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@@ -27,14 +27,15 @@ python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{
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### 2. --addr → BASE URL
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| `--addr` 值 | BASE |
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|-------------|------|
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| `test` | `https://uni-lab.test.bohrium.com` |
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| `uat` | `https://uni-lab.uat.bohrium.com` |
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| `local` | `http://127.0.0.1:48197` |
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| 不传（默认） | `https://uni-lab.bohrium.com` |
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| `--addr` 值 | BASE |
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| ------------ | ----------------------------------- |
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| `test` | `https://leap-lab.test.bohrium.com` |
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| `uat` | `https://leap-lab.uat.bohrium.com` |
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| `local` | `http://127.0.0.1:48197` |
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| 不传（默认） | `https://leap-lab.bohrium.com` |
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确认后设置：
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```bash
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BASE="<根据 addr 确定的 URL>"
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AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
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@@ -65,7 +66,7 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
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返回：
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```json
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{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
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{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
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```
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记住 `data.uuid` 为 `lab_uuid`。
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@@ -90,6 +91,7 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
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```
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返回成功时包含试剂 UUID：
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```json
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{"code": 0, "data": {"uuid": "xxx", ...}}
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```
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@@ -98,28 +100,28 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
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## 试剂字段说明
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| 字段 | 类型 | 必填 | 说明 | 示例 |
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|------|------|------|------|------|
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| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
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| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
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| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
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| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
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| `smiles` | string | 是 | SMILES 表示 | `"O"` |
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| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
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| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
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| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
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| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
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| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
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| 字段 | 类型 | 必填 | 说明 | 示例 |
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| ------------------- | ------ | ---- | ----------------------------- | ------------------------ |
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| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
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| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
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| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
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| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
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| `smiles` | string | 是 | SMILES 表示 | `"O"` |
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| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
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| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
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| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
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| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
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| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
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### unit 单位值
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| 值 | 单位 |
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|------|------|
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| 值 | 单位 |
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| ------ | ---- |
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| `"mL"` | 毫升 |
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| `"L"` | 升 |
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| `"g"` | 克 |
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| `"L"` | 升 |
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| `"g"` | 克 |
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| `"kg"` | 千克 |
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| `"瓶"` | 瓶 |
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| `"瓶"` | 瓶 |
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> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
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@@ -133,8 +135,22 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
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```json
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[
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{"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
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{"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
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{
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"cas": "7732-18-3",
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"name": "水",
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"molecular_formula": "H2O",
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"smiles": "O",
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"stock_in_quantity": 10,
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"unit": "mL"
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},
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{
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"cas": "64-17-5",
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"name": "乙醇",
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"molecular_formula": "C2H6O",
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"smiles": "CCO",
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"stock_in_quantity": 5,
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"unit": "L"
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}
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]
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```
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@@ -160,9 +176,20 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat
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7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
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```
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### 日期格式规则（重要）
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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`。
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- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"`
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- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"`
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- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年
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**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。
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### 执行与汇报
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每次 API 调用后：
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1. 检查返回 `code`（0 = 成功）
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2. 记录成功/失败数量
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3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
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@@ -172,28 +199,29 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat
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## 常见试剂速查表
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| 名称 | CAS | 分子式 | SMILES |
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|------|-----|--------|--------|
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| 水 | 7732-18-3 | H2O | O |
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| 乙醇 | 64-17-5 | C2H6O | CCO |
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| 甲醇 | 67-56-1 | CH4O | CO |
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| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
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| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
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| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
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| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
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| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
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| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
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| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
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| 乙腈 | 75-05-8 | C2H3N | CC#N |
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| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
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| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
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| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
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| 盐酸 | 7647-01-0 | HCl | Cl |
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| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
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| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
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| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
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| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
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| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
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| 名称 | CAS | 分子式 | SMILES |
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||||
| --------------------- | --------- | ---------- | ------------------------------------ |
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| 水 | 7732-18-3 | H2O | O |
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| 乙醇 | 64-17-5 | C2H6O | CCO |
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| 乙酸 | 64-19-7 | C2H4O2 | CC(O)=O |
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| 甲醇 | 67-56-1 | CH4O | CO |
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| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
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| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
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| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
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| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
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| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
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| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
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| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
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| 乙腈 | 75-05-8 | C2H3N | CC#N |
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| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
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| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
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| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
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| 盐酸 | 7647-01-0 | HCl | Cl |
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||||
| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
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| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
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| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
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| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
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| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
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> 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。
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@@ -1,11 +1,13 @@
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---
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name: batch-submit-experiment
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description: Batch submit experiments (notebooks) to Uni-Lab platform — 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.
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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.
