 设计理念
|
||||
|
||||
基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
|
||||
|
||||
### 核心原则
|
||||
|
||||
1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
|
||||
|
||||
@@ -0,0 +1,113 @@
|
||||
# Bioyond Cell 工作站 - 多订单返回示例
|
||||
|
||||
本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。
|
||||
|
||||
## 问题描述
|
||||
|
||||
之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。
|
||||
|
||||
## 解决方案
|
||||
|
||||
修改后的 `create_orders` 函数现在会：
|
||||
|
||||
1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号
|
||||
2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成
|
||||
3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表
|
||||
4. **统一返回**：返回包含所有订单报文的 JSON 格式数据
|
||||
|
||||
## 返回格式
|
||||
|
||||
```json
|
||||
{
|
||||
"status": "all_completed",
|
||||
"total_orders": 3,
|
||||
"reports": [
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:32:09.2148671+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
|
||||
"orderCode": "BSO2025122400024",
|
||||
"orderName": "DP20251224001",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
},
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:32:09.9999039+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
|
||||
"orderCode": "BSO2025122400025",
|
||||
"orderName": "DP20251224002",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
},
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:34:00.4139986+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
|
||||
"orderCode": "BSO2025122400026",
|
||||
"orderName": "DP20251224003",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
}
|
||||
],
|
||||
"original_response": {...}
|
||||
}
|
||||
```
|
||||
|
||||
## 使用示例
|
||||
|
||||
```python
|
||||
# 调用 create_orders
|
||||
result = workstation.create_orders("20251224.xlsx")
|
||||
|
||||
# 访问返回数据
|
||||
print(f"总订单数: {result['total_orders']}")
|
||||
print(f"状态: {result['status']}")
|
||||
|
||||
# 遍历所有订单的报文
|
||||
for i, report in enumerate(result['reports'], 1):
|
||||
order_data = report.get('data', {})
|
||||
print(f"\n订单 {i}:")
|
||||
print(f" orderCode: {order_data.get('orderCode')}")
|
||||
print(f" orderName: {order_data.get('orderName')}")
|
||||
print(f" status: {order_data.get('status')}")
|
||||
print(f" 使用物料数: {len(order_data.get('usedMaterials', []))}")
|
||||
```
|
||||
|
||||
## 控制台输出示例
|
||||
|
||||
```
|
||||
[create_orders] 即将提交订单数量: 3
|
||||
[create_orders] 接口返回: {...}
|
||||
[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026']
|
||||
[create_orders] 正在等待第 1/3 个订单: BSO2025122400024
|
||||
[create_orders] ✓ 订单 BSO2025122400024 完成
|
||||
[create_orders] 正在等待第 2/3 个订单: BSO2025122400025
|
||||
[create_orders] ✓ 订单 BSO2025122400025 完成
|
||||
[create_orders] 正在等待第 3/3 个订单: BSO2025122400026
|
||||
[create_orders] ✓ 订单 BSO2025122400026 完成
|
||||
[create_orders] 所有订单已完成，共收集 3 个报文
|
||||
实验记录本========================create_orders========================
|
||||
返回报文数量: 3
|
||||
报文 1: orderCode=BSO2025122400024, status=30
|
||||
报文 2: orderCode=BSO2025122400025, status=30
|
||||
报文 3: orderCode=BSO2025122400026, status=30
|
||||
========================
|
||||
```
|
||||
|
||||
## 关键改进
|
||||
|
||||
1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode
|
||||
2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中
|
||||
3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况
|
||||
4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息
|
||||
5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析
|
||||
Binary file not shown.
