diff --git a/.cursor/skills/batch-insert-reagent/SKILL.md b/.cursor/skills/batch-insert-reagent/SKILL.md index cd946cc31..3df13fd35 100644 --- a/.cursor/skills/batch-insert-reagent/SKILL.md +++ b/.cursor/skills/batch-insert-reagent/SKILL.md @@ -27,14 +27,15 @@ python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{ ### 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="Authorization: Lab " @@ -65,7 +66,7 @@ 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`。 @@ -90,6 +91,7 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \ ``` 返回成功时包含试剂 UUID： + ```json {"code": 0, "data": {"uuid": "xxx", ...}} ``` @@ -98,28 +100,28 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \ ## 试剂字段说明 -| 字段 | 类型 | 必填 | 说明 | 示例 | -|------|------|------|------|------| -| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` | -| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` | -| `name` | string | 是 | 试剂中文/英文名称 | `"水"` | -| `molecular_formula` | string | 是 | 分子式 | `"H2O"` | -| `smiles` | string | 是 | SMILES 表示 | `"O"` | -| `stock_in_quantity` | number | 是 | 入库数量 | `10` | -| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` | -| `supplier` | string | 否 | 供应商名称 | `"国药集团"` | -| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` | -| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` | +| 字段 | 类型 | 必填 | 说明 | 示例 | +| ------------------- | ------ | ---- | ----------------------------- | ------------------------ | +| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` | +| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` | +| `name` | string | 是 | 试剂中文/英文名称 | `"水"` | +| `molecular_formula` | string | 是 | 分子式 | `"H2O"` | +| `smiles` | string | 是 | SMILES 表示 | `"O"` | +| `stock_in_quantity` | number | 是 | 入库数量 | `10` | +| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` | +| `supplier` | string | 否 | 供应商名称 | `"国药集团"` | +| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` | +| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` | ### unit 单位值 -| 值 | 单位 | -|------|------| +| 值 | 单位 | +| ------ | ---- | | `"mL"` | 毫升 | -| `"L"` | 升 | -| `"g"` | 克 | +| `"L"` | 升 | +| `"g"` | 克 | | `"kg"` | 千克 | -| `"瓶"` | 瓶 | +| `"瓶"` | 瓶 | > 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。 @@ -133,8 +135,22 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \ ```json [ - {"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"}, - {"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"} + { + "cas": "7732-18-3", + "name": "水", + "molecular_formula": "H2O", + "smiles": "O", + "stock_in_quantity": 10, + "unit": "mL" + }, + { + "cas": "64-17-5", + "name": "乙醇", + "molecular_formula": "C2H6O", + "smiles": "CCO", + "stock_in_quantity": 5, + "unit": "L" + } ] ``` @@ -160,9 +176,20 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat 7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z ``` +### 日期格式规则（重要） + +所有日期字段（`production_date`、`expiry_date`）**必须**使用 ISO 8601 完整格式：`YYYY-MM-DDTHH:MM:SSZ`。 + +- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"` +- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"` +- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年 + +**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。 + ### 执行与汇报 每次 API 调用后： + 1. 检查返回 `code`（0 = 成功） 2. 记录成功/失败数量 3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」 @@ -172,28 +199,29 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat ## 常见试剂速查表 -| 名称 | CAS | 分子式 | SMILES | -|------|-----|--------|--------| -| 水 | 7732-18-3 | H2O | O | -| 乙醇 | 64-17-5 | C2H6O | CCO | -| 甲醇 | 67-56-1 | CH4O | CO | -| 丙酮 | 67-64-1 | C3H6O | CC(C)=O | -| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O | -| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O | -| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl | -| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 | -| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O | -| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl | -| 乙腈 | 75-05-8 | C2H3N | CC#N | -| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 | -| 正己烷 | 110-54-3 | C6H14 | CCCCCC | -| 异丙醇 | 67-63-0 | C3H8O | CC(C)O | -| 盐酸 | 7647-01-0 | HCl | Cl | -| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O | -| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O | -| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] | -| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl | -| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O | +| 名称 | CAS | 分子式 | SMILES | +| --------------------- | --------- | ---------- | ------------------------------------ | +| 水 | 7732-18-3 | H2O | O | +| 乙醇 | 64-17-5 | C2H6O | CCO | +| 乙酸 | 64-19-7 | C2H4O2 | CC(O)=O | +| 甲醇 | 67-56-1 | CH4O | CO | +| 丙酮 | 67-64-1 | C3H6O | CC(C)=O | +| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O | +| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O | +| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl | +| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 | +| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O | +| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl | +| 乙腈 | 75-05-8 | C2H3N | CC#N | +| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 | +| 正己烷 | 110-54-3 | C6H14 | CCCCCC | +| 异丙醇 | 67-63-0 | C3H8O | CC(C)O | +| 盐酸 | 7647-01-0 | HCl | Cl | +| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O | +| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O | +| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] | +| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl | +| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O | > 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。 diff --git a/.cursor/skills/batch-submit-experiment/SKILL.md b/.cursor/skills/batch-submit-experiment/SKILL.md index de6fed5e1..0a368ba35 100644 --- a/.cursor/skills/batch-submit-experiment/SKILL.md +++ b/.cursor/skills/batch-submit-experiment/SKILL.md @@ -1,11 +1,13 @@ --- name: batch-submit-experiment -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. +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. --- -# 批量提交实验指南 +# Uni-Lab 批量提交实验指南 -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。 +通过 Uni-Lab 云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。 + +> **重要**：本指南中的 `Authorization: Lab ` 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） @@ -18,25 +20,28 @@ description: Batch submit experiments (notebooks) to Uni-Lab platform — list w 生成 AUTH token（任选一种方式）： ```bash -# 方式一：Python 一行生成 +# 方式一：Python 一行生成（注意：scheme 是 "Lab" 不是 "Basic"） python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" # 方式二：手动计算 # base64(ak:sk) → Authorization: Lab +# ⚠️ 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： ``` -/unilabos_data/req_device_registry_upload.json -/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）： +- `/unilabos_data/req_device_registry_upload.json` +- `/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： + +```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" + } + ] + } +} +``` -用户**必须**选择一个项目，记住 `project_uuid`，后续创建 notebook 时需要提供。 +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": "", - "project_uuid": "", - "workflow_uuid": "", - "name": "<实验名称>", - "node_params": [ + "lab_uuid": "", + "project_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": "", - "param": {}, - "sample_params": [ - { - "container_uuid": "<容器UUID>", - "sample_value": { - "liquid_names": "<液体名称>", - "volumes": 1000 - } - } - ] - } - ] + "node_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\ | 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"] } diff --git a/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py b/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py index f22b37e88..a6cbea869 100644 --- a/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py +++ b/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py @@ -7,7 +7,7 @@ 选项: --auth Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀） - --base API 基础 URL（如 https://uni-lab.test.bohrium.com） + --base API 基础 URL（如 https://leap-lab.test.bohrium.com） --workflow-uuid 目标 workflow 的 UUID --registry 本地注册表文件路径（默认自动搜索） --rounds 实验轮次数（默认 1） @@ -17,7 +17,7 @@ 示例: python gen_notebook_params.py \\ --auth YTFmZDlkNGUtxxxx \\ - --base https://uni-lab.test.bohrium.com \\ + --base https://leap-lab.test.bohrium.com \\ --workflow-uuid abc-123-def \\ --rounds 2 """ diff --git a/.cursor/skills/create-device-skill/SKILL.md b/.cursor/skills/create-device-skill/SKILL.md index 20cd2f335..c4fc7a100 100644 --- a/.cursor/skills/create-device-skill/SKILL.md +++ b/.cursor/skills/create-device-skill/SKILL.md @@ -40,13 +40,13 @@ python ./scripts/gen_auth.py --config 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 **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` | `/unilabos_data/`（若子目录已存在则直接用） | -| 仅传了 `--config` | `/unilabos_data/` | -| 都没传 | `<当前工作目录>/unilabos_data/` | +| 仅传了 `--config` | `/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 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 ] ./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 ] ./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 ### `` <用途描述（一句话）> +- **action_type**: `<从 actions/.json 的 type 字段获取>` - **Schema**: [`actions/.json`](actions/.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 ] ./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 ] ./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 ] ./ski - **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab `（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: "", node_template_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: "", node_template_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/.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 @@ -272,100 +296,196 @@ 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）： +- 单个：`{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-..."}` +- 数组：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]` +- `id` 从 parent 计算的路径格式，根据 action 语义选择正确的物料 + +> **特例**：`create_resource` 的 `res_id`，目标物料可能尚不存在，直接填期望路径，不需要 uuid。 + +### DeviceSlot / NodeSlot / ClassSlot + +- **DeviceSlot**（`unilabos_devices`）：路径字符串如 `"/host_node"`，仅 type=device 的节点 +- **NodeSlot**（`unilabos_nodes`）：路径字符串如 `"/PRCXI/PRCXI_Deck"`，设备 + 物料均可选 +- **ClassSlot**（`unilabos_class`）：类名字符串如 `"container"`，从 `req_resource_registry_upload.json` 查找 + +### FormulationSlot（`unilabos_formulation`） + +描述**液体配方**：向哪些容器中加入哪些液体及体积。 + ```json -{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"} +[ + { + "sample_uuid": "", + "well_name": "bottle_A1", + "liquids": [{ "name": "LiPF6", "volume": 0.6 }] + } +] ``` -- 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） +- `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 -> **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。 +### 通过 API #12 获取资源树 -### DeviceSlot（`unilabos_devices`） +```bash +curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH" +``` -填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径： +注意 `lab_uuid` 在路径中（不是查询参数）。返回结构： -``` -"/host_node" -"/bioyond_cell/reaction_station" +```json +{ + "code": 0, + "data": { + "nodes": [ + {"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""}, + {"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""}, + {"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"} + ], + "edges": [...] + } +} ``` -- 只填路径字符串，不需要 `{id, uuid}` 对象 -- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备） +- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent` +- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等） +- `parent` 为父节点名称（空字符串表示顶级） +- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点 +- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid` -### NodeSlot（`unilabos_nodes`） +## 物料管理 API -范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**： +设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。 -``` -"/PRCXI/PRCXI_Deck" +典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。 + +### API #14 — 按名称查询物料模板 + +创建物料前，需要先获取物料模板的 UUID。通过模板名称查询： + +```bash +curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=" -H "$AUTH" ``` -- 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`） +| 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"`） | -### ClassSlot（`unilabos_class`） +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。 -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： +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。 -``` -"container" -``` +### API #15 — 创建物料节点 -### FormulationSlot（`unilabos_formulation`） +```bash +curl -s -X POST "$BASE/api/v1/edge/material/node" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '' +``` -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**： +请求体： ```json -[ - { - "sample_uuid": "", - "well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1", - "liquids": [ - { "name": "LiPF6", "volume": 0.6 }, - { "name": "DMC", "volume": 1.2 } - ] - } -] +{ + "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": {} +} ``` -#### 字段说明 +| 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。 -| 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 +```json +{ + "liquids": [["water", 1000, "uL"], ["ethanol", 500, "uL"]], + "max_volume": 50000 +} +``` -- `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 +- `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 -### 通过 API #12 获取资源树 +### API #16 — 更新物料节点 ```bash -curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH" +curl -s -X PUT "$BASE/api/v1/edge/material/node" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '' +``` + +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": {} +} ``` -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。 +| 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 diff --git a/.cursor/skills/host-node/SKILL.md b/.cursor/skills/host-node/SKILL.md new file mode 100644 index 000000000..06025355d --- /dev/null +++ b/.cursor/skills/host-node/SKILL.md @@ -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 ` + +### 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 " +``` + +**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 "$AUTH" -H "Content-Type: application/json" \ + -d '{"name":"<名称>","lab_uuid":"","description":"<描述>"}' +``` + +返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$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":"","resource_template_name":"host_node","node_template_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":[""],"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":"","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":["",""]}' +``` + +### 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":"","target_node_uuid":"","source_handle_uuid":"","target_handle_uuid":""}]}' +``` + +### 8. 启动工作流 + +```bash +curl -s -X POST "$BASE/api/v1/lab/workflow//run" -H "$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":"","device_id":"host_node","action":"","action_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/.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 "$BASE/api/v1/lab/mcp/task/" -H "$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":""}' +``` + +### 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=" -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 "$AUTH" -H "Content-Type: application/json" \ + -d '{"res_template_uuid":"","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}' +``` + +### 16. 更新物料节点 + +```bash +curl -s -X PUT "$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/\.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 +``` diff --git a/.cursor/skills/host-node/action-index.md b/.cursor/skills/host-node/action-index.md new file mode 100644 index 000000000..c931bc53f --- /dev/null +++ b/.cursor/skills/host-node/action-index.md @@ -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/.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 diff --git a/.cursor/skills/host-node/actions/create_resource.json b/.cursor/skills/host-node/actions/create_resource.json new file mode 100644 index 000000000..c7f16d5b7 --- /dev/null +++ b/.cursor/skills/host-node/actions/create_resource.json @@ -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" + } +} \ No newline at end of file diff --git a/.cursor/skills/host-node/actions/manual_confirm.json b/.cursor/skills/host-node/actions/manual_confirm.json new file mode 100644 index 000000000..ee0b220ee --- /dev/null +++ b/.cursor/skills/host-node/actions/manual_confirm.json @@ -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" + } +} \ No newline at end of file diff --git a/.cursor/skills/host-node/actions/test_latency.json b/.cursor/skills/host-node/actions/test_latency.json new file mode 100644 index 000000000..0fbd448fc --- /dev/null +++ b/.cursor/skills/host-node/actions/test_latency.json @@ -0,0 +1,11 @@ +{ + "type": "UniLabJsonCommand", + "goal": {}, + "schema": { + "type": "object", + "properties": {}, + "required": [] + }, + "goal_default": {}, + "placeholder_keys": {} +} \ No newline at end of file diff --git a/.cursor/skills/host-node/actions/test_resource.json b/.cursor/skills/host-node/actions/test_resource.json new file mode 100644 index 000000000..e9459fc77 --- /dev/null +++ b/.cursor/skills/host-node/actions/test_resource.json @@ -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" + } +} \ No newline at end of file diff --git a/.cursor/skills/submit-agent-result/SKILL.md b/.cursor/skills/submit-agent-result/SKILL.md index 189237110..b94a0aaf9 100644 --- a/.cursor/skills/submit-agent-result/SKILL.md +++ b/.cursor/skills/submit-agent-result/SKILL.md @@ -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 ` 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())" ``` -输出即为 token 值，拼接为 `Authorization: Lab `。 +输出即为 token 值，拼接为 `Authorization: Lab `（`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 ] ``` -| 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 ` 方式。如果用户有独立的 API Key，也可用 `Authorization: Api ` 替代。 +本指南统一使用 `Authorization: Lab ` 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 ` 替代。 diff --git a/.cursor/skills/virtual-workbench/SKILL.md b/.cursor/skills/virtual-workbench/SKILL.md new file mode 100644 index 000000000..8f7aa0fef --- /dev/null +++ b/.cursor/skills/virtual-workbench/SKILL.md @@ -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 ` + +### 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 " +``` + +**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":"","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 "$AUTH" -H "Content-Type: application/json" \ + -d '{"workflow_uuid":"","resource_template_name":"virtual_workbench","node_template_name":""}' +``` + +- `resource_template_name` 固定为 `virtual_workbench` +- `node_template_name` — action 名称（如 `auto-prepare_materials`, `auto-move_to_heating_station`） + +### 4. 删除节点 + +```bash +curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '{"node_uuids":[""],"workflow_uuid":""}' +``` + +### 5. 更新节点参数 + +```bash +curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '{"workflow_uuid":"","uuid":"","param":{...}}' +``` + +参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。 + +### 6. 查询节点 handles + +```bash +curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '{"node_uuids":["",""]}' +``` + +### 7. 批量创建边 + +```bash +curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '{"edges":[{"source_node_uuid":"","target_node_uuid":"","source_handle_uuid":"","target_handle_uuid":""}]}' +``` + +### 8. 启动工作流 + +```bash +curl -s -X POST "$BASE/api/v1/lab/workflow//run" -H "$AUTH" +``` + +### 9. 运行设备单动作 + +```bash +curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \ + -H "$AUTH" -H "Content-Type: application/json" \ + -d '{"lab_uuid":"","device_id":"virtual_workbench","action":"","action_type":"","param":{...}}' +``` + +`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。 + +> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/.json` 的 `type` 字段获取。 + +#### action_type 速查表 + +| action | action_type | +|--------|-------------| +| `auto-prepare_materials` | `UniLabJsonCommand` | +| `auto-move_to_heating_station` | `UniLabJsonCommand` | +| `auto-start_heating` | `UniLabJsonCommand` | +| `auto-move_to_output` | `UniLabJsonCommand` | +| `transfer` | `UniLabJsonCommandAsync` | +| `manual_confirm` | `UniLabJsonCommand` | + +### 10. 查询任务状态 + +```bash +curl -s -X GET "$BASE/api/v1/lab/mcp/task/" -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 "$AUTH" -H "Content-Type: application/json" \ + -d '{"node_uuid":""}' +``` + +### 12. 获取资源树（物料信息） + +```bash +curl -s -X GET "$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=$lab_uuid&name=" -H "$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":"","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/\.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`。 diff --git a/.cursor/skills/virtual-workbench/action-index.md b/.cursor/skills/virtual-workbench/action-index.md new file mode 100644 index 000000000..f67d9a917 --- /dev/null +++ b/.cursor/skills/virtual-workbench/action-index.md @@ -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/.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 diff --git a/.cursor/skills/virtual-workbench/actions/manual_confirm.json b/.cursor/skills/virtual-workbench/actions/manual_confirm.json new file mode 100644 index 000000000..84d06f5b9 --- /dev/null +++ b/.cursor/skills/virtual-workbench/actions/manual_confirm.json @@ -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" + } +} \ No newline at end of file diff --git a/.cursor/skills/virtual-workbench/actions/move_to_heating_station.json b/.cursor/skills/virtual-workbench/actions/move_to_heating_station.json new file mode 100644 index 000000000..b5e55adc2 --- /dev/null +++ b/.cursor/skills/virtual-workbench/actions/move_to_heating_station.json @@ -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": {} +} \ No newline at end of file diff --git a/.cursor/skills/virtual-workbench/actions/move_to_output.json b/.cursor/skills/virtual-workbench/actions/move_to_output.json new file mode 100644 index 000000000..913e86796 --- /dev/null +++ b/.cursor/skills/virtual-workbench/actions/move_to_output.json @@ -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": {} +} \ No newline at end of file diff --git a/.cursor/skills/virtual-workbench/actions/prepare_materials.json b/.cursor/skills/virtual-workbench/actions/prepare_materials.json new file mode 100644 index 000000000..5fbd8a9cd --- /dev/null +++ b/.cursor/skills/virtual-workbench/actions/prepare_materials.json @@ -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": {} +} \ No newline at end of file diff --git a/.cursor/skills/virtual-workbench/actions/start_heating.json b/.cursor/skills/virtual-workbench/actions/start_heating.json new file mode 100644 index 000000000..913e86796 --- /dev/null +++ b/.cursor/skills/virtual-workbench/actions/start_heating.json @@ -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": {} +} \ No newline at end of file diff --git a/.cursor/skills/virtual-workbench/actions/transfer.json b/.cursor/skills/virtual-workbench/actions/transfer.json new file mode 100644 index 000000000..c286c68f5 --- /dev/null +++ b/.cursor/skills/virtual-workbench/actions/transfer.json @@ -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" + } +} \ No newline at end of file diff --git a/.gitignore b/.gitignore index 12b344d63..66de6049a 100644 --- a/.gitignore +++ b/.gitignore @@ -251,4 +251,7 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2 *.bz2 test_config.py - +# Local config files with secrets +yibin_coin_cell_only_config.json +yibin_electrolyte_config.json +yibin_electrolyte_only_config.json diff --git a/260415csv_export_walkthrough.md b/260415csv_export_walkthrough.md new file mode 100644 index 000000000..b783c8523 --- /dev/null +++ b/260415csv_export_walkthrough.md @@ -0,0 +1,72 @@ +# CSV 导出功能变更概要 + +## 修改的文件 + +### 1. [bioyond_cell_workstation.