|
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---
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# 批量提交实验指南
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# Uni-Lab 批量提交实验指南
|
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通过云端 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。
|
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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。
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> **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`。
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## 前置条件（缺一不可）
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@@ -18,25 +20,28 @@ description: Batch submit experiments (notebooks) to Uni-Lab platform — list w
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生成 AUTH token（任选一种方式）：
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```bash
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# 方式一：Python 一行生成
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# 方式一：Python 一行生成（注意：scheme 是 "Lab" 不是 "Basic"）
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python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
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# 方式二：手动计算
|
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# base64(ak:sk) → Authorization: Lab <token>
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# ⚠️ 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://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
| `--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>"
|
||||
```
|
||||
|
||||
@@ -44,18 +49,19 @@ AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
|
||||
**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
|
||||
|
||||
按优先级搜索：
|
||||
**必须先用 Glob 工具搜索文件**，不要直接猜测路径：
|
||||
|
||||
```
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
<workspace 根目录>/req_device_registry_upload.json
|
||||
Glob: **/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可直接 Glob 搜索：`**/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`。
|
||||
|
||||
**如果文件不存在** → 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`。
|
||||
**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）
|
||||
|
||||
@@ -93,7 +99,7 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
返回：
|
||||
|
||||
```json
|
||||
{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
@@ -104,9 +110,33 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回项目列表，展示给用户选择。列出每个项目的 `uuid` 和 `name`。
|
||||
返回：
|
||||
|
||||
用户**必须**选择一个项目，记住 `project_uuid`，后续创建 notebook 时需要提供。
|
||||
```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
|
||||
|
||||
@@ -123,6 +153,7 @@ curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$A
|
||||
```
|
||||
|
||||
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
||||
|
||||
- 每个 action 节点的 `node_uuid`
|
||||
- 每个节点对应的设备 ID（`resource_template_name`）
|
||||
- 每个节点的动作名（`node_template_name`）
|
||||
@@ -142,30 +173,30 @@ curl -s -X POST "$BASE/api/v1/lab/notebook" \
|
||||
|
||||
```json
|
||||
{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"project_uuid": "<project_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
"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": [
|
||||
{
|
||||
"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
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
"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
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
@@ -194,25 +225,25 @@ curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
|
||||
|
||||
### 每轮的字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| 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` | 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） |
|
||||
| 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}` |
|
||||
| 字段 | 类型 | 说明 |
|
||||
| ---------------- | ------ | ---------------------------------------------------- |
|
||||
| `container_uuid` | string | 容器 UUID |
|
||||
| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
|
||||
|
||||
---
|
||||
|
||||
@@ -233,6 +264,7 @@ python scripts/gen_notebook_params.py \
|
||||
> 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：
|
||||
@@ -270,8 +302,11 @@ python scripts/gen_notebook_params.py \
|
||||
"properties": {
|
||||
"goal": {
|
||||
"properties": {
|
||||
"asp_vols": {"type": "array", "items": {"type": "number"}},
|
||||
"sources": {"type": "array"}
|
||||
"asp_vols": {
|
||||
"type": "array",
|
||||
"items": { "type": "number" }
|
||||
},
|
||||
"sources": { "type": "array" }
|
||||
},
|
||||
"required": ["asp_vols", "sources"]
|
||||
}
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
|
||||
选项:
|
||||
--auth <token> Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
|
||||
--base <url> API 基础 URL（如 https://uni-lab.test.bohrium.com）
|
||||
--base <url> API 基础 URL（如 https://leap-lab.test.bohrium.com）
|
||||
--workflow-uuid <uuid> 目标 workflow 的 UUID
|
||||
--registry <path> 本地注册表文件路径（默认自动搜索）
|
||||
--rounds <n> 实验轮次数（默认 1）
|
||||
@@ -17,7 +17,7 @@
|
||||
示例:
|
||||
python gen_notebook_params.py \\
|
||||
--auth YTFmZDlkNGUtxxxx \\
|
||||
--base https://uni-lab.test.bohrium.com \\
|
||||
--base https://leap-lab.test.bohrium.com \\
|
||||
--workflow-uuid abc-123-def \\
|
||||
--rounds 2
|
||||
"""
|
||||
|
||||
@@ -40,13 +40,13 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
|
||||
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://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
| `--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）
|
||||
|
||||
@@ -54,11 +54,11 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 条件 | working_dir 取值 |
|
||||
|------|------------------|
|
||||
| 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/` |
|
||||
| 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**：
|
||||
|
||||
@@ -84,24 +84,6 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
python ./scripts/extract_device_actions.py --registry <找到的文件路径>
|
||||
```
|
||||
|
||||
#### 完整示例
|
||||
|
||||
用户提供：
|
||||
|
||||
```
|
||||
--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
|
||||
--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
|
||||
--addr test
|
||||
--port 8003
|
||||
--disable_browser
|
||||
```
|
||||
|
||||
从中提取：
|
||||
- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
|
||||
- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
|
||||
- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
|
||||
- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
|
||||
|
||||
**四项全部就绪后才进入 Step 1。**
|
||||
|
||||
### Step 1 — 列出可用设备
|
||||
@@ -129,6 +111,7 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
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`）
|
||||
@@ -136,13 +119,14 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目：
|
||||
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`
|
||||
@@ -150,6 +134,8 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
```
|
||||
|
||||
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）
|
||||
@@ -165,6 +151,7 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
### 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
|
||||
@@ -172,42 +159,77 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
- **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
|
||||
|
||||
# - #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
|
||||
|
||||
# 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
|
||||
@@ -217,13 +239,15 @@ API 模板结构：
|
||||
- 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）
|
||||
|
||||
- [ ] `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
|
||||
@@ -272,92 +296,48 @@ API 模板结构：
|
||||
|
||||
`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 |
|
||||
| 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）：
|
||||
|
||||
```json
|
||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
||||
```
|
||||
- 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
|
||||
|
||||
- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
|
||||
- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 本身是从 parent 计算的路径格式
|
||||
- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
|
||||
> **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。
|
||||
|
||||
> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
|
||||
### DeviceSlot / NodeSlot / ClassSlot
|
||||
|
||||
### DeviceSlot（`unilabos_devices`）
|
||||
|
||||
填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
|
||||
|
||||
```
|
||||
"/host_node"
|
||||
"/bioyond_cell/reaction_station"
|
||||
```
|
||||
|
||||
- 只填路径字符串，不需要 `{id, uuid}` 对象
|
||||
- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
|
||||
|
||||
### NodeSlot（`unilabos_nodes`）
|
||||
|
||||
范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
|
||||
|
||||
```
|
||||
"/PRCXI/PRCXI_Deck"
|
||||
```
|
||||
|
||||
- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
|
||||
|
||||
### ClassSlot（`unilabos_class`）
|
||||
|
||||
填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
|
||||
|
||||
```
|
||||
"container"
|
||||
```
|
||||
- **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**：向哪些物料容器中加入哪些液体及体积。填写为**对象数组**：
|
||||
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": "YB_PrepBottle_15mL_Carrier_bottle_A1",
|
||||
"liquids": [
|
||||
{ "name": "LiPF6", "volume": 0.6 },
|
||||
{ "name": "DMC", "volume": 1.2 }
|
||||
]
|
||||
"well_name": "bottle_A1",
|
||||
"liquids": [{ "name": "LiPF6", "volume": 0.6 }]
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
#### 字段说明
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `sample_uuid` | string | 样品 UUID，无样品时传空字符串 `""` |
|
||||
| `well_name` | string | 目标物料容器的 **name**（从资源树中取物料节点的 `name` 字段，如瓶子、孔位名称） |
|
||||
| `liquids` | array | 要加入的液体列表 |
|
||||
| `liquids[].name` | string | 液体名称（如试剂名、溶剂名） |
|
||||
| `liquids[].volume` | number | 液体体积（单位由设备决定，通常为 mL） |
|
||||
|
||||
#### 填写规则
|
||||
|
||||
- `well_name` 必须是资源树中已存在的物料节点 `name`（不是 `id` 路径），通过 API #12 获取资源树后筛选
|
||||
- 每个数组元素代表一个目标容器的配方
|
||||
- 一个容器可以加入多种液体（`liquids` 数组多条记录）
|
||||
- 与 ResourceSlot 的区别：ResourceSlot 填 `{id, name, uuid}` 指向物料本身；FormulationSlot 用 `well_name` 引用物料，并附带液体配方信息
|
||||
- `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
|
||||
|
||||
@@ -365,7 +345,147 @@ API 模板结构：
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。返回结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"nodes": [
|
||||
{"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"}
|
||||
],
|
||||
"edges": [...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`
|
||||
- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等）
|
||||
- `parent` 为父节点名称（空字符串表示顶级）
|
||||
- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点
|
||||
- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid`
|
||||
|
||||
## 物料管理 API
|
||||
|
||||
设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。
|
||||
|
||||
典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。
|
||||
|
||||
### API #14 — 按名称查询物料模板
|
||||
|
||||
创建物料前，需要先获取物料模板的 UUID。通过模板名称查询：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$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
|
||||
|
||||
|
||||
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"
|
||||
}
|
||||
}
|
||||
@@ -1,11 +1,13 @@
|
||||
---
|
||||
name: submit-agent-result
|
||||
description: Submit historical experiment results (agent_result) to Uni-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.
|
||||
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.
|
||||
---
|
||||
|
||||
# 提交历史实验记录指南
|
||||
# Uni-Lab 提交历史实验记录指南
|
||||
|
||||
通过云端 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。
|
||||
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）
|
||||
|
||||
@@ -18,23 +20,26 @@ description: Submit historical experiment results (agent_result) to Uni-Lab note
|
||||
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>`。
|
||||
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://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
| `--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>"
|
||||
```
|
||||
|
||||
@@ -45,6 +50,7 @@ AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
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
|
||||
|
||||
@@ -54,11 +60,11 @@ notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，
|
||||
|
||||
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 |
|
||||
| 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。**
|
||||
|
||||
@@ -90,7 +96,7 @@ 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"}}
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
@@ -121,42 +127,45 @@ curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
|
||||
#### 必要字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| 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` | 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
|
||||
"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"}
|
||||
]
|
||||
"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}
|
||||
]
|
||||
"experiment_data": [
|
||||
{ "温度": 25, "压力": 101.3, "产率": 0.85 },
|
||||
{ "温度": 30, "压力": 101.3, "产率": 0.91 }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
@@ -178,22 +187,22 @@ python scripts/prepare_agent_result.py \
|
||||
[--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`） |
|
||||
| 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 |
|
||||
| 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。
|
||||
|
||||
@@ -210,7 +219,7 @@ python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json \
|
||||
--auth YTFmZDlkNGUt... \
|
||||
--base https://uni-lab.test.bohrium.com \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--submit
|
||||
```
|
||||
|
||||
@@ -272,4 +281,4 @@ Task Progress:
|
||||
|
||||
### Q: 认证方式是 Lab 还是 Api？
|
||||
|
||||
本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
|
||||
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。
|
||||
|
||||
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"
|
||||
}
|
||||
}
|
||||
2
.github/workflows/deploy-docs.yml
vendored
2
.github/workflows/deploy-docs.yml
vendored
@@ -105,7 +105,7 @@ 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@v4
|
||||
uses: actions/upload-pages-artifact@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
@@ -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）：**
|
||||
|
||||
@@ -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) │
|
||||
└────────────────────┬─────────────────────────┘
|
||||
@@ -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
|
||||
|
||||
@@ -33,11 +33,11 @@
|
||||
|
||||
**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 |
|
||||
| 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：**
|
||||
|
||||
@@ -66,6 +66,7 @@ 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
|
||||
@@ -88,7 +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
|
||||
|
||||
@@ -297,7 +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
|
||||
|
||||
@@ -306,12 +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
|
||||
|
||||
@@ -818,6 +817,7 @@ 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
|
||||
@@ -1796,32 +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
|
||||
@@ -1871,7 +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)
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -54,7 +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
|
||||
@@ -68,8 +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
|
||||
|
||||
@@ -176,7 +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
|
||||
|
||||
@@ -216,7 +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
|
||||
|
||||
|
||||
@@ -233,7 +233,7 @@ 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(
|
||||
@@ -438,10 +438,10 @@ def main():
|
||||
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"
|
||||
@@ -553,7 +553,7 @@ def main():
|
||||
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
|
||||
|
||||
@@ -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,
|
||||