@@ -0,0 +1,204 @@
|
||||
# BioyondCellWorkstation JSON 配置迁移经验总结
|
||||
|
||||
**日期**: 2026-01-13
|
||||
**目的**: 从 `config.py` 迁移到 JSON 配置文件
|
||||
|
||||
---
|
||||
|
||||
## 问题背景
|
||||
|
||||
原系统通过 `config.py` 管理配置，导致：
|
||||
1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动）
|
||||
2. 配置分散在代码中，不便于管理
|
||||
3. 无法通过 JSON 统一配置所有参数
|
||||
|
||||
---
|
||||
|
||||
## 解决方案：嵌套配置结构
|
||||
|
||||
### JSON 结构设计
|
||||
|
||||
**正确示例** (嵌套在 `config` 中):
|
||||
```json
|
||||
{
|
||||
"nodes": [{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"protocol_type": [],
|
||||
"bioyond_config": {
|
||||
"api_host": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"timeout": 30,
|
||||
"HTTP_host": "172.16.11.206",
|
||||
"HTTP_port": 8080,
|
||||
"debug_mode": false,
|
||||
"material_type_mappings": {...},
|
||||
"warehouse_mapping": {...},
|
||||
"solid_liquid_mappings": {...}
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}]
|
||||
}
|
||||
```
|
||||
|
||||
**关键点**：
|
||||
- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`）
|
||||
- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递）
|
||||
|
||||
---
|
||||
|
||||
## Python 代码适配
|
||||
|
||||
### 1. 修改 `BioyondCellWorkstation.__init__` 签名
|
||||
|
||||
**文件**: `bioyond_cell_workstation.py`
|
||||
|
||||
```python
|
||||
def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""
|
||||
Args:
|
||||
bioyond_config: 从 JSON 加载的配置字典
|
||||
deck: Deck 配置
|
||||
protocol_type: 协议类型
|
||||
"""
|
||||
# 验证配置
|
||||
if bioyond_config is None:
|
||||
raise ValueError("需要 bioyond_config 参数")
|
||||
|
||||
# 保存配置
|
||||
self.bioyond_config = bioyond_config
|
||||
|
||||
# 设置 HTTP 服务去重标志
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
# 调用父类
|
||||
super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
|
||||
```
|
||||
|
||||
### 2. 替换全局变量引用
|
||||
|
||||
**修改前**（使用全局变量）:
|
||||
```python
|
||||
from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
|
||||
|
||||
def create_sample(self, board_type, ...):
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
|
||||
```
|
||||
|
||||
**修改后**（从配置读取）:
|
||||
```python
|
||||
def create_sample(self, board_type, ...):
|
||||
carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
|
||||
location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code]
|
||||
```
|
||||
|
||||
### 3. 修复父类配置访问
|
||||
|
||||
在 `station.py` 中安全访问配置默认值：
|
||||
|
||||
```python
|
||||
# 修改前（会 KeyError）
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"])
|
||||
}
|
||||
|
||||
# 修改后（安全访问）
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", ""))
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见陷阱
|
||||
|
||||
### ❌ 错误1：将配置放在 `data` 字段
|
||||
```json
|
||||
"config": {"deck": {...}},
|
||||
"data": {"bioyond_config": {...}} // ❌ 不会传递到 __init__
|
||||
```
|
||||
|
||||
### ❌ 错误2：扁平化配置（已废弃方案）
|
||||
虽然扁平化也能工作，但不推荐：
|
||||
```json
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"api_host": "...", // ❌ 不够清晰
|
||||
"api_key": "...",
|
||||
"HTTP_host": "..."
|
||||
}
|
||||
```
|
||||
|
||||
### ❌ 错误3：忘记替换全局变量引用
|
||||
代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。
|
||||
|
||||
---
|
||||
|
||||
## 云端同步注意事项
|
||||
|
||||
使用 `--upload_registry` 时，云端配置可能覆盖本地配置：
|
||||
- 首次上传时确保 JSON 完整
|
||||
- 或使用新的 `ak/sk` 避免旧配置干扰
|
||||
- 调试时可暂时移除 `--upload_registry` 参数
|
||||
|
||||
---
|
||||
|
||||
## 验证清单
|
||||
|
||||
启动成功后应看到：
|
||||
```
|
||||
✅ 从 JSON 配置加载 bioyond_config 成功
|
||||
API Host: http://...
|
||||
HTTP Service: ...