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py) + +#### 新增导入 +- `import csv` 和 `import os`（L14-15） + +#### 新增方法 + +| 方法 | 功能 | +|------|------| +| `_extract_prep_bottle_from_report` | 从 order_finish 报文提取**配液瓶**信息（每订单最多1个） | +| `_extract_vial_bottles_from_report` | 从 order_finish 报文提取**分液瓶**信息（每订单可多个，返回数组） | +| `_export_order_csv` | 汇总所有信息写入 CSV 文件 | + +#### 配液瓶筛选逻辑 (`_extract_prep_bottle_from_report`) +- `typemode="1"`, `realQuantity=1`, `usedQuantity=1` +- `locationId` 以 `3a19deae-2c7a-` 开头（手动传递窗） +- LIMS API 二次确认：`typeName` 含"配液瓶(小)"或"配液瓶(大)" + +#### 分液瓶筛选逻辑 (`_extract_vial_bottles_from_report`) +- `typemode="1"`, `realQuantity=1`, `usedQuantity=1` +- `locationId` 以 `3a19debc-84b5-` 或 `3a19debe-5200` 开头（自动堆栈-左/右） +- LIMS API 二次确认：`typeName` 为"5ml分液瓶"或"20ml分液瓶" +- **返回数组**，支持 1×5ml + n×20ml 的组合 + +#### 修改的方法 + +| 方法 | 变更 | +|------|------| +| `_submit_and_wait_orders` | 新增配液瓶+分液瓶提取步骤，将 `prep_bottles` 和 `vial_bottles` 存入 `final_result` | +| `create_orders` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` | +| `create_orders_formulation` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` | + +#### CSV 输出格式 +``` +orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间 +``` +- 单个分液瓶时直接写值；多个分液瓶时类型和二维码用 JSON 数组表示 +- CSV 编码使用 `utf-8-sig`（兼容 Excel 打开） +- `csv_export_path` 默认为空字符串，不传则不导出（向后兼容） + +--- + +### 2. [bioyond_cell.yaml](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/registry/devices/bioyond_cell.yaml) + +为两个 action 注册了 `csv_export_path` 参数： + +- `auto-create_orders`: `goal_default` + `schema.properties.goal.properties` 中添加 `csv_export_path` +- `auto-create_orders_formulation`: 同上 + +--- + +### 3. [coin_cell_assembly.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py) 的 CSV 改动与全流程追溯 + +在 `bioyond_cell_workstation.py` 的 `_submit_and_wait_orders` 最后阶段，提取 `prep_bottles`（配液瓶）和 `vial_bottles`（分液瓶）的条码并随 `mass_ratios` 数组一起下发给各下游工站（例如扣电组装站），实现跨站的全流程配方追溯。 + +并在扣电站生成的 `date_xxx.csv` 中，**替换并新增**了以下列： +- 移除了原有的 `formulation_order_code` 与合并的 `formulation_ratio` 列。 +- 新增 `orderName` 导出 +- 新增 `prep_bottle_barcode`（奔曜传递的配液瓶二维码） +- 新增 `vial_bottle_barcodes`（奔曜传递的分液瓶二维码，多瓶时存 JSON 数组） +- 新增 `target_mass_ratio` 理论目标质量比 +- 新增 `real_mass_ratio` 实际称量真实质量比 + +*注意：这与操作人员在手套箱内扫码传入扣电站的 `electrolyte_code` 是单独记录的，方便做数据核对。* + +## 向后兼容性 +- `csv_export_path` 默认值为 `""`（空字符串），现有调用不受影响 +- 新增的 `prep_bottles` 和 `vial_bottles` 字段为 `final_result` 和 `mass_ratios` 内部的新增附属字段，不破坏现有数据结构。 diff --git a/CHANGES_2026_03_24.md b/CHANGES_2026_03_24.md new file mode 100644 index 000000000..a514d1654 --- /dev/null +++ b/CHANGES_2026_03_24.md @@ -0,0 +1,168 @@ +# 变更说明 2026-03-24 + +## 问题背景 + +`BioyondElectrolyteDeck`（原 `BIOYOND_YB_Deck`）迁移后，前端物料未能正常上传/同步。 + +--- + +## 修复内容 + +### 1. `unilabos/resources/bioyond/decks.py` + +- 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑，与旧版 `BIOYOND_YB_Deck` 保持一致 +- 工厂函数 `bioyond_electrolyte_deck` 保留显式调用 `deck.setup()`，避免重复初始化 + +```python +# 修复前（缺少 setup 参数，无法通过 setup=True 触发初始化） +def __init__(self, name, size_x, size_y, size_z, category): + super().__init__(...) + +# 修复后 +def __init__(self, name, size_x, size_y, size_z, category, setup: bool = False): + super().__init__(...) + if setup: + self.setup() +``` + +--- + +### 2. `unilabos/resources/graphio.py` + +- 修复 `resource_bioyond_to_plr` 中两处 `bottle.tracker.liquids` 直接赋值导致的崩溃 +- `ResourceHolder`（如枪头盒的 TipSpot 槽位）没有 `tracker` 属性，直接访问会抛出 `AttributeError`，阻断整个 Bioyond 同步流程 + +```python +# 修复前 +bottle.tracker.liquids = [...] + +# 修复后 +if hasattr(bottle, 'tracker') and bottle.tracker is not None: + bottle.tracker.liquids = [...] +``` + +--- + +### 3. `unilabos/app/main.py` + +- 保留 `file_path is not None` 条件不变（已还原），并补充注释说明原因 +- 该逻辑只在**本地文件模式**下有意义：本地 graph 文件只含设备结构，远端有已保存物料，merge 才能将两者合并 +- 远端模式（`file_path=None`）下，`resource_tree_set` 和 `request_startup_json` 来自同一份数据，merge 为空操作，条件是否加 `file_path is not None` 对结果没有影响 + +--- + +### 4. `unilabos/devices/workstation/bioyond_studio/station.py` ⭐ 核心修复 + +- 当 deck 通过反序列化创建时，不会自动调用 `setup()`，导致 `deck.children` 为空，`warehouses` 始终是 `{}` +- 增加兜底逻辑：仓库扫描后仍为空，则主动调用 `deck.setup()` 初始化仓库 +- 这是导致所有物料放置失败（`warehouse '...' 在deck中不存在。可用warehouses: []`）的根本原因 + +```python +# 新增兜底 +if not self.deck.warehouses and hasattr(self.deck, "setup") and callable(self.deck.setup): + logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库") + self.deck.setup() +``` + +--- + +--- + +## 补充修复 2026-03-25：依华扣电组装工站子物料未上传 + +### 问题 + +`CoinCellAssemblyWorkstation.post_init` 直接上传空 deck，未调用 `deck.setup()`，导致： +- 前端子物料（成品弹夹、料盘、瓶架等）不显示 +- 运行时 `self.deck.get_resource("成品弹夹")` 抛出 `ResourceNotFoundError` + +### 修复文件 + +**`unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`** +- `YihuaCoinCellDeck.__init__` 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑 + +**`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`** +- `post_init` 中增加与 Bioyond 工站相同的兜底逻辑：deck 无子节点时调用 `deck.setup()` 初始化 + +```python +# post_init 中新增 +if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup): + logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化") + self.deck.setup() +``` + +### 联动 Bug：`MaterialPlate.create_with_holes` 构造顺序错误 + +**现象**：`deck.setup()` 被调用后，启动时抛出： +``` +设备后初始化失败: Must specify either `ordered_items` or `ordering`. +``` + +**根因**：`create_with_holes` 原来的逻辑是先构造空的 `MaterialPlate` 实例，再 assign 洞位： +```python +# 旧（错误）：cls(...) 时 ordered_items=None → ItemizedResource.__init__ 立即报错 +plate = cls(name=name, ...) # ← 这里就崩了 +holes = create_ordered_items_2d(...) # ← 根本没走到这里 +for hole_name, hole in holes.items(): + plate.assign_child_resource(...) +``` +pylabrobot 的 `ItemizedResource.__init__` 强制要求 `ordered_items` 和 `ordering` 必须有一个不为 `None`，空构造直接失败。 + +**修复**：先建洞位，再作为 `ordered_items` 传给构造函数： +```python +# 新（正确）：先建洞位，再一次性传入构造函数 +holes = create_ordered_items_2d(klass=MaterialHole, num_items_x=4, ...) +return cls(name=name, ..., ordered_items=holes) +``` + +> 此 bug 此前未被触发，是因为 `deck.setup()` 从未被调用到——正是上面 `post_init` 兜底修复引出的联动问题。 + +--- + +## 补充修复 2026-03-25：3→2→1 转运资源同步失败 + +### 问题 + +配液工站（Bioyond）完成分液后，调用 `transfer_3_to_2_to_1_auto` 将分液瓶板转运到扣电工站（BatteryStation）。物理 LIMS 转运成功，但数字孪生资源树同步始终失败： +``` +[资源同步] ❌ 失败: 目标设备 'BatteryStation' 中未找到资源 'bottle_rack_6x2' +``` + +### 根因 + +`_get_resource_from_device` 方法负责跨设备查找资源对象，有两个问题： + +1. **原始路径完全失效**：尝试 `from unilabos.app.ros2_app import get_device_plr_resource_by_name`，但该模块不存在，`ImportError` 被 `except Exception: pass` 静默吞掉 +2. **降级路径搜错地方**：遍历 `self._plr_resources`（Bioyond 自己的资源），不可能找到 BatteryStation 的 `bottle_rack_6x2` + +### 修复文件 + +**`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`** + +改用全局设备注册表 `registered_devices` 跨设备访问目标 deck： + +```python +# 修复前（失效） +from unilabos.app.ros2_app import get_device_plr_resource_by_name # 模块不存在 +return get_device_plr_resource_by_name(device_id, resource_name) + +# 修复后 +from unilabos.ros.nodes.base_device_node import registered_devices +device_info = registered_devices.get(device_id) +if device_info is not None: + driver = device_info.get("driver_instance") # TypedDict 是 dict，必须用 .get() + if driver is not None: + deck = getattr(driver, "deck", None) + if deck is not None: + res = deck.get_resource(resource_name) +``` + +关键细节：`DeviceInfoType` 是 `TypedDict`（即普通 `dict`），必须用 `device_info.get("driver_instance")` 而非 `getattr(device_info, "driver_instance", None)`——后者对字典永远返回 `None`。 + +--- + +## 根本原因分析 + +旧版以**本地文件模式**启动（有 `graph` 文件），deck 在启动前已通过 `merge_remote_resources` 获得仓库子节点，反序列化时能正确恢复 warehouses。 + +新版以**远端模式**启动（`file_path=None`），deck 反序列化时没有仓库子节点，`station.py` 扫描为空，所有物料的 warehouse 匹配失败，Bioyond 同步的 16 个资源全部无法放置到对应仓库位，前端不显示。 diff --git a/docs/advanced_usage/configuration.md b/docs/advanced_usage/configuration.md index 3440044c6..a885e06d2 100644 --- a/docs/advanced_usage/configuration.md +++ b/docs/advanced_usage/configuration.md @@ -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： ![copy_aksk.gif](image/copy_aksk.gif) @@ -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）：** diff --git a/docs/developer_guide/networking_overview.md b/docs/developer_guide/networking_overview.md index 19f163121..dc7422350 100644 --- a/docs/developer_guide/networking_overview.md +++ b/docs/developer_guide/networking_overview.md @@ -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 diff --git a/docs/user_guide/best_practice.md b/docs/user_guide/best_practice.md index 499ee9eec..8e4fd357d 100644 --- a/docs/user_guide/best_practice.md +++ b/docs/user_guide/best_practice.md @@ -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) --- diff --git a/docs/user_guide/graph_files.md b/docs/user_guide/graph_files.md index d6902829f..f4951dde6 100644 --- a/docs/user_guide/graph_files.md +++ b/docs/user_guide/graph_files.md @@ -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 diff --git a/docs/user_guide/launch.md b/docs/user_guide/launch.md index 34caa5b90..4f8df40db 100644 --- a/docs/user_guide/launch.md +++ b/docs/user_guide/launch.md @@ -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 diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 6c0976825..71cc0cdfd 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -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 @@ -621,6 +621,8 @@ def main(): continue # 如果从远端获取了物料信息，则与本地物料进行同步 + # 仅在本地文件模式下有意义：本地文件只含设备结构，远端有已保存的物料，需要 merge + # 远端模式下 resource_tree_set 与 request_startup_json 来自同一份数据，merge 为空操作 if file_path is not None and request_startup_json and "nodes" in request_startup_json: print_status("开始同步远端物料到本地...", "info") remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"]) diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 1dd056aeb..527b813ed 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -36,6 +36,9 @@ def __init__(self, remote_addr: Optional[str] = None, auth: Optional[str] = None 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 @@ def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Respons 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 @@ def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_a 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 @@ def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[D """ 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 @@ def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[D 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 @@ def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response: 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 @@ def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]: """ 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 @@ def resource_update(self, resources: List[Dict[str, Any]]) -> requests.Response: 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 @@ def upload_file(self, file_path: str, scene: str = "models") -> requests.Respons 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 @@ def resource_registry( "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 @@ def request_startup_json(self) -> Optional[Dict[str, Any]]: 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 @@ def workflow_import( 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}"}, diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 851ae3203..4823a2323 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -1269,7 +1269,13 @@ def _send_busy_status(self): 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， diff --git a/unilabos/config/config.py b/unilabos/config/config.py index b80d3b60d..d8d000e25 100644 --- a/unilabos/config/config.py +++ b/unilabos/config/config.py @@ -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 diff --git a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md index 21826dffc..a64acb1e4 100644 --- a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md +++ b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md @@ -219,10 +219,10 @@ device = NewareBatteryTestSystem( #### 步骤 2：提交测试任务 -使用 `submit_from_csv` 提交测试任务： +使用 `submit_from_csv_export_ndax` 提交测试任务： ```python -result = device.submit_from_csv( +result = device.submit_from_csv_export_ndax( csv_path="test_data.csv", output_dir="D:/neware_output" ) @@ -489,7 +489,7 @@ A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。 **Q: 可以自定义上传路径吗？** A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。 -**Q: 为什么不在 `submit_from_csv` 中自动上传？** +**Q: 为什么不在 `submit_from_csv_export_ndax` 中自动上传？** A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。 **Q: 上传后如何访问文件？** diff --git a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md index e989c64a9..60cb2dc30 100644 --- a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md +++ b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md @@ -230,10 +230,10 @@ device = NewareBatteryTestSystem( #### Step 2: Submit Test Tasks -Use `submit_from_csv` to submit test tasks: +Use `submit_from_csv_export_ndax` to submit test tasks: ```python -result = device.submit_from_csv( +result = device.submit_from_csv_export_ndax( csv_path="test_data.csv", output_dir="D:/neware_output" ) @@ -500,7 +500,7 @@ A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable **Q: Can I customize upload paths?** A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility). -**Q: Why not auto-upload in `submit_from_csv`?** +**Q: Why not auto-upload in `submit_from_csv_export_ndax`?** A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility. **Q: How to access files after upload?** diff --git a/unilabos/devices/neware_battery_test_system/device.json b/unilabos/devices/neware_battery_test_system/device.json index 696112de8..8d5892550 100644 --- a/unilabos/devices/neware_battery_test_system/device.json +++ b/unilabos/devices/neware_battery_test_system/device.json @@ -14,7 +14,7 @@ "config": { "ip": "127.0.0.1", "port": 502, - "machine_id": 1, + "machine_ids": [1, 2, 3, 4, 5, 6, 86], "devtype": "27", "timeout": 20, "size_x": 500.0, @@ -26,10 +26,10 @@ "data": { "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能", "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等", - "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号" + "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务（NDA备份），或通过submit_from_csv_export_excel action提交并备份为Excel格式。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号" }, "children": [] } ], "links": [] -} \ No newline at end of file +} diff --git a/unilabos/devices/neware_battery_test_system/generate_xml_content.py b/unilabos/devices/neware_battery_test_system/generate_xml_content.py new file mode 100644 index 000000000..52bedf1de --- /dev/null +++ b/unilabos/devices/neware_battery_test_system/generate_xml_content.py @@ -0,0 +1,1644 @@ +def xml_811_Li_002(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
+ + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_811_Li_005(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_LFP_Li(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_LFP_Gr(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_Gr_Li(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_LB6(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + """ + return xml_data + + +def xml_SiGr_Li_Step(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data= f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_811_SiGr(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data= f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data + +def xml_811_Cu_aging(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data= f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + """ + return xml_data +def xml_ZQXNLRMO(act_mass, Cap_mAh): + """ + 生成XML内容 + + 参数: + act_mass: 正极质量(mg) + Cap_mAh: 正极载量(mAh) + devid: 设备号 + subdevid: 排号 + chlid: 通道号 + """ + xml_data = f""" + + + + + + + + + + + + + +
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+ + + + + + + + + + + """ + return xml_data + +def xml_811_Li_JY(act_mass=None, Cap_mAh=None): + """ + 生成XML内容 + + 参数: + act_mass: 可选，未使用 + Cap_mAh: 可选，未使用 + """ + xml_data = f""" + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + """ + return xml_data diff --git a/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py b/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py index 0a811458b..38b90d5fc 100644 --- a/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py +++ b/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py @@ -16,13 +16,18 @@ import os import sys import socket +import csv import xml.etree.ElementTree as ET import json import time +import inspect +from datetime import datetime from dataclasses import dataclass from typing import Any, Dict, List, Optional, TypedDict from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_items_2d, Deck, Plate +from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.ros.nodes.base_device_node import ROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode @@ -256,12 +261,27 @@ def load_state(self, state: Dict[str, Any]) -> None: super().load_state(state) self._unilabos_state = state + def serialize(self) -> dict: + d = super().serialize() + channel_name = self._unilabos_state.get("Channel_Name") + if channel_name: + d["name"] = channel_name + return d + def serialize_state(self) -> Dict[str, Dict[str, Any]]: """格式不变""" data = super().serialize_state() data.update(self._unilabos_state) return data + def serialize_all_state(self) -> Dict[str, Dict[str, Any]]: + states = {} + channel_name = self._unilabos_state.get("Channel_Name", self.name) + states[channel_name] = self.serialize_state() + for child in self.children: + states.update(child.serialize_all_state()) + return states + class NewareBatteryTestSystem: """ @@ -292,24 +312,25 @@ class NewareBatteryTestSystem: # ======================== STATUS_SET = {"working", "stop", "finish", "protect", "pause", "false"} STATUS_COLOR = { - "working": "#22c55e", # 绿 - "stop": "#6b7280", # 灰 - "finish": "#3b82f6", # 蓝 - "protect": "#ef4444", # 红 - "pause": "#f59e0b", # 橙 - "false": "#9ca3af", # 不存在/无效 - "unknown": "#a855f7", # 未知 + "working": "#15803d", # 深绿 + "stop": "#4b5563", # 深灰 + "finish": "#1d4ed8", # 深蓝 + "protect": "#b91c1c", # 深红 + "pause": "#b45309", # 深橙 + "false": "#6b7280", # 灰 + "unknown": "#7c3aed", # 深紫 } # 字母常量 ascii_lowercase = 'abcdefghijklmnopqrstuvwxyz' ascii_uppercase = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' LETTERS = ascii_uppercase + ascii_lowercase + DEFAULT_MACHINE_IDS = [1, 2, 3, 4, 5, 6, 86] def __init__(self, ip: str = None, port: int = None, - machine_id: int = 1, + machine_ids: Optional[List[int]] = None, devtype: str = None, timeout: int = None, @@ -326,16 +347,18 @@ def __init__(self, Args: ip: TCP服务器IP地址 port: TCP端口 + machine_ids: 设备ID列表 devtype: 设备类型标识 timeout: 通信超时时间（秒） - machine_id: 机器ID size_x, size_y, size_z: 设备物理尺寸 oss_upload_enabled: 是否启用OSS上传功能，默认False oss_prefix: OSS对象路径前缀，默认"neware_backup" """ self.ip = ip or self.BTS_IP self.port = port or self.BTS_PORT - self.machine_id = machine_id + self.machine_ids = machine_ids + self.display_device_ids = self._resolve_display_device_ids() + self.primary_device_id = self.display_device_ids[0] self.devtype = devtype or self.DEVTYPE self.timeout = timeout or self.TIMEOUT @@ -352,6 +375,12 @@ def __init__(self, self._cached_status = {} self._last_backup_dir = None # 记录最近一次的 backup_dir，供上传使用 self._ros_node: Optional[ROS2WorkstationNode] = None # ROS节点引用，由框架设置 + self._channels = self._build_channel_map() + + def _resolve_display_device_ids(self) -> List[int]: + if self.machine_ids: + return [int(devid) for devid in self.machine_ids] + return self.DEFAULT_MACHINE_IDS.copy() def post_init(self, ros_node): @@ -376,27 +405,87 @@ def post_init(self, ros_node): ros_node.lab_logger().error(f"新威电池测试系统初始化失败: {e}") # 不抛出异常，允许节点继续运行，后续可以重试连接 + def _plate_name(self, devid: int, plate_num: int) -> str: + return f"{devid}_P{plate_num}" + + def _plate_resource_key(self, devid: int, plate_num: int, row_idx: int, col_idx: int) -> str: + return f"{self._plate_name(devid, plate_num)}_{self.LETTERS[row_idx]}{col_idx + 1}" + + def _get_plate_resource(self, devid: int, plate_num: int, row_idx: int, col_idx: int): + possible_names = [ + f"{self._plate_name(devid, plate_num)}_batterytestposition_{col_idx}_{row_idx}", + f"{self._plate_name(devid, plate_num)}_{self.LETTERS[row_idx]}{col_idx + 1}", + f"{self._plate_name(devid, plate_num)}_{self.LETTERS[row_idx].lower()}{col_idx + 1}", + f"P{plate_num}_batterytestposition_{col_idx}_{row_idx}", + f"P{plate_num}_{self.LETTERS[row_idx]}{col_idx + 1}", + f"P{plate_num}_{self.LETTERS[row_idx].lower()}{col_idx + 1}", + ] + for name in possible_names: + if name in self.station_resources: + return self.station_resources[name], name, possible_names + return None, None, possible_names + def _setup_material_management(self): """设置物料管理系统""" - # 第1盘：5行8列网格 (A1-E8) - 5行对应subdevid 1-5，8列对应chlid 1-8 - # 先给物料设置一个最大的Deck，并设置其在空间中的位置 - - deck_main = Deck("ADeckName", 2000, 1800, 100, origin=Coordinate(2000,2000,0)) - - plate1_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d( - BatteryTestPosition, - num_items_x=8, # 8列（对应chlid 1-8） - num_items_y=5, # 5行（对应subdevid 1-5，即A-E） - dx=10, - dy=10, - dz=0, - item_dx=65, - item_dy=65 + deck_main = Deck( + name="ADeckName", + size_x=1200, + size_y=2800, + size_z=100, + origin=Coordinate(-5500, 0, 0) ) - plate1 = Plate("P1", 400, 300, 50, ordered_items=plate1_resources) - deck_main.assign_child_resource(plate1, location=Coordinate(0, 0, 0)) - - # 只有在真实ROS环境下才调用update_resource + self.station_resources = {} + self.station_resources_by_plate = {} + + for row_idx, devid in enumerate(self.display_device_ids): + for plate_num in (1, 2): + plate_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d( + BatteryTestPosition, + num_items_x=8, + num_items_y=5, + dx=10, + dy=10, + dz=0, + item_dx=65, + item_dy=65 + ) + plate_name = self._plate_name(devid, plate_num) + plate = Plate( + name=plate_name, + size_x=540, + size_y=350, + size_z=50, + ordered_items=plate_resources + ) + location_x = 0 if plate_num == 1 else 590 + location_y = row_idx * 400 + deck_main.assign_child_resource(plate, location=Coordinate(location_x, location_y, 0)) + + plate_key = (devid, plate_num) + subdev_start = 1 if plate_num == 1 else 6 + self.station_resources_by_plate[plate_key] = {} + for name, resource in plate_resources.items(): + new_name = f"{plate_name}_{name}" + # 从名称解析 col/row 索引，设置初始 Channel_Name + parts = name.rsplit("_", 2) + if len(parts) >= 3: + col_idx, row_idx = int(parts[-2]), int(parts[-1]) + chl_id = col_idx + 1 + subdev_id = subdev_start + row_idx + resource.load_state({ + "status": "unknown", + "color": self.STATUS_COLOR["unknown"], + "voltage": 0.0, + "current": 0.0, + "time": 0.0, + "Channel_Name": f"{devid}-{subdev_id}-{chl_id}", + }) + self.station_resources_by_plate[plate_key][new_name] = resource + self.station_resources[new_name] = resource + + self.station_resources_plate1 = self.station_resources_by_plate.get((self.primary_device_id, 1), {}) + self.station_resources_plate2 = self.station_resources_by_plate.get((self.primary_device_id, 2), {}) + if hasattr(self._ros_node, 'update_resource') and callable(getattr(self._ros_node, 'update_resource')): try: ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ @@ -405,40 +494,6 @@ def _setup_material_management(self): except Exception as e: if hasattr(self._ros_node, 'lab_logger'): self._ros_node.lab_logger().warning(f"更新资源失败: {e}") - # 在非ROS环境下忽略此错误 - - # 为第1盘资源添加P1_前缀 - self.station_resources_plate1 = {} - for name, resource in plate1_resources.items(): - new_name = f"P1_{name}" - self.station_resources_plate1[new_name] = resource - - # 第2盘：5行8列网格 (A1-E8)，在Z轴上偏移 - 5行对应subdevid 6-10，8列对应chlid 1-8 - plate2_resources = create_ordered_items_2d( - BatteryTestPosition, - num_items_x=8, # 8列（对应chlid 1-8） - num_items_y=5, # 5行（对应subdevid 6-10，即A-E） - dx=10, - dy=10, - dz=0, - item_dx=65, - item_dy=65 - ) - - plate2 = Plate("P2", 400, 300, 50, ordered_items=plate2_resources) - deck_main.assign_child_resource(plate2, location=Coordinate(0, 