@@ -75,26 +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:
|
||||
payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
|
||||
f.write(json.dumps(payload, indent=4))
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
# 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": nodes_info, "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": nodes_info, "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
timeout=10,
|
||||
)
|
||||
|
||||
@@ -133,7 +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}"},
|
||||
@@ -147,6 +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}")
|
||||
@@ -164,14 +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}"},
|
||||
@@ -198,7 +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}"},
|
||||
@@ -239,14 +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}"},
|
||||
@@ -276,7 +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}"},
|
||||
@@ -316,7 +322,7 @@ class HTTPClient:
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
@@ -350,7 +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),
|
||||
@@ -411,7 +417,7 @@ class HTTPClient:
|
||||
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 = requests.post(
|
||||
response = self._session.post(
|
||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
|
||||
@@ -1269,7 +1269,13 @@ 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，
|
||||
|
||||
@@ -46,7 +46,7 @@ class WSConfig:
|
||||
|
||||
# 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
|
||||
|
||||
@@ -22,10 +22,11 @@ from threading import Lock, RLock
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
@@ -290,6 +291,126 @@ class VirtualWorkbench:
|
||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
@action(
|
||||
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}, goal_default={
|
||||
"timeout_seconds": 3600,
|
||||
"assignee_user_ids": []
|
||||
}, feedback_interval=300,
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
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",
|
||||
|
||||
@@ -825,6 +825,7 @@ def _extract_class_body(
|
||||
action_args.setdefault("placeholder_keys", {})
|
||||
action_args.setdefault("always_free", False)
|
||||
action_args.setdefault("is_protocol", False)
|
||||
action_args.setdefault("feedback_interval", 1.0)
|
||||
action_args.setdefault("description", "")
|
||||
action_args.setdefault("auto_prefix", False)
|
||||
action_args.setdefault("parent", False)
|
||||
|
||||
@@ -343,6 +343,7 @@ def action(
|
||||
auto_prefix: bool = False,
|
||||
parent: bool = False,
|
||||
node_type: Optional["NodeType"] = None,
|
||||
feedback_interval: Optional[float] = None,
|
||||
):
|
||||
"""
|
||||
动作方法装饰器
|
||||
@@ -378,9 +379,16 @@ def action(
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
import asyncio as _asyncio
|
||||
|
||||
if _asyncio.iscoroutinefunction(func):
|
||||
@wraps(func)
|
||||
async def wrapper(*args, **kwargs):
|
||||
return await func(*args, **kwargs)
|
||||
else:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
|
||||
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
|
||||
@@ -399,6 +407,8 @@ def action(
|
||||
"auto_prefix": auto_prefix,
|
||||
"parent": parent,
|
||||
}
|
||||
if feedback_interval is not None:
|
||||
meta["feedback_interval"] = feedback_interval
|
||||
if node_type is not None:
|
||||
meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
|
||||
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
|
||||
|
||||
@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
|
||||
type: object
|
||||
model:
|
||||
mesh: thermo_orbitor_rs2_hotel
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -329,7 +329,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
robotic_arm.UR:
|
||||
|
||||
@@ -238,6 +238,7 @@ class Registry:
|
||||
"class_name": "unilabos_class",
|
||||
},
|
||||
"always_free": True,
|
||||
"feedback_interval": 300.0,
|
||||
},
|
||||
"test_latency": test_latency_action,
|
||||
"auto-test_resource": test_resource_action,
|
||||
@@ -829,8 +830,9 @@ class Registry:
|
||||
raw_handles = (action_args or {}).get("handles")
|
||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
||||
|
||||
# placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
|
||||
pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
|
||||
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
|
||||
pk = detect_placeholder_keys(params)
|
||||
pk.update((action_args or {}).get("placeholder_keys") or {})
|
||||
|
||||
# 从方法返回值类型生成 result schema
|
||||
result_schema = None
|
||||
@@ -852,6 +854,8 @@ class Registry:
|
||||
}
|
||||
if (action_args or {}).get("always_free") or method_info.get("always_free"):
|
||||
entry["always_free"] = True
|
||||
_fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
|
||||
entry["feedback_interval"] = _fb_iv
|
||||
nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
|
||||
if nt:
|
||||
entry["node_type"] = nt
|
||||
@@ -975,10 +979,12 @@ class Registry:
|
||||
"schema": schema,
|
||||
"goal_default": goal_default,
|
||||
"handles": handles,
|
||||
"placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
|
||||
"placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
|
||||
}
|
||||
if action_args.get("always_free") or method_info.get("always_free"):
|
||||
action_entry["always_free"] = True
|
||||
_fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
|
||||
action_entry["feedback_interval"] = _fb_iv
|
||||
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
|
||||
if nt:
|
||||
action_entry["node_type"] = nt
|
||||
|
||||
@@ -17,7 +17,7 @@ hplc_plate:
|
||||
- 0
|
||||
- 0
|
||||
- 3.1416
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
plate_96:
|
||||
@@ -39,7 +39,7 @@ plate_96:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
plate_96_high:
|
||||
@@ -61,7 +61,7 @@ plate_96_high:
|
||||
- 1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
tiprack_96_high:
|
||||
@@ -76,7 +76,7 @@ tiprack_96_high:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.0018
|
||||
- 0.0018
|
||||
@@ -92,7 +92,7 @@ tiprack_96_high:
|
||||
- 1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
tiprack_box:
|
||||
@@ -107,7 +107,7 @@ tiprack_box:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: tip/meshes/tip.stl
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.0045
|
||||
- 0.0045
|
||||
@@ -123,6 +123,6 @@ tiprack_box:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -11,7 +11,7 @@ bottle_container:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: bottle/meshes/bottle.stl
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.04
|
||||
- 0.04
|
||||
@@ -27,7 +27,7 @@ bottle_container:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
tube_container:
|
||||
@@ -43,7 +43,7 @@ tube_container:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: tube/meshes/tube.stl
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.017
|
||||
- 0.017
|
||||
@@ -59,6 +59,6 @@ tube_container:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -10,6 +10,6 @@ TransformXYZDeck:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: liquid_transform_xyz
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -10,7 +10,7 @@ OTDeck:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: opentrons_liquid_handler
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
hplc_station:
|
||||
@@ -25,6 +25,6 @@ hplc_station:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: hplc_station
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.0018
|
||||
- 0.0018
|
||||
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
- -1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
nest_96_wellplate_200ul_flat:
|
||||
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
|
||||
- -1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
thermoscientificnunc_96_wellplate_1300ul:
|
||||
|
||||
@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
|
||||
- -1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_filtertiprack_10ul:
|
||||
|
||||
@@ -1033,7 +1033,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
|
||||
|
||||
# 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
|
||||
# tracker.liquids 格式: [(物料名称, 数量), ...]
|
||||
# tracker.liquids 格式: [(物料名称, 数量, 单位), ...]
|
||||
material_name = bottle_type_info[0] # 默认使用类型名称（如"样品瓶"）
|
||||
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
|
||||
# 如果有液体，使用液体的名称
|
||||
@@ -1051,7 +1051,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
"typeId": bottle_type_info[1],
|
||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||
"name": material_name, # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"x": bioyond_x,
|
||||
"y": bioyond_y,
|
||||
"z": 1,
|
||||
@@ -1124,7 +1124,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
"barCode": "",
|
||||
"name": material_name, # 使用物料名称而不是资源名称
|
||||
"unit": default_unit, # 使用配置的单位或默认单位
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"Parameters": parameters_json # API 实际要求的字段（必需）
|
||||
}
|
||||
|
||||
|
||||
@@ -4,6 +4,8 @@ import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
|
||||
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
|
||||
from typing import (
|
||||
get_type_hints,
|
||||
TypeVar,
|
||||
@@ -78,6 +80,67 @@ if TYPE_CHECKING:
|
||||
T = TypeVar("T")
|
||||
|
||||
|
||||
class RclpyAsyncMutex:
|
||||
"""rclpy executor 兼容的异步互斥锁
|
||||
|
||||
通过 executor.create_task 唤醒等待者，避免 timer 的 InvalidHandle 问题。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str = ""):
|
||||
self._lock = threading.Lock()
|
||||
self._acquired = False
|
||||
self._queue: List[Future] = []
|
||||
self._name = name
|
||||
self._holder: Optional[str] = None
|
||||
|
||||
async def acquire(self, node: "BaseROS2DeviceNode", tag: str = ""):
|
||||
"""获取锁。如果已被占用，则异步等待直到锁释放。"""
|
||||
# t0 = time.time()
|
||||
with self._lock:
|
||||
# qlen = len(self._queue)
|
||||
if not self._acquired:
|
||||
self._acquired = True
|
||||
self._holder = tag
|
||||
# node.lab_logger().debug(
|
||||
# f"[Mutex:{self._name}] 获取锁 tag={tag} (无等待, queue=0)"
|
||||
# )
|
||||
return
|
||||
waiter = Future()
|
||||
self._queue.append(waiter)
|
||||
# node.lab_logger().info(
|
||||
# f"[Mutex:{self._name}] 等待锁 tag={tag} "
|
||||
# f"(holder={self._holder}, queue={qlen + 1})"
|
||||
# )
|
||||
await waiter
|
||||
# wait_ms = (time.time() - t0) * 1000
|
||||
self._holder = tag
|
||||
# node.lab_logger().info(
|
||||
# f"[Mutex:{self._name}] 获取锁 tag={tag} (等了 {wait_ms:.0f}ms)"
|
||||
# )
|
||||
|
||||
def release(self, node: "BaseROS2DeviceNode"):
|
||||
"""释放锁，通过 executor task 唤醒下一个等待者。"""
|
||||
with self._lock:
|
||||
# old_holder = self._holder
|
||||
if self._queue:
|
||||
next_waiter = self._queue.pop(0)
|
||||
# node.lab_logger().debug(
|
||||
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 唤醒下一个 (剩余 queue={len(self._queue)})"
|
||||
# )
|
||||
|
||||
async def _wake():
|
||||
if not next_waiter.done():
|
||||
next_waiter.set_result(None)
|
||||
|
||||
rclpy.get_global_executor().create_task(_wake())
|
||||
else:
|
||||
self._acquired = False
|
||||
self._holder = None
|
||||
# node.lab_logger().debug(
|
||||
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 空闲"
|
||||
# )
|
||||
|
||||
|
||||
# 在线设备注册表
|
||||
registered_devices: Dict[str, "DeviceInfoType"] = {}
|
||||
|
||||
@@ -355,6 +418,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
|
||||
)
|
||||
|
||||
self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}")
|
||||
|
||||
# 创建资源管理客户端
|
||||
self._resource_clients: Dict[str, Client] = {
|
||||
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
|
||||
@@ -378,15 +443,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return res
|
||||
|
||||
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
_cmd = _fast_loads(req.command)
|
||||
_res_name = _cmd.get("resource", [{}])
|
||||
_res_name = (_res_name[0].get("id", "?") if isinstance(_res_name, list) and _res_name
|
||||
else _res_name.get("id", "?") if isinstance(_res_name, dict) else "?")