|
||||
✅ BioyondCellWorkstation 初始化完成
|
||||
Loaded ResourceTreeSet with ... nodes
|
||||
```
|
||||
|
||||
运行时不应出现：
|
||||
- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined`
|
||||
- ❌ `KeyError: 'http_service_host'`
|
||||
- ❌ `bioyond_config 缺少必需参数`
|
||||
|
||||
---
|
||||
|
||||
## 调试经验
|
||||
|
||||
1. **添加调试日志**查看参数传递链路：
|
||||
- `graphio.py`: JSON 加载后的 config 内容
|
||||
- `initialize_device.py`: `device_config.res_content.config` 的键
|
||||
- `bioyond_cell_workstation.py`: `__init__` 接收到的参数
|
||||
|
||||
2. **config vs data 区别**：
|
||||
- `config`: 初始化参数，传递给 `__init__`
|
||||
- `data`: 运行时状态，不传递给 `__init__`
|
||||
|
||||
3. **参数名必须匹配**：
|
||||
- JSON 中的键名必须与 `__init__` 参数名完全一致
|
||||
|
||||
4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记）
|
||||
|
||||
---
|
||||
|
||||
## 修改文件清单
|
||||
|
||||
| 文件 | 修改内容 |
|
||||
|------|----------|
|
||||
| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 |
|
||||
| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 |
|
||||
| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 |
|
||||
|
||||
---
|
||||
|
||||
## 参考代码位置
|
||||
|
||||
- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353
|
||||
- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94
|
||||
- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966
|
||||
- HTTP 服务配置: `station.py` L629-L634
|
||||
|
||||
---
|
||||
|
||||
**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。
|
||||
@@ -0,0 +1,312 @@
|
||||
# BioyondCell 配置迁移修改总结
|
||||
|
||||
**日期**: 2026-01-13
|
||||
**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖
|
||||
|
||||
---
|
||||
|
||||
## 📋 修改概览
|
||||
|
||||
本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。
|
||||
|
||||
### 核心成果
|
||||
|
||||
- ✅ 完全移除对 `config.py` 的导入依赖
|
||||
- ✅ 使用嵌套 JSON 结构 `config.bioyond_config`
|
||||
- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用
|
||||
- ✅ 修复 3 处其他文件中的全局变量引用
|
||||
- ✅ HTTP 服务去重机制完善
|
||||
- ✅ 系统成功启动并正常运行
|
||||
|
||||
---
|
||||
|
||||
## 🔧 修改文件清单
|
||||
|
||||
### 1. JSON 配置文件
|
||||
|
||||
**文件**: `yibin_electrolyte_config.json`
|
||||
|
||||
**修改**:
|
||||
- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中
|
||||
- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等
|
||||
|
||||
**示例结构**:
|
||||
```json
|
||||
{
|
||||
"nodes": [{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"protocol_type": [],
|
||||
"bioyond_config": {
|
||||
"api_host": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"HTTP_host": "172.16.11.206",
|
||||
"HTTP_port": 8080,
|
||||
"material_type_mappings": {...},
|
||||
"warehouse_mapping": {...},
|
||||
"solid_liquid_mappings": {...}
|
||||
}
|
||||
}
|
||||
}]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 2. bioyond_cell_workstation.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
#### 修改 A: `__init__` 方法签名 (L39-99)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def __init__(self, deck=None, protocol_type=None, **kwargs):
|
||||
# 从 kwargs 收集配置字段
|
||||
self.bioyond_config = {}
|
||||
for field in bioyond_field_names:
|
||||
if field in kwargs:
|
||||
self.bioyond_config[field] = kwargs.pop(field)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""直接接收 bioyond_config 参数"""
|
||||
if bioyond_config is None:
|
||||
raise ValueError("需要 bioyond_config 参数")
|
||||
|
||||
self.bioyond_config = bioyond_config
|
||||
|
||||
# 设置 HTTP 服务去重标志
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
|
||||
```
|
||||
|
||||
#### 修改 B: 替换全局变量引用 (7 处)
|
||||
|
||||
| 位置 | 原代码 | 修改后 |
|
||||
|------|--------|--------|
|
||||
| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` |
|
||||
| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` |
|
||||
| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` |
|
||||
| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` |
|
||||
| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` |
|
||||
| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` |
|
||||
| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` |
|
||||
|
||||
---
|
||||
|
||||
### 3. station.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/station.py`
|
||||
|
||||
#### 修改 A: 删除 config 导入 (L26-28)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
|