350, 0)) - - - # 为第2盘资源添加P2_前缀 - self.station_resources_plate2 = {} - for name, resource in plate2_resources.items(): - new_name = f"P2_{name}" - self.station_resources_plate2[new_name] = resource - - # 合并两盘资源为统一的station_resources - self.station_resources = {} - self.station_resources.update(self.station_resources_plate1) - self.station_resources.update(self.station_resources_plate2) # ======================== # 核心属性（Uni-Lab标准） @@ -469,16 +524,16 @@ def channel_status(self) -> Dict[int, Dict]: status_map = self._query_all_channels() status_processed = {} if not status_map else self._group_by_devid(status_map) - # 修复数据过滤逻辑：如果machine_id对应的数据不存在，尝试使用第一个可用的设备数据 - status_current_machine = status_processed.get(self.machine_id, {}) + # 返回主设备数据，如果主设备没有匹配数据则回退到首个可用设备 + status_current_machine = status_processed.get(self.primary_device_id, {}) if not status_current_machine and status_processed: - # 如果machine_id没有匹配到数据，使用第一个可用的设备数据 + # 如果主设备没有匹配到数据，使用第一个可用的设备数据 first_devid = next(iter(status_processed.keys())) status_current_machine = status_processed[first_devid] if self._ros_node: self._ros_node.lab_logger().warning( - f"machine_id {self.machine_id} 没有匹配到数据，使用设备ID {first_devid} 的数据" + f"主设备ID {self.primary_device_id} 没有匹配到数据，使用设备ID {first_devid} 的数据" ) # 确保有默认的数据结构 @@ -488,139 +543,57 @@ def channel_status(self) -> Dict[int, Dict]: "subunits": {} } - # 确保subunits存在 - subunits = status_current_machine.get("subunits", {}) - - # 处理2盘电池的状态映射 - self._update_plate_resources(subunits) + self._update_plate_resources(status_processed) return status_current_machine - def _update_plate_resources(self, subunits: Dict): - """更新两盘电池资源的状态""" - # 第1盘：subdevid 1-5 映射到 8列5行网格 (列0-7, 行0-4) - for subdev_id in range(1, 6): # subdevid 1-5 - status_row = subunits.get(subdev_id, {}) - - for chl_id in range(1, 9): # chlid 1-8 - try: - # 根据用户描述：第一个是(0,0)，最后一个是(7,4) - # 说明是8列5行，列从0开始，行从0开始 - col_idx = (chl_id - 1) # 0-7 (chlid 1-8 -> 列0-7) - row_idx = (subdev_id - 1) # 0-4 (subdevid 1-5 -> 行0-4) - - # 尝试多种可能的资源命名格式 - possible_names = [ - f"P1_batterytestposition_{col_idx}_{row_idx}", # 用户提到的格式 - f"P1_{self.LETTERS[row_idx]}{col_idx + 1}", # 原有的A1-E8格式 - f"P1_{self.LETTERS[row_idx].lower()}{col_idx + 1}", # 小写字母格式 - ] - - r = None - resource_name = None - for name in possible_names: - if name in self.station_resources: - r = self.station_resources[name] - resource_name = name - break - - if r: - status_channel = status_row.get(chl_id, {}) - metrics = status_channel.get("metrics", {}) - # 构建BatteryTestPosition状态数据（移除capacity和energy） - channel_state = { - # 基本测量数据 - "voltage": metrics.get("voltage_V", 0.0), - "current": metrics.get("current_A", 0.0), - "time": metrics.get("totaltime_s", 0.0), - - # 状态信息 - "status": status_channel.get("state", "unknown"), - "color": status_channel.get("color", self.STATUS_COLOR["unknown"]), - - # 通道名称标识 - "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}", - - } - r.load_state(channel_state) - - # 调试信息 - if self._ros_node and hasattr(self._ros_node, 'lab_logger'): - self._ros_node.lab_logger().debug( - f"更新P1资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} " - f"状态:{channel_state['status']}" - ) - else: - # 如果找不到资源，记录调试信息 - if self._ros_node and hasattr(self._ros_node, 'lab_logger'): - self._ros_node.lab_logger().debug( - f"P1未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}" + def _update_plate_resources(self, status_processed: Dict[int, Dict]): + """更新7台设备共14盘电池资源的状态""" + for devid in self.display_device_ids: + machine_data = status_processed.get(devid, {}) + subunits = machine_data.get("subunits", {}) + for plate_num, subdev_start, subdev_end in ((1, 1, 5), (2, 6, 10)): + for subdev_id in range(subdev_start, subdev_end + 1): + status_row = subunits.get(subdev_id, {}) + for chl_id in range(1, 9): + try: + col_idx = chl_id - 1 + row_idx = subdev_id - subdev_start + r, resource_name, possible_names = self._get_plate_resource( + devid=devid, + plate_num=plate_num, + row_idx=row_idx, + col_idx=col_idx ) - except (KeyError, IndexError) as e: - if self._ros_node and hasattr(self._ros_node, 'lab_logger'): - self._ros_node.lab_logger().debug(f"P1映射错误: subdev{subdev_id}/chl{chl_id} - {e}") - continue - - # 第2盘：subdevid 6-10 映射到 8列5行网格 (列0-7, 行0-4) - for subdev_id in range(6, 11): # subdevid 6-10 - status_row = subunits.get(subdev_id, {}) - - for chl_id in range(1, 9): # chlid 1-8 - try: - col_idx = (chl_id - 1) # 0-7 (chlid 1-8 -> 列0-7) - row_idx = (subdev_id - 6) # 0-4 (subdevid 6-10 -> 行0-4) - - # 尝试多种可能的资源命名格式 - possible_names = [ - f"P2_batterytestposition_{col_idx}_{row_idx}", # 用户提到的格式 - f"P2_{self.LETTERS[row_idx]}{col_idx + 1}", # 原有的A1-E8格式 - f"P2_{self.LETTERS[row_idx].lower()}{col_idx + 1}", # 小写字母格式 - ] - - r = None - resource_name = None - for name in possible_names: - if name in self.station_resources: - r = self.station_resources[name] - resource_name = name - break - - if r: - status_channel = status_row.get(chl_id, {}) - metrics = status_channel.get("metrics", {}) - # 构建BatteryTestPosition状态数据（移除capacity和energy） - channel_state = { - # 基本测量数据 - "voltage": metrics.get("voltage_V", 0.0), - "current": metrics.get("current_A", 0.0), - "time": metrics.get("totaltime_s", 0.0), - - # 状态信息 - "status": status_channel.get("state", "unknown"), - "color": status_channel.get("color", self.STATUS_COLOR["unknown"]), - - # 通道名称标识 - "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}", - - } - r.load_state(channel_state) - - # 调试信息 - if self._ros_node and hasattr(self._ros_node, 'lab_logger'): - self._ros_node.lab_logger().debug( - f"更新P2资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} " - f"状态:{channel_state['status']}" - ) - else: - # 如果找不到资源，记录调试信息 - if self._ros_node and hasattr(self._ros_node, 'lab_logger'): - self._ros_node.lab_logger().debug( - f"P2未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}" - ) - except (KeyError, IndexError) as e: - if self._ros_node and hasattr(self._ros_node, 'lab_logger'): - self._ros_node.lab_logger().debug(f"P2映射错误: subdev{subdev_id}/chl{chl_id} - {e}") - continue + if r is None: + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"{devid}_P{plate_num}未找到资源: subdev{subdev_id}/chl{chl_id} -> " + f"尝试的名称: {possible_names}" + ) + continue + status_channel = status_row.get(chl_id, {}) + metrics = status_channel.get("metrics", {}) + channel_state = { + "voltage": metrics.get("voltage_V", 0.0), + "current": metrics.get("current_A", 0.0), + "time": metrics.get("totaltime_s", 0.0), + "status": status_channel.get("state", "unknown"), + "color": status_channel.get("color", self.STATUS_COLOR["unknown"]), + "Channel_Name": f"{devid}-{subdev_id}-{chl_id}", + } + r.load_state(channel_state) + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"更新{devid}_P{plate_num}资源状态: {resource_name} <- " + f"subdev{subdev_id}/chl{chl_id} 状态:{channel_state['status']}" + ) + except (KeyError, IndexError) as e: + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"{devid}_P{plate_num}映射错误: subdev{subdev_id}/chl{chl_id} - {e}" + ) + continue ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": list(self.station_resources.values()) }) @@ -640,6 +613,22 @@ def total_channels(self) -> int: """获取总通道数""" return len(self._channels) + def _build_device_summary_dict(self) -> dict: + if not hasattr(self, '_channels') or not self._channels: + self._channels = self._build_channel_map() + channel_count_by_devid = {} + for channel in self._channels: + devid = channel.devid + channel_count_by_devid[devid] = channel_count_by_devid.get(devid, 0) + 1 + return { + "channel_count_by_devid": channel_count_by_devid, + "display_device_ids": self.display_device_ids, + "total_channels": len(self._channels) + } + + def device_summary(self) -> str: + return json.dumps(self._build_device_summary_dict(), ensure_ascii=False) + # ======================== # 设备动作方法（Uni-Lab标准） # ======================== @@ -919,6 +908,28 @@ def _ensure_local_import_path(self): def _canon(self, bs: str) -> str: """规范化电池体系名称""" return str(bs).strip().replace('-', '_').upper() + + def _get_builder_required_positional_count(self, builder) -> int: + """返回XML生成函数必填位置参数个数（仅统计无默认值的positional参数）""" + sig = inspect.signature(builder) + required = 0 + for p in sig.parameters.values(): + if p.kind in (inspect.Parameter.POSITIONAL_ONLY, inspect.Parameter.POSITIONAL_OR_KEYWORD): + if p.default is inspect.Parameter.empty: + required += 1 + return required + + def _is_csv_value_empty(self, value) -> bool: + """判断CSV单元格是否为空（兼容NaN/None/空串/null）""" + if value is None: + return True + if isinstance(value, str): + return value.strip().lower() in ("", "nan", "none", "null") + try: + # NaN 与自身不相等 + return value != value + except Exception: + return False def _compute_values(self, row): """ @@ -930,7 +941,7 @@ def _compute_values(self, row): Returns: tuple: (活性物质质量mg, 容量mAh) """ - pw = float(row['Pole_Weight']) + pw = float(row['pole_weight']) cm = float(row['集流体质量']) am = row['活性物质含量'] if isinstance(am, str) and am.endswith('%'): @@ -964,6 +975,8 @@ def _get_xml_builder(self, gen_mod, key: str): 'SIGR_LI': gen_mod.xml_SiGr_Li_Step, '811_SIGR': gen_mod.xml_811_SiGr, '811_CU_AGING': gen_mod.xml_811_Cu_aging, + '811_LI_JY': gen_mod.xml_811_Li_JY, + 'ZQXNLRMO':gen_mod.xml_ZQXNLRMO, } if key not in fmap: raise ValueError(f"未定义电池体系映射: {key}") @@ -980,7 +993,7 @@ def _save_xml(self, xml: str, path: str): with open(path, 'w', encoding='utf-8') as f: f.write(xml) - def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: + def submit_from_csv_export_ndax(self, csv_path: str, output_dir: str = ".") -> dict: """ 从CSV文件批量提交Neware测试任务（设备动作） @@ -1012,8 +1025,7 @@ def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: # 验证必需列 required = [ - 'Battery_Code', 'Electrolyte_Code', 'Pole_Weight', '集流体质量', '活性物质含量', - '克容量mah/g', '电池体系', '设备号', '排号', '通道号' + 'coin_cell_code', 'electrolyte_code', '电池体系', '设备号', '排号', '通道号' ] missing = [c for c in required if c not in df.columns] if missing: @@ -1042,27 +1054,47 @@ def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: for idx, row in df.iterrows(): try: - coin_id = f"{row['Battery_Code']}-{row['Electrolyte_Code']}" - - # 计算活性物质质量和容量 - act_mass, cap_mAh = self._compute_values(row) - - if cap_mAh < 0: - error_msg = ( - f"容量为负数: Battery_Code={coin_id}, " - f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}" - ) - if self._ros_node: - self._ros_node.lab_logger().warning(error_msg) - results.append(f"行{idx+1} 失败: {error_msg}") - continue - + coin_id = f"{row['coin_cell_code']}-{row['electrolyte_code']}" + # 获取电池体系对应的XML生成函数 key = self._canon(row['电池体系']) builder = self._get_xml_builder(gen_mod, key) - - # 生成XML内容 - xml_content = builder(act_mass, cap_mAh) + builder_required_args = self._get_builder_required_positional_count(builder) + + # 生成XML内容：仅当工步模板需要时才校验并计算 act_mass/cap_mAh + if builder_required_args == 0: + xml_content = builder() + elif builder_required_args == 2: + calc_cols = ['pole_weight', '集流体质量', '活性物质含量', '克容量mah/g'] + missing_calc = [ + c for c in calc_cols + if c not in df.columns or self._is_csv_value_empty(row[c]) + ] + if missing_calc: + error_msg = ( + f"电池体系 {key} 需要 act_mass/Cap_mAh，以下列缺失或为空: {missing_calc}, " + f"CoinID={coin_id}" + ) + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + results.append(f"行{idx+1} 失败: {error_msg}") + continue + + act_mass, cap_mAh = self._compute_values(row) + if cap_mAh < 0: + error_msg = ( + f"容量为负数: Battery_Code={coin_id}, " + f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}" + ) + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + results.append(f"行{idx+1} 失败: {error_msg}") + continue + xml_content = builder(act_mass, cap_mAh) + else: + raise ValueError( + f"XML生成函数参数不支持: {builder.