|
||||
_ar_tag = f"{_res_name}"
|
||||
# _t_enter = time.time()
|
||||
# self.lab_logger().info(f"[AR:{_ar_tag}] 进入 append_resource")
|
||||
await self._append_resource_lock.acquire(self, tag=_ar_tag)
|
||||
# _t_locked = time.time()
|
||||
try:
|
||||
return await _append_resource_inner(req, res, _ar_tag)
|
||||
# _t_done = time.time()
|
||||
# self.lab_logger().info(
|
||||
# f"[AR:{_ar_tag}] 完成 "
|
||||
# f"等锁={(_t_locked - _t_enter) * 1000:.0f}ms "
|
||||
# f"执行={(_t_done - _t_locked) * 1000:.0f}ms "
|
||||
# f"总计={(_t_done - _t_enter) * 1000:.0f}ms"
|
||||
# )
|
||||
except Exception as _ex:
|
||||
self.lab_logger().error(f"[AR:{_ar_tag}] 异常: {_ex}")
|
||||
raise
|
||||
finally:
|
||||
self._append_resource_lock.release(self)
|
||||
|
||||
async def _append_resource_inner(req: SerialCommand_Request, res: SerialCommand_Response, _ar_tag: str = ""):
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources import Plate
|
||||
|
||||
# 物料传输到对应的node节点
|
||||
# _t0 = time.time()
|
||||
client = self._resource_clients["c2s_update_resource_tree"]
|
||||
request = SerialCommand.Request()
|
||||
request2 = SerialCommand.Request()
|
||||
command_json = json.loads(req.command)
|
||||
command_json = _fast_loads(req.command)
|
||||
namespace = command_json["namespace"]
|
||||
bind_parent_id = command_json["bind_parent_id"]
|
||||
edge_device_id = command_json["edge_device_id"]
|
||||
@@ -439,7 +529,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
|
||||
)
|
||||
# noinspection PyUnresolvedReferences
|
||||
request.command = json.dumps(
|
||||
# _t1 = time.time()
|
||||
# self.lab_logger().debug(
|
||||
# f"[AR:{_ar_tag}] 准备完成 PLR转换+序列化 {((_t1 - _t0) * 1000):.0f}ms, 发送首次上传..."
|
||||
# )
|
||||
request.command = _fast_dumps_str(
|
||||
{
|
||||
"action": "add",
|
||||
"data": {
|
||||
@@ -450,7 +544,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
}
|
||||
)
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
# _t2 = time.time()
|
||||
# self.lab_logger().debug(
|
||||
# f"[AR:{_ar_tag}] 首次上传完成 {((_t2 - _t1) * 1000):.0f}ms"
|
||||
# )
|
||||
uuid_maps = _fast_loads(tree_response.response)
|
||||
plr_instances = rts.to_plr_resources()
|
||||
for plr_instance in plr_instances:
|
||||
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
|
||||
@@ -508,7 +606,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
|
||||
input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
||||
):
|
||||
input_well.set_liquids([(liquid_type, liquid_volume, "uL")])
|
||||
input_well.set_liquids([(liquid_type, liquid_volume, "ul")])
|
||||
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
|
||||
input_wells
|
||||
).dump()
|
||||
@@ -527,12 +625,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
Coordinate(location["x"], location["y"], location["z"]),
|
||||
**other_calling_param,
|
||||
)
|
||||
# 调整了液体以及Deck之后要重新Assign
|
||||
# noinspection PyUnresolvedReferences
|
||||
# _t3 = time.time()
|
||||
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
||||
# _n_parent = len(rts_with_parent.all_nodes)
|
||||
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
|
||||
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
|
||||
request.command = json.dumps(
|
||||
request.command = _fast_dumps_str(
|
||||
{
|
||||
"action": "add",
|
||||
"data": {
|
||||
@@ -542,11 +641,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
},
|
||||
}
|
||||
)
|
||||
# _t4 = time.time()
|
||||
# self.lab_logger().debug(
|
||||
# f"[AR:{_ar_tag}] 二次上传序列化 {_n_parent}节点 {((_t4 - _t3) * 1000):.0f}ms, 发送中..."
|
||||
# )
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
# _t5 = time.time()
|
||||
uuid_maps = _fast_loads(tree_response.response)
|
||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
||||
# 这里created_resources不包含parent_resource
|
||||
# self._lab_logger.info(
|
||||
# f"[AR:{_ar_tag}] 二次上传完成 HTTP={(_t5 - _t4) * 1000:.0f}ms "
|
||||
# f"UUID映射={len(uuid_maps)}节点 总执行={(_t5 - _t0) * 1000:.0f}ms"
|
||||
# )
|
||||
# 发送给ResourceMeshManager
|
||||
action_client = ActionClient(
|
||||
self,
|
||||
@@ -683,7 +789,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
|
||||
if not response.response:
|
||||
raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
|
||||
raw_data = json.loads(response.response)
|
||||
if not raw_data:
|
||||
raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
@@ -1132,7 +1242,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if uid is None:
|
||||
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
|
||||
target_uids.append(uid)
|
||||
srv_address = f"/srv{target_device_id}/s2c_resource_tree"
|
||||
_ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
|
||||
srv_address = f"/srv{_ns}/s2c_resource_tree"
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
# 等待服务可用（设置超时）
|
||||
if not sclient.wait_for_service(timeout_sec=5.0):
|
||||
@@ -1182,7 +1293,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return False
|
||||
time.sleep(0.05)
|
||||
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
|
||||
return None
|
||||
return "转运完成"
|
||||
|
||||
def register_device(self):
|
||||
"""向注册表中注册设备信息"""
|
||||
@@ -1567,37 +1678,75 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
||||
result_msg_types = action_type.Result.get_fields_and_field_types()
|
||||
|
||||
while future is not None and not future.done():
|
||||
if goal_handle.is_cancel_requested:
|
||||
self.lab_logger().info(f"取消动作: {action_name}")
|
||||
future.cancel() # 尝试取消线程池中的任务
|
||||
goal_handle.canceled()
|
||||
return action_type.Result()
|
||||
# 低频 feedback timer（10s），不阻塞完成检测
|
||||
_feedback_timer = None
|
||||
|
||||
self._time_spent = time.time() - time_start
|
||||
self._time_remaining = time_overall - self._time_spent
|
||||
def _publish_feedback():
|
||||
if future is not None and not future.done():
|
||||
self._time_spent = time.time() - time_start
|
||||
self._time_remaining = time_overall - self._time_spent
|
||||
feedback_values = {}
|
||||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
if not asyncio.iscoroutinefunction(method):
|
||||
feedback_values[msg_name] = method()
|
||||
elif hasattr(self.driver_instance, attr_name):