||||
)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
# 已删除此导入
|
||||
```
|
||||
|
||||
#### 修改 B: `_create_communication_module` 方法 (L691-702)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
default_config = {
|
||||
**API_CONFIG,
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS,
|
||||
"material_type_mappings": MATERIAL_TYPE_MAPPINGS,
|
||||
"warehouse_mapping": WAREHOUSE_MAPPING
|
||||
}
|
||||
if config:
|
||||
self.bioyond_config = {**default_config, **config}
|
||||
else:
|
||||
self.bioyond_config = default_config
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 使用传入的 config 参数（来自 bioyond_config）
|
||||
# 不再依赖全局变量 API_CONFIG 等
|
||||
if config:
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||
self.bioyond_config = {}
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
```
|
||||
|
||||
#### 修改 C: HTTP 服务配置 (L627-632)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0))
|
||||
}
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 4. bioyond_rpc.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`
|
||||
|
||||
#### 修改 A: 删除 config 导入 (L12)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
# 已删除此导入
|
||||
```
|
||||
|
||||
#### 修改 B: `material_outbound` 方法 (L278-280)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = LOCATION_MAPPING.get(location_name, location_name)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||
location_id = location_name
|
||||
```
|
||||
|
||||
**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。
|
||||
|
||||
---
|
||||
|
||||
## 🎯 关键设计决策
|
||||
|
||||
### 1. 嵌套 vs 扁平配置
|
||||
|
||||
**选择**: 嵌套结构 `config.bioyond_config`
|
||||
|
||||
**理由**:
|
||||
- ✅ 语义清晰，配置分组明确
|
||||
- ✅ 参数传递直观，直接对应 `__init__` 参数
|
||||
- ✅ 易于维护，不需要硬编码字段列表
|
||||
- ✅ 符合 UniLab 设计模式
|
||||
|
||||
### 2. HTTP 服务去重
|
||||
|
||||
**实现**: 子类设置 `_disable_auto_http_service` 标志
|
||||
|
||||
```python
|
||||
# bioyond_cell_workstation.py
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
# station.py (post_init)
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
logger.info("子类已自行管理HTTP服务，跳过自动启动")
|
||||
return
|
||||
```
|
||||
|
||||
### 3. 全局变量替换策略
|
||||
|
||||
**原则**: 所有配置从 `self.bioyond_config` 获取
|
||||
|
||||
**模式**:
|
||||
```python
|
||||
# 修改前
|
||||
from config import MATERIAL_TYPE_MAPPINGS
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
|
||||
# 修改后
|
||||
carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## ✅ 验证结果
|
||||
|
||||
### 启动成功日志
|
||||
```
|
||||
✅ 从 JSON 配置加载 bioyond_config 成功
|
||||
API Host: http://172.16.11.219:44388
|
||||
HTTP Service: 172.16.11.206:8080
|
||||
🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动
|
||||
✅ BioyondCellWorkstation 初始化完成
|
||||
Loaded ResourceTreeSet with 1 trees, 1785 total nodes
|
||||
```
|
||||
|
||||
### 功能验证
|
||||
- ✅ 订单创建 (`create_orders_v2`)
|
||||
- ✅ 质量比计算
|
||||
- ✅ 物料转移 (`transfer_3_to_2_to_1`)
|
||||
- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish)
|
||||
- ✅ 等待机制 (`wait_for_order_finish`)
|
||||
- ✅ 仓库 UUID 映射
|
||||
- ✅ 物料类型映射
|
||||
|
||||
---
|
||||
|
||||
## 📚 相关文档
|
||||
|
||||
- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md`
|
||||
- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md`
|
||||
- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md`
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 注意事项
|
||||
|
||||
### 其他工作站模块
|
||||
|
||||
以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）:
|
||||
- `reaction_station.py` - 使用 `API_CONFIG`
|
||||
- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS`
|
||||
- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING`
|
||||
- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING`
|
||||
|
||||
**建议**: 后续可以统一迁移这些模块到 JSON 配置。
|
||||
|
||||
### config.py 文件
|
||||
|
||||
`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以：
|
||||
- 保留作为其他模块的参考
|
||||
- 或者完全删除（如果其他模块也迁移完成）
|
||||
|
||||
---
|
||||
|
||||
## 🚀 下一步建议
|
||||
|
||||
1. **清理调试代码** ✅ (已完成)
|
||||
2. **提交代码到 Git**
|
||||
3. **迁移其他工作站模块** (可选)
|
||||
4. **更新文档和启动脚本**
|
||||
|
||||
---
|
||||
|
||||
**修改完成日期**: 2026-01-13
|
||||
**系统状态**: ✅ 稳定运行
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user