__name__} 需要 {builder_required_args} 个必填位置参数" + ) # 获取设备信息 devid = int(row['设备号']) @@ -1085,7 +1117,8 @@ def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: chlid=chlid, CoinID=coin_id, recipe_path=recipe_path, - backup_dir=backup_dir + backup_dir=backup_dir, + filetype=0 ) submitted_count += 1 @@ -1093,7 +1126,7 @@ def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: if self._ros_node: self._ros_node.lab_logger().info( - f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}): {resp}" + f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}, NDAX备份): {resp}" ) except Exception as e: @@ -1133,6 +1166,168 @@ def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: } + def submit_from_csv_export_excel(self, csv_path: str, output_dir: str = ".") -> dict: + """ + 从CSV文件批量提交Neware测试任务，备份格式为Excel（设备动作） + + 与 submit_from_csv_export_ndax 逻辑一致，唯一区别是 BTS 备份文件格式为 Excel 而非 NDA。 + + Args: + csv_path (str): 输入CSV文件路径 + output_dir (str): 输出目录，用于存储XML文件和备份，默认当前目录 + + Returns: + dict: 执行结果 {"return_info": str, "success": bool, "submitted_count": int} + """ + try: + self._ensure_local_import_path() + import pandas as pd + import generate_xml_content as gen_mod + from neware_driver import start_test + + if self._ros_node: + self._ros_node.lab_logger().info(f"开始从CSV文件提交任务(Excel备份): {csv_path}") + + if not os.path.exists(csv_path): + error_msg = f"CSV文件不存在: {csv_path}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False, "submitted_count": 0, "total_count": 0} + + df = pd.read_csv(csv_path, encoding='gbk') + + required = [ + 'coin_cell_code', 'electrolyte_code', '电池体系', '设备号', '排号', '通道号' + ] + missing = [c for c in required if c not in df.columns] + if missing: + error_msg = f"CSV缺少必需列: {missing}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False, "submitted_count": 0, "total_count": 0} + + xml_dir = os.path.join(output_dir, 'xml_dir') + backup_dir = os.path.join(output_dir, 'backup_dir') + os.makedirs(xml_dir, exist_ok=True) + os.makedirs(backup_dir, exist_ok=True) + + self._last_backup_dir = backup_dir + + if self._ros_node: + self._ros_node.lab_logger().info( + f"输出目录: XML={xml_dir}, 备份(Excel)={backup_dir}" + ) + + submitted_count = 0 + results = [] + + for idx, row in df.iterrows(): + try: + coin_id = f"{row['coin_cell_code']}-{row['electrolyte_code']}" + + key = self._canon(row['电池体系']) + builder = self._get_xml_builder(gen_mod, key) + builder_required_args = self._get_builder_required_positional_count(builder) + + if builder_required_args == 0: + xml_content = builder() + elif builder_required_args == 2: + calc_cols = ['pole_weight', '集流体质量', '活性物质含量', '克容量mah/g'] + missing_calc = [ + c for c in calc_cols + if c not in df.columns or self._is_csv_value_empty(row[c]) + ] + if missing_calc: + error_msg = ( + f"电池体系 {key} 需要 act_mass/Cap_mAh，以下列缺失或为空: {missing_calc}, " + f"CoinID={coin_id}" + ) + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + results.append(f"行{idx+1} 失败: {error_msg}") + continue + + act_mass, cap_mAh = self._compute_values(row) + if cap_mAh < 0: + error_msg = ( + f"容量为负数: Battery_Code={coin_id}, " + f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}" + ) + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + results.append(f"行{idx+1} 失败: {error_msg}") + continue + xml_content = builder(act_mass, cap_mAh) + else: + raise ValueError( + f"XML生成函数参数不支持: {builder.__name__} 需要 {builder_required_args} 个必填位置参数" + ) + + devid = int(row['设备号']) + subdevid = int(row['排号']) + chlid = int(row['通道号']) + + recipe_path = os.path.join( + xml_dir, + f"{coin_id}_{devid}_{subdevid}_{chlid}.xml" + ) + self._save_xml(xml_content, recipe_path) + + resp = start_test( + ip=self.ip, + port=self.port, + devid=devid, + subdevid=subdevid, + chlid=chlid, + CoinID=coin_id, + recipe_path=recipe_path, + backup_dir=backup_dir, + filetype=1 + ) + + submitted_count += 1 + results.append(f"行{idx+1} {coin_id}: {resp}") + + if self._ros_node: + self._ros_node.lab_logger().info( + f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}, Excel备份): {resp}" + ) + + except Exception as e: + error_msg = f"行{idx+1} 处理失败: {str(e)}" + results.append(error_msg) + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + + success_msg = ( + f"批量提交完成(Excel备份): 成功{submitted_count}个，共{len(df)}行。" + f"\n详细结果:\n" + "\n".join(results) + ) + + if self._ros_node: + self._ros_node.lab_logger().info( + f"批量提交完成(Excel备份): 成功{submitted_count}/{len(df)}" + ) + + return { + "return_info": success_msg, + "success": True, + "submitted_count": submitted_count, + "total_count": len(df), + "results": results + } + + except Exception as e: + error_msg = f"批量提交失败(Excel备份): {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "submitted_count": 0, + "total_count": 0 + } + def get_device_summary(self) -> dict: """ 获取设备级别的摘要统计（设备动作） @@ -1141,16 +1336,7 @@ def get_device_summary(self) -> dict: dict: ROS2动作结果格式 {"return_info": str, "success": bool} """ try: - # 确保_channels已初始化 - if not hasattr(self, '_channels') or not self._channels: - self._channels = self._build_channel_map() - - summary = {} - for channel in self._channels: - devid = channel.devid - summary[devid] = summary.get(devid, 0) + 1 - - result_info = json.dumps(summary, ensure_ascii=False) + result_info = self.device_summary() success_msg = f"设备摘要统计: {result_info}" if self._ros_node: self._ros_node.lab_logger().info(success_msg) @@ -1218,7 +1404,7 @@ def upload_backup_to_oss( 上传备份目录中的文件到 OSS（ROS2 动作） Args: - backup_dir: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir + backup_dir: 备份目录路径，默认使用最近一次提交任务的 backup_dir file_pattern: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件） oss_prefix: OSS 对象前缀，默认使用类初始化时的配置 @@ -1748,6 +1934,474 @@ def _group_by_devid(self, status_map: Dict['ChannelKey', dict]) -> Dict[int, Dic return result + def mock_assembly_data(self) -> dict: + """ + 模拟扣电组装站 auto-func_sendbottle_allpack_multi 的输出，返回固定的 2 颗电池 assembly_data。 + 用于在没有真实扣电组装站的情况下，测试 + mock_assembly_data → manual_confirm → battery_transfer_confirm → submit_auto_export_excel + 的完整参数传递与 TCP 下发链路。 + + Returns: + dict: { + "assembly_data": list[dict], # 9 字段 × 2 颗电池 + "success": bool, + "return_info": str, + } + """ + assembly_data = [ + { + "Time": "20260421_143022", + "open_circuit_voltage": 3.721, + "pole_weight": 98.43, + "assembly_time": 120, + "assembly_pressure": 5.2, + "electrolyte_volume": 80.0, + "data_coin_type": 2, + "electrolyte_code": "EL-2026042101", + "coin_cell_code": "CC-2026042101", + }, + { + "Time": "20260421_143255", + "open_circuit_voltage": 3.698, + "pole_weight": 97.85, + "assembly_time": 118, + "assembly_pressure": 5.1, + "electrolyte_volume": 79.5, + "data_coin_type": 2, + "electrolyte_code": "EL-2026042102", + "coin_cell_code": "CC-2026042102", + }, + ] + info = f"mock_assembly_data 返回 {len(assembly_data)} 颗电池的模拟组装数据" + if self._ros_node: + self._ros_node.lab_logger().info(f"[mock_assembly_data] {info}") + else: + print(f"[mock_assembly_data] {info}") + return { + "assembly_data": assembly_data, + "success": True, + "return_info": info, + } + + 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], + formulations: List[Dict] = None, + assembly_data: List[Dict] = None, + csv_export_dir: str = "D:\\2604Agentic_test", + timeout_seconds: int = 3600, + assignee_user_ids: list[str] = None, + **kwargs, + ) -> dict: + """ + 人工确认节点： + - 上游接收 bioyond 配方（formulations）+ 扣电组装数据（assembly_data 单数组） + - 人工在前端填入 collector_mass / active_material / capacity / battery_system(xml工步)， + 并选择 target_device 与 mount_resource（通道） + - 内部把 assembly_data 解包为 9 个并行数组，把 pole_weight 透传给下游 submit_auto_export_excel + - 把所有数据整合后写入 {csv_export_dir}/{YYYYMMDD}/date_{YYYYMMDD}.csv + + Args: + timeout_seconds: 超时时间（秒），默认 3600 + collector_mass: 极流体质量 (mg) + active_material: 活性物质含量 (0.97 或 "97%") + capacity: 克容量 (mAh/g) + battery_system: xml 工步标识（如 "811_LI_002"） + formulations: 配方信息列表（来自 bioyond mass_ratios） + assembly_data: 扣电组装数据列表（每颗电池一个 dict） + csv_export_dir: 整合 CSV 导出根目录 + """ + resource_dump = ResourceTreeSet.from_plr_resources(resource).dump() + mount_resource_dump = ResourceTreeSet.from_plr_resources(mount_resource).dump() + + assembly_data = assembly_data or [] + formulations = formulations or [] + + Time = [b.get("Time", "") for b in assembly_data] + open_circuit_voltage = [b.get("open_circuit_voltage", 0.0) for b in assembly_data] + pole_weight = [b.get("pole_weight", 0.0) for b in assembly_data] + assembly_time = [b.get("assembly_time", 0) for b in assembly_data] + assembly_pressure = [b.get("assembly_pressure", 0) for b in assembly_data] + electrolyte_volume = [b.get("electrolyte_volume", 0) for b in assembly_data] + data_coin_type = [b.get("data_coin_type", 0) for b in assembly_data] + electrolyte_code = [b.get("electrolyte_code", "") for b in assembly_data] + coin_cell_code = [b.get("coin_cell_code", "") for b in assembly_data] + + try: + self._export_manual_confirm_csv( + csv_export_dir=csv_export_dir, + mount_resource=mount_resource, + formulations=formulations, + assembly_rows={ + "Time": Time, + "open_circuit_voltage": open_circuit_voltage, + "pole_weight": pole_weight, + "assembly_time": assembly_time, + "assembly_pressure": assembly_pressure, + "electrolyte_volume": electrolyte_volume, + "data_coin_type": data_coin_type, + "electrolyte_code": electrolyte_code, + "coin_cell_code": coin_cell_code, + }, + collector_mass=collector_mass, + active_material=active_material, + capacity=capacity, + battery_system=battery_system, + ) + except Exception as e: + if self._ros_node: + self._ros_node.lab_logger().warning(f"[manual_confirm] 整合 CSV 导出失败: {e}") + else: + print(f"[manual_confirm] 整合 CSV 导出失败: {e}") + + return { + "resource": resource_dump, + "coin_cell_code": coin_cell_code, + "electrolyte_code": electrolyte_code, + "target_device": target_device, + "mount_resource": mount_resource_dump, + "collector_mass": collector_mass, + "active_material": active_material, + "capacity": capacity, + "battery_system": battery_system, + "pole_weight": pole_weight, + } + + def _export_manual_confirm_csv( + self, + csv_export_dir: str, + mount_resource: List[ResourceSlot], + formulations: List[Dict], + assembly_rows: Dict[str, List[Any]], + collector_mass: List[float], + active_material: List[float], + capacity: List[float], + battery_system: List[str], + ) -> Optional[str]: + """把 manual_confirm 收集到的全部参数整合写入 CSV。路径：{csv_export_dir}/{YYYYMMDD}/date_{YYYYMMDD}.csv""" + n_assembly = len(assembly_rows.get("Time", [])) + n_channel = len(mount_resource) if mount_resource else 0 + n = max(n_assembly, n_channel, len(collector_mass or []), len(active_material or []), + len(capacity or []), len(battery_system or [])) + if n == 0: + return None + + date_str = datetime.now().strftime("%Y%m%d") + out_dir = os.path.join(csv_export_dir, date_str) + os.makedirs(out_dir, exist_ok=True) + out_path = os.path.join(out_dir, f"date_{date_str}.csv") + + header = [ + "Time", "open_circuit_voltage", "pole_weight", + "assembly_time", "assembly_pressure", "electrolyte_volume", + "data_coin_type", "electrolyte_code", "coin_cell_code", + "orderName", "prep_bottle_barcode", "vial_bottle_barcodes", + "target_mass_ratio", "real_mass_ratio", + "collector_mass", "active_material", "capacity", "battery_system", + "channel_name", + ] + + file_exists = os.path.exists(out_path) + with open(out_path, "a", newline="", encoding="utf-8") as f: + writer = csv.writer(f) + if not file_exists: + writer.writerow(header) + + def safe_get(lst, i, default=""): + try: + return lst[i] if lst and i < len(lst) else default + except Exception: + return default + + for i in range(n): + form = formulations[i] if formulations and i < len(formulations) else {} + target_ratio = form.get("target_mass_ratio", {}) if isinstance(form, dict) else {} + real_ratio = form.get("real_mass_ratio", {}) if isinstance(form, dict) else {} + ch_name = self._extract_channel_name(mount_resource[i]) if mount_resource and i < len(mount_resource) else "" + + writer.writerow([ + safe_get(assembly_rows["Time"], i), + safe_get(assembly_rows["open_circuit_voltage"], i, 0.0), + safe_get(assembly_rows["pole_weight"], i, 0.0), + safe_get(assembly_rows["assembly_time"], i, 0), + safe_get(assembly_rows["assembly_pressure"], i, 0), + safe_get(assembly_rows["electrolyte_volume"], i, 0), + safe_get(assembly_rows["data_coin_type"], i, 0), + safe_get(assembly_rows["electrolyte_code"], i), + safe_get(assembly_rows["coin_cell_code"], i), + form.get("orderName", "") if isinstance(form, dict) else "", + form.get("prep_bottle_barcode", "") if isinstance(form, dict) else "", + form.get("vial_bottle_barcodes", "") if isinstance(form, dict) else "", + json.dumps(target_ratio, ensure_ascii=False) if target_ratio else "", + json.dumps(real_ratio, ensure_ascii=False) if real_ratio else "", + safe_get(collector_mass, i, ""), + safe_get(active_material, i, ""), + safe_get(capacity, i, ""), + safe_get(battery_system, i, ""), + (f"'{ch_name}" if ch_name else ""), + ]) + f.flush() + + if self._ros_node: + self._ros_node.lab_logger().info(f"[manual_confirm] 整合 CSV 已写入 {out_path}（{n} 行）") + return out_path + + + async def battery_transfer_confirm( + self, + resource: List[ResourceSlot], + target_device: DeviceSlot, + mount_resource: List[ResourceSlot], + timeout_seconds: int = 3600, + assignee_user_ids: list[str] = None, + **kwargs, + ): + """ + 电池装夹人工确认 + TCP 转运。 + - 该节点通过 yaml 的 node_type: manual_confirm 机制阻塞等待人工确认。 + - 人工在前端确认通道与电池对应关系（装夹就位）后，方法体才会被框架调用。 + - 方法体执行真正的 TCP 资源转运。 + """ + 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 + # ────────────────────────────────────────────── + # test() 辅助方法 + # ────────────────────────────────────────────── + + @staticmethod + def _extract_channel_name(res) -> Optional[str]: + """从 BatteryTestPosition 或通用 Resource 中提取 Channel_Name (devid-subdevid-chlid)""" + # 情况1: ResourceSlot 对象 —— 直接读 _unilabos_state + state = getattr(res, "_unilabos_state", None) + if isinstance(state, dict): + ch = state.get("Channel_Name") + if ch: + return str(ch) + # 情况2: serialize_state() + if hasattr(res, "serialize_state"): + try: + ss = res.serialize_state() + if isinstance(ss, dict): + ch = ss.get("Channel_Name") + if ch: + return str(ch) + except Exception: + pass + # 情况3: 来自 ResourceTreeSet.dump() 的 dict + if isinstance(res, dict): + data = res.get("data", {}) + if isinstance(data, dict): + ch = data.get("Channel_Name") + if ch: + return str(ch) + ch = res.get("name") or res.get("id") + if ch and len(str(ch).split("-")) == 3: + return str(ch) + # 情况4: name 本身就是 "devid-subdevid-chlid" + name = getattr(res, "name", "") + if name and len(name.split("-")) == 3: + return name + return None + + @staticmethod + def _extract_pole_weight(res) -> float: + """从电池资源 state 中提取极片称重 (mg)""" + state = getattr(res, "_unilabos_state", None) + if isinstance(state, dict) and "pole_weight" in state: + return float(state["pole_weight"]) + if hasattr(res, "serialize_state"): + try: + ss = res.serialize_state() + if isinstance(ss, dict) and "pole_weight" in ss: + return float(ss["pole_weight"]) + except Exception: + pass + if isinstance(res, dict): + data = res.get("data", {}) + if isinstance(data, dict) and "pole_weight" in data: + return float(data["pole_weight"]) + return 0.0 + + @staticmethod + def _parse_active_material(val) -> float: + """解析活性物质含量，支持 0.97 或 '97%' 两种格式""" + if isinstance(val, str): + val = val.strip() + if val.endswith("%"): + return float(val[:-1]) / 100.0 + return float(val) + return float(val) + + # ────────────────────────────────────────────── + # test 动作：下发测试 + # ────────────────────────────────────────────── + + async def submit_auto_export_excel( + self, + mount_resource: List[ResourceSlot], + collector_mass: List[float], + active_material: List[float], + capacity: List[float], + battery_system: List[str], + pole_weight: List[float] = None, + coin_cell_code: List[str] = None, + electrolyte_code: List[str] = None, + resource: List[ResourceSlot] = None, + output_dir: str = "D:\\2604Agentic_test", + ) -> dict: + """ + 对每颗电池计算测试参数、生成 XML 工步文件并通过 TCP 下发给新威测试仪。 + + 循环长度由 mount_resource 驱动（真正要下发的通道数量）。 + + Args: + mount_resource: 目标通道资源列表（含 Channel_Name = devid-subdevid-chlid），循环长度来源 + collector_mass: 各电池集流体质量 (mg) + active_material: 各电池活性物质比例（0.97 或 "97%"） + capacity: 各电池克容量 (mAh/g) + battery_system: xml 工步标识（如 "811_LI_002"） + pole_weight: 各电池极片质量 (mg)，来自上游 manual_confirm 的透传；为空时回退到从 resource 状态提取 + coin_cell_code: 各电池条码（来自上游 manual_confirm 从 assembly_data 解包）；作为 Neware 备份文件的 CoinID/barcode + resource: 成品电池资源列表（可选）；仅在 coin_cell_code 与 pole_weight 均未提供时作为回退 + """ + import importlib + gen_mod = importlib.import_module( + "unilabos.devices.neware_battery_test_system.generate_xml_content" + ) + from .neware_driver import start_test as _start_test + + resource = resource or [] + pole_weight = pole_weight or [] + coin_cell_code = coin_cell_code or [] + electrolyte_code = electrolyte_code or [] + + n = len(mount_resource) if mount_resource else 0 + results = [] + submitted = 0 + + if n == 0: + msg = "mount_resource 为空，没有通道可下发" + if self._ros_node: + self._ros_node.lab_logger().warning(f"[test] {msg}") + return { + "return_info": f"共 0 颗电池，成功下发 0 颗（{msg}）", + "success": False, + "submitted_count": 0, + "total_count": 0, + "results": [], + } + + xml_dir = os.path.join(output_dir, "xml_dir") + os.makedirs(xml_dir, exist_ok=True) + backup_dir = os.path.join(output_dir, "backup_dir") + os.makedirs(backup_dir, exist_ok=True) + + for i in range(n): + try: + # 1. 解析通道地址 + ch_name = self._extract_channel_name(mount_resource[i]) + if not ch_name: + raise ValueError(f"无法从 mount_resource[{i}] 提取 Channel_Name") + parts = ch_name.split("-") + if len(parts) != 3: + raise ValueError(f"Channel_Name 格式错误，期望 devid-subdevid-chlid，实际: {ch_name}") + devid, subdevid, chlid = int(parts[0]), int(parts[1]), int(parts[2]) + + # 2. 获取电池标识与极片重量（按优先级 coin_cell_code > resource > 兜底） + res = resource[i] if i < len(resource) else None + base_coin = ( + (coin_cell_code[i] if i < len(coin_cell_code) and coin_cell_code[i] else None) + or (getattr(res, "name", None) if res is not None else None) + or (res.get("name") if isinstance(res, dict) else None) + or f"battery_{i}" + ) + elec_code = electrolyte_code[i] if i < len(electrolyte_code) and electrolyte_code[i] else "" + coin_id = f"{base_coin}-{elec_code}-{devid}-{subdevid}-{chlid}" + if pole_weight and i < len(pole_weight): + pw = float(pole_weight[i]) + elif res is not None: + pw = self._extract_pole_weight(res) + else: + raise ValueError(f"无法获取 pole_weight：pole_weight 列表长度不足 且 resource 为空") + + # 3. 计算活性物质质量与容量 + cm = float(collector_mass[i]) + amv = self._parse_active_material(active_material[i]) + sc = float(capacity[i]) + act_mass = round((pw - cm) * amv, 4) + if act_mass <= 0: + raise ValueError( + f"活性物质质量异常: pole_weight={pw}mg, collector_mass={cm}mg, " + f"active_material={amv}, act_mass={act_mass}" + ) + cap_mAh = round(act_mass * sc / 1000.0, 4) + if cap_mAh <= 0: + raise ValueError(f"容量计算异常: act_mass={act_mass}mg, capacity={sc}mAh/g, cap_mAh={cap_mAh}") + + # 4. 生成 XML 工步文件 + key = self._canon(battery_system[i]) + builder = self._get_xml_builder(gen_mod, key) + req_args = self._get_builder_required_positional_count(builder) + xml_content = builder(act_mass, cap_mAh) if req_args >= 2 else builder() + recipe_path = os.path.join(xml_dir, f"{coin_id}_{devid}_{subdevid}_{chlid}.xml") + self._save_xml(xml_content, recipe_path) + + # 5. TCP 下发测试 + resp = _start_test( + ip=self.ip, + port=int(self.port), + devid=devid, + subdevid=subdevid, + chlid=chlid, + CoinID=coin_id, + recipe_path=recipe_path, + backup_dir=backup_dir, + filetype=1, + ) + submitted += 1 + results.append({ + "index": i, + "coin_id": coin_id, + "channel": ch_name, + "act_mass_mg": act_mass, + "cap_mAh": cap_mAh, + "success": True, + "response": str(resp)[:300], + }) + if self._ros_node: + self._ros_node.lab_logger().info( + f"[test] 已下发 {coin_id} → {ch_name} " + f"act_mass={act_mass}mg cap={cap_mAh}mAh" + ) + + except Exception as e: + if self._ros_node: + self._ros_node.lab_logger().error(f"[test] 电池[{i}] 下发失败: {e}") + results.append({"index": i, "success": False, "error": str(e)}) + + summary = f"共 {n} 颗电池，成功下发 {submitted} 颗" + return { + "return_info": summary, + "success": submitted > 0, + "submitted_count": submitted, + "total_count": n, + "results": results, + } # ======================== # 示例和测试代码 diff --git a/unilabos/devices/neware_battery_test_system/neware_driver.py b/unilabos/devices/neware_battery_test_system/neware_driver.py new file mode 100644 index 000000000..a491bc71e --- /dev/null +++ b/unilabos/devices/neware_battery_test_system/neware_driver.py @@ -0,0 +1,56 @@ +import socket +END_MARKS = [b"\r\n#\r\n", b""] # 读到任一标志即可判定完整响应 + +def build_start_command(devid, subdevid, chlid, CoinID, + ip_in_xml="127.0.0.1", + devtype:int=27, + recipe_path:str=f"D:\\HHM_test\\A001.xml", + backup_dir:str=f"D:\\HHM_test\\backup", + filetype:int=1) -> str: + """ + filetype: 备份文件类型。0=NDA（新威原生），1=Excel。默认 1。 + """ + lines = [ + '', + '', + ' start', + ' ', + f' {recipe_path}', + f' ', + ' ', + '', + ] + # TCP 模式：请求必须以 #\r\n 结束（协议要求） + return "\r\n".join(lines) + "\r\n#\r\n" + +def recv_until_marks(sock: socket.socket, timeout=60): + sock.settimeout(timeout) # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2} + buf = bytearray() + while True: + chunk = sock.recv(8192) + if not chunk: + break + buf += chunk + # 读到结束标志就停，避免等对端断开 + for m in END_MARKS: + if m in buf: + return bytes(buf) + # 保险：读到完整 XML 结束标签也停 + if b"" in buf: + return bytes(buf) + return bytes(buf) + +def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup", filetype:int=1): + """ + filetype: 备份文件类型，0=NDA，1=Excel。默认 1。 + """ + xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir, filetype=filetype) + #print(xml_cmd) + with socket.create_connection((ip, port), timeout=60) as s: + s.sendall(xml_cmd.encode("utf-8")) + data = recv_until_marks(s, timeout=60) + return data.decode("utf-8", errors="replace") + +if __name__ == "__main__": + resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup") + print(resp) diff --git a/unilabos/devices/virtual/workbench.py b/unilabos/devices/virtual/workbench.py index d67db3985..c70c8f66a 100644 --- a/unilabos/devices/virtual/workbench.py +++ b/unilabos/devices/virtual/workbench.py @@ -22,10 +22,11 @@ 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 @@ def _release_arm(self): 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", diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-1.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-1.xlsx new file mode 100644 index 000000000..52a18b738 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-1.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-2.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-2.xlsx new file mode 100644 index 000000000..6243a4d6d Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-2.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-3.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-3.xlsx new file mode 100644 index 000000000..6749fa854 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-3.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-4.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-4.xlsx new file mode 100644 index 000000000..d303b71f8 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260302-4.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260321-5.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260321-5.xlsx new file mode 100644 index 000000000..eecad6f68 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260321-5.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260323-1.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260323-1.xlsx new file mode 100644 index 000000000..6905ad87f Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260323-1.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260323.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260323.xlsx new file mode 100644 index 000000000..ef9bca402 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260323.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 333b7b28e..498c795c4 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -1,7 +1,7 @@ # -*- coding: utf-8 -*- from cgi import print_arguments from doctest import debug -from typing import Dict, Any, List, Optional +from typing import Dict, Any, List, Optional, Tuple, Union import requests from pylabrobot.resources.resource import Resource as ResourcePLR from pathlib import Path @@ -11,13 +11,15 @@ import re import threading import json +import csv +import os from copy import deepcopy from urllib3 import response from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer # ⚠️ config.py 已废弃 - 所有配置现在从 JSON 文件加载 # from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, ... from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService -from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck +from unilabos.resources.bioyond.decks import BioyondElectrolyteDeck, bioyond_electrolyte_deck from unilabos.utils.log import logger from unilabos.registry.registry import lab_registry @@ -614,9 +616,12 @@ def auto_feeding4to3( response = self._post_lims("/api/lims/order/auto-feeding4to3", items) # 等待任务报送成功 - order_code = response.get("data", {}).get("orderCode") + if response is None: + logger.error("上料 API 返回了空响应（None），服务端可能因入参问题返回了 null body，请检查物料条目是否合法。") + return {"code": -1, "message": "API returned None response"} + order_code = (response.get("data") or {}).get("orderCode") if not order_code: - logger.error("上料任务未返回有效 orderCode！") + logger.error(f"上料任务未返回有效 orderCode！完整响应：{response}") return response # 等待完成报送 result = self.wait_for_order_finish(order_code) @@ -694,226 +699,183 @@ def as_str(v, d=""): self.wait_for_response_orders(response, "auto_batch_outbound_from_xlsx") return response - # 2.14 新建实验 - def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + # -------------------- 订单提交/等待/后处理（公共逻辑） -------------------- + def _submit_and_wait_orders(self, orders: List[Dict[str, Any]], tag: str = "create_orders") -> Dict[str, Any]: """ - 从 Excel 解析并创建实验（2.14） - 约定： - - batchId = Excel 文件名（不含扩展名） - - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） - - totalMass 自动计算为所有物料质量之和 - - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + 公共流程：提交 orders → 等待完成 → 计算质量比 → 提取分液瓶板 → 返回结果。 + 由 create_orders / create_orders_formulation 调用。 """ - default_path = Path("D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025122301.xlsx") - path = Path(xlsx_path) if xlsx_path else default_path - print(f"[create_orders] 使用 Excel 路径: {path}") - if path != default_path: - print("[create_orders] 来源: 调用方传入自定义路径") - else: - print("[create_orders] 来源: 使用默认模板路径") - - if not path.exists(): - print(f"[create_orders] ⚠️ Excel 文件不存在: {path}") - raise FileNotFoundError(f"未找到 Excel 文件：{path}") - - try: - df = pd.read_excel(path, sheet_name=0, engine="openpyxl") - except Exception as e: - raise RuntimeError(f"读取 Excel 失败：{e}") - print(f"[create_orders] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}") - - # 列名容错：返回可选列名，找不到则返回 None - def _pick(col_names: List[str]) -> Optional[str]: - for c in col_names: - if c in df.columns: - return c - return None - - col_order_name = _pick(["配方ID", "orderName", "订单编号"]) - col_create_time = _pick(["创建日期", "createTime"]) - col_bottle_type = _pick(["配液瓶类型", "bottleType"]) - col_mix_time = _pick(["混匀时间(s)", "mixTime"]) - col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) - col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) - col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) - col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) - print("[create_orders] 列匹配结果:", { - "order_name": col_order_name, - "create_time": col_create_time, - "bottle_type": col_bottle_type, - "mix_time": col_mix_time, - "load": col_load, - "pouch": col_pouch, - "conductivity": col_cond, - "conductivity_bottle_count": col_cond_cnt, - }) - - # 物料列：所有以 (g) 结尾 - material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] - print(f"[create_orders] 识别到的物料列: {material_cols}") - if not material_cols: - raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") - - batch_id = path.stem - - def _to_ymd_slash(v) -> str: - # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 - if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": - ts = datetime.now() - else: - try: - ts = pd.to_datetime(v) - except Exception: - ts = datetime.now() - return f"{ts.year}/{ts.month}/{ts.day}" - - def _as_int(val, default=0) -> int: - try: - if pd.isna(val): - return default - return int(val) - except Exception: - return default - - def _as_float(val, default=0.0) -> float: - try: - if pd.isna(val): - return default - return float(val) - except Exception: - return default - - def _as_str(val, default="") -> str: - if val is None or (isinstance(val, float) and pd.isna(val)): - return default - s = str(val).strip() - return s if s else default - - orders: List[Dict[str, Any]] = [] - - for idx, row in df.iterrows(): - mats: List[Dict[str, Any]] = [] - total_mass = 0.0 - - for mcol in material_cols: - val = row.get(mcol, None) - if val is None or (isinstance(val, float) and pd.isna(val)): - continue - try: - mass = float(val) - except Exception: - continue - if mass > 0: - mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) - total_mass += mass - else: - if mass < 0: - print(f"[create_orders] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}") - - order_data = { - "batchId": batch_id, - "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", - "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), - "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", - "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, - "loadSheddingInfo": _as_float(row[col_load]) if col_load else 0.0, - "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0, - "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0, - "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, - "materialInfos": mats, - "totalMass": round(total_mass, 4) # 自动汇总 - } - print(f"[create_orders] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, " - f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, " - f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, " - f"material_count={len(mats)}") - - if order_data["totalMass"] <= 0: - print(f"[create_orders] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败") - if not mats: - print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料") - - orders.append(order_data) - print("================================================") - print("orders:", orders) - - print(f"[create_orders] 即将提交订单数量: {len(orders)}") + logger.info(f"[{tag}] 即将提交 {len(orders)} 个订单") response = self._post_lims("/api/lims/order/orders", orders) - print(f"[create_orders] 接口返回: {response}") - - # 提取所有返回的 orderCode + logger.info(f"[{tag}] 接口返回: {response}") + + # 提取 orderCode data_list = response.get("data", []) if not data_list: logger.error("创建订单未返回有效数据！") return response - - # 收集所有 orderCode - order_codes = [] - for order_item in data_list: - code = order_item.get("orderCode") - if code: - order_codes.append(code) - + + order_codes = [item.get("orderCode") for item in data_list if item.get("orderCode")] if not order_codes: logger.error("未找到任何有效的 orderCode！") return response - - print(f"[create_orders] 等待 {len(order_codes)} 个订单完成: {order_codes}") - - # 等待所有订单完成并收集报文 + + logger.info(f"[{tag}] 等待 {len(order_codes)} 个订单完成: {order_codes}") + + # ========== 等待所有订单完成 ========== all_reports = [] for idx, order_code in enumerate(order_codes, 1): - print(f"[create_orders] 正在等待第 {idx}/{len(order_codes)} 个订单: {order_code}") + logger.info(f"[{tag}] 等待第 {idx}/{len(order_codes)} 个订单: {order_code}") result = self.wait_for_order_finish(order_code) - - # 提取报文数据 if result.get("status") == "success": - report = result.get("report", {}) - - # [新增] 处理试剂数据，计算质量比 + all_reports.append(result.get("report", {})) + logger.info(f"[{tag}] ✓ 订单 {order_code} 完成") + else: + logger.warning(f"订单 {order_code} 状态异常: {result.get('status')}") + all_reports.append({ + "orderCode": order_code, + "status": result.get("status"), + "error": result.get("message", "未知错误"), + }) + + logger.info(f"[{tag}] 所有订单已完成，共收集 {len(all_reports)} 个报文") + + # ========== 计算质量比 ========== + all_mass_ratios = [] + for idx, report in enumerate(all_reports, 1): + order_code = report.get("orderCode", "N/A") + if "error" not in report: try: mass_ratios = self._process_order_reagents(report) - report["mass_ratios"] = mass_ratios # 添加到报文中 - logger.info(f"已计算订单 {order_code} 的试剂质量比") + all_mass_ratios.append({ + "orderCode": order_code, + "orderName": report.get("orderName", "N/A"), + "real_mass_ratio": mass_ratios.get("real_mass_ratio", {}), + "target_mass_ratio": mass_ratios.get("target_mass_ratio", {}), + }) + logger.info(f"✓ 已计算订单 {order_code} 的试剂质量比") except Exception as e: - logger.error(f"计算试剂质量比失败: {e}") - report["mass_ratios"] = { + logger.error(f"计算订单 {order_code} 质量比失败: {e}") + all_mass_ratios.append({ + "orderCode": order_code, + "orderName": report.get("orderName", "N/A"), "real_mass_ratio": {}, "target_mass_ratio": {}, - "reagent_details": [], - "error": str(e) - } - - all_reports.append(report) - print(f"[create_orders] ✓ 订单 {order_code} 完成") + "error": str(e), + }) else: - logger.warning(f"订单 {order_code} 状态异常: {result.get('status')}") - # 即使订单失败，也记录下这个结果 - all_reports.append({ + all_mass_ratios.append({ "orderCode": order_code, - "status": result.get("status"), - "error": result.get("message", "未知错误") + "orderName": report.get("orderName", "N/A"), + "real_mass_ratio": {}, + "target_mass_ratio": {}, + "error": "订单未成功完成", }) - - print(f"[create_orders] 所有订单已完成，共收集 {len(all_reports)} 个报文") - print("实验记录本========================create_orders========================") - - # 返回所有订单的完成报文 + + logger.info(f"[{tag}] 质量比计算完成") + + # ========== 提取分液瓶板信息 + 创建资源树对象 ========== + all_vial_plates = [] + processed_material_ids = set() + for report in all_reports: + vial_plate_info = self._extract_vial_plate_from_report(report) + if vial_plate_info: + material_id = vial_plate_info.get("materialId") + all_vial_plates.append(vial_plate_info) + if material_id in processed_material_ids: + logger.info( + f"[资源树] ℹ️ 瓶板资源已存在: materialId={material_id[:20]}..., " + f"orderCode={vial_plate_info.get('orderCode')} (共用同一瓶板，跳过重复创建)" + ) + continue + try: + self._create_vial_plate_resource(vial_plate_info) + processed_material_ids.add(material_id) + logger.info( + f"[资源树] ✅ 瓶板资源创建成功: orderCode={vial_plate_info.get('orderCode')}, " + f"materialId={material_id[:20]}..." + ) + except Exception as e: + logger.error( + f"[资源树] 创建失败: orderCode={vial_plate_info.get('orderCode')}, 错误={e}" + ) + + logger.info( + f"[{tag}] 提取到 {len(all_vial_plates)} 个订单的分液瓶板信息 " + f"(对应 {len(processed_material_ids)} 个物理瓶板)" + ) + + # ========== 提取配液瓶 + 分液瓶信息（用于 CSV 导出）========== + all_prep_bottles = [] + all_vial_bottles = [] + for report in all_reports: + # 提取配液瓶（每个订单最多一个） + try: + prep_info = self._extract_prep_bottle_from_report(report) + all_prep_bottles.append(prep_info) + except Exception as e: + logger.error(f"[提取配液瓶] 异常: orderCode={report.get('orderCode')}, 错误={e}") + all_prep_bottles.append(None) + + # 提取分液瓶（每个订单可能多个） + try: + vial_list = self._extract_vial_bottles_from_report(report) + all_vial_bottles.append(vial_list) + except Exception as e: + logger.error(f"[提取分液瓶] 异常: orderCode={report.get('orderCode')}, 错误={e}") + all_vial_bottles.append([]) + + logger.info( + f"[{tag}] 配液瓶提取完成: {sum(1 for p in all_prep_bottles if p)} 个, " + f"分液瓶提取完成: {sum(len(v) for v in all_vial_bottles if isinstance(v, list))} 个" + ) + + # ========== 将条码附加到 mass_ratios 中（给扣电组装站使用）========== + for idx in range(len(all_mass_ratios)): + if idx < len(all_prep_bottles) and all_prep_bottles[idx]: + all_mass_ratios[idx]["prep_bottle_barcode"] = all_prep_bottles[idx].get("barCode", "") + else: + all_mass_ratios[idx]