|
||||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||
if self._print_publish:
|
||||
self.lab_logger().info(f"反馈: {feedback_values}")
|
||||
feedback_msg = convert_to_ros_msg_with_mapping(
|
||||
ros_msg_type=action_type.Feedback(),
|
||||
obj=feedback_values,
|
||||
value_mapping=action_value_mapping["feedback"],
|
||||
)
|
||||
goal_handle.publish_feedback(feedback_msg)
|
||||
|
||||
# 发布反馈
|
||||
feedback_values = {}
|
||||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
if not asyncio.iscoroutinefunction(method):
|
||||
feedback_values[msg_name] = method()
|
||||
elif hasattr(self.driver_instance, attr_name):
|
||||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||
|
||||
if self._print_publish:
|
||||
self.lab_logger().info(f"反馈: {feedback_values}")
|
||||
|
||||
feedback_msg = convert_to_ros_msg_with_mapping(
|
||||
ros_msg_type=action_type.Feedback(),
|
||||
obj=feedback_values,
|
||||
value_mapping=action_value_mapping["feedback"],
|
||||
if action_value_mapping.get("feedback"):
|
||||
_fb_interval = action_value_mapping.get("feedback_interval", 0.5)
|
||||
_feedback_timer = self.create_timer(
|
||||
_fb_interval, _publish_feedback, callback_group=self.callback_group
|
||||
)
|
||||
|
||||
goal_handle.publish_feedback(feedback_msg)
|
||||
time.sleep(0.5)
|
||||
# 等待 action 完成
|
||||
if future is not None:
|
||||
if isinstance(future, Task):
|
||||
# rclpy Task：直接 await，完成瞬间唤醒
|
||||
try:
|
||||
_raw_result = await future
|
||||
except Exception as e:
|
||||
_raw_result = e
|
||||
else:
|
||||
# concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
|
||||
_poll_future = Future()
|
||||
|
||||
def _on_sync_done(fut):
|
||||
if not _poll_future.done():
|
||||
_poll_future.set_result(None)
|
||||
|
||||
future.add_done_callback(_on_sync_done)
|
||||
await _poll_future
|
||||
try:
|
||||
_raw_result = future.result()
|
||||
except Exception as e:
|
||||
_raw_result = e
|
||||
|
||||
# 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
|
||||
if isinstance(_raw_result, BaseException):
|
||||
if not execution_error:
|
||||
execution_error = traceback.format_exception(
|
||||
type(_raw_result), _raw_result, _raw_result.__traceback__
|
||||
)
|
||||
execution_error = "".join(execution_error)
|
||||
execution_success = False
|
||||
action_return_value = _raw_result
|
||||
elif not execution_error:
|
||||
execution_success = True
|
||||
action_return_value = _raw_result
|
||||
|
||||
# 清理 feedback timer
|
||||
if _feedback_timer is not None:
|
||||
_feedback_timer.cancel()
|
||||
|
||||
if future is not None and future.cancelled():
|
||||
self.lab_logger().info(f"动作 {action_name} 已取消")
|
||||
@@ -1606,8 +1755,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# self.lab_logger().info(f"动作执行完成: {action_name}")
|
||||
del future
|
||||
|
||||
# 执行失败时跳过物料状态更新
|
||||
if execution_error:
|
||||
execution_success = False
|
||||
|
||||
# 向Host更新物料当前状态
|
||||
if action_name not in ["create_resource_detailed", "create_resource"]:
|
||||
if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
continue
|
||||
@@ -1663,7 +1816,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
for attr_name in result_msg_types.keys():
|
||||
if attr_name in ["success", "reached_goal"]:
|
||||
setattr(result_msg, attr_name, True)
|
||||
setattr(result_msg, attr_name, execution_success)
|
||||
elif attr_name == "return_info":
|
||||
setattr(
|
||||
result_msg,
|
||||
@@ -1769,7 +1922,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise ValueError("至少需要提供一个 UUID")
|
||||
|
||||
uuids_list = list(uuids)
|
||||
future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
||||
future: Future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
||||
SerialCommand.Request(
|
||||
command=json.dumps(
|
||||
{
|
||||
@@ -1795,6 +1948,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise Exception(f"资源查询返回空结果: {uuids_list}")
|
||||
|
||||
raw_data = json.loads(response.response)
|
||||
if not raw_data:
|
||||
raise Exception(f"资源原始查询返回空结果: {raw_data}")
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
@@ -1912,16 +2067,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
async def _convert_resource_async(self, resource_data: Dict[str, Any]):
|
||||
"""异步转换资源数据为实例"""
|
||||
# 使用封装的get_resource_with_dir方法获取PLR资源
|
||||
plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
|
||||
async def _convert_resource_async(self, resource_data: "ResourceDictType"):
|
||||
"""异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
|
||||
unilabos_uuid = resource_data.get("uuid")
|
||||
|
||||
if unilabos_uuid:
|
||||
resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
|
||||
plr_resources = resource_tree.to_plr_resources()
|
||||
if plr_resources:
|
||||
plr_resource = plr_resources[0]
|
||||
else:
|
||||
raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
|
||||
else:
|
||||
res_id = resource_data.get("id") or resource_data.get("name", "")
|
||||
if not res_id:
|
||||
raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
|
||||
plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
||||
if len(res) == 0:
|
||||
# todo: 后续通过decoration来区分，减少warning
|
||||
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
|
||||
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data.get('id', '?')}，返回新建实例")
|
||||
return plr_resource
|
||||
elif len(res) == 1:
|
||||
return res[0]
|
||||
|
||||
@@ -4,6 +4,8 @@ import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
|
||||
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
|
||||
from dataclasses import dataclass, field
|
||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
||||
|
||||
@@ -618,22 +620,17 @@ class HostNode(BaseROS2DeviceNode):
|
||||
}
|
||||
)
|
||||
]
|
||||
|
||||
response: List[str] = await self.create_resource_detailed(
|
||||
resources, device_ids, bind_parent_id, bind_location, other_calling_param
|
||||
)
|
||||
|
||||
try:
|
||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||
for i in response:
|
||||
res = json.loads(i)
|
||||
if "suc" in res:
|
||||
raise ValueError(res.get("error"))
|
||||
return res
|
||||
except Exception as ex:
|
||||
pass
|
||||
_n = "\n"
|
||||
raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
|
||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||
for i in response:
|
||||
res = json.loads(i)
|
||||
if "suc" in res and not res["suc"]:
|
||||
raise ValueError(res.get("error", "未知错误"))
|
||||
return res
|
||||
raise ValueError(f"创建资源时失败！响应为空")
|
||||
|
||||
def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
|
||||
"""
|
||||
@@ -1168,7 +1165,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
|
||||
|
||||
response.response = json.dumps(uuid_mapping) if success else "FAILED"
|
||||
response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
||||
|
||||
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||
@@ -1178,6 +1175,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
resource_response = http_client.resource_tree_get(uuid_list, with_children)
|
||||
response.response = json.dumps(resource_response)
|
||||
self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
|
||||
|
||||
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
|
||||
"""
|
||||
@@ -1230,9 +1228,26 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
try:
|
||||
# 解析请求数据
|
||||
data = json.loads(request.command)
|
||||
data = _fast_loads(request.command)
|
||||
action = data["action"]
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
|
||||
inner = data.get("data", {})
|
||||
if action == "add":
|
||||
mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
|
||||
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
|
||||
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
|
||||
source = f"mount={mount_uuid}.. nodes≈{node_count}"
|
||||
elif action in ("get", "remove"):
|
||||
uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
|
||||
source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
|
||||
elif action == "update":
|
||||
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
|
||||
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
|
||||
source = f"nodes≈{node_count}"
|
||||
else:
|
||||
source = ""
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] Resource tree {action} request received ({source})"
|
||||
)
|
||||
data = data["data"]
|
||||
if action == "add":
|
||||
await self._resource_tree_action_add_callback(data, response)
|
||||
|
||||
@@ -22,6 +22,447 @@
|
||||
"arm_state": "idle",
|
||||
"message": "工作台就绪"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"parent": "",
|
||||
"pose": {
|
||||
"size": {
|
||||
"width": 562,
|
||||
"height": 394,
|
||||
"depth": 0
|
||||
}
|
||||
},
|
||||
"config": {
|
||||
"axis": "Left",
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
"_resource_child_name": "PRCXI_Deck"
|
||||
},
|
||||
"host": "10.20.30.184",
|
||||
"port": 9999,
|
||||
"debug": true,
|
||||
"setup": true,
|
||||
"is_9320": true,
|
||||
"timeout": 10,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"simulator": true,
|
||||
"channel_num": 2
|
||||
},
|
||||
"data": {
|
||||
"reset_ok": true
|
||||
},
|
||||
"schema": {},
|
||||
"description": "",
|
||||
"model": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 240,
|
||||
"z": 0
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "PRCXI_Deck",
|
||||
"name": "PRCXI_Deck",
|
||||
"children": [],
|
||||
"parent": "PRCXI",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 10,
|
||||
"y": 10,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Deck",
|
||||
"size_x": 542,
|
||||
"size_y": 374,
|
||||
"size_z": 0,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "deck",
|
||||
"barcode": null,
|
||||
"preferred_pickup_location": null,
|
||||
"sites": [
|
||||
{
|
||||
"label": "T1",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"container",
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T2",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T3",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T4",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T5",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T6",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T7",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T8",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T9",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T10",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T11",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T12",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T13",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 288,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T14",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 288,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T15",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 288,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T16",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 288,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
|
||||
@@ -17,6 +17,14 @@ try:
|
||||
default=json_default,
|
||||
)
|
||||
|
||||
def fast_loads(data) -> dict:
|
||||
"""JSON 反序列化，优先使用 orjson。接受 str / bytes。"""
|
||||
return orjson.loads(data)
|
||||
|
||||
def fast_dumps_str(obj, **kwargs) -> str:
|
||||
"""JSON 序列化为 str，优先使用 orjson。用于需要 str 而非 bytes 的场景（如 ROS msg）。"""
|
||||
return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default).decode("utf-8")
|
||||
|
||||
def normalize_json(info: dict) -> dict:
|
||||
"""经 JSON 序列化/反序列化一轮来清理非标准类型。"""
|
||||
return orjson.loads(orjson.dumps(info, default=json_default))
|
||||
@@ -29,6 +37,14 @@ except ImportError:
|
||||
def fast_dumps_pretty(obj, **kwargs) -> bytes: # type: ignore[misc]
|
||||
return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
|
||||
|
||||
def fast_loads(data) -> dict: # type: ignore[misc]
|
||||
if isinstance(data, bytes):
|
||||
data = data.decode("utf-8")
|
||||
return json.loads(data)
|
||||
|
||||
def fast_dumps_str(obj, **kwargs) -> str: # type: ignore[misc]
|
||||
return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder)
|
||||
|
||||
def normalize_json(info: dict) -> dict: # type: ignore[misc]
|
||||
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
|
||||
|
||||
|
||||
Reference in New Issue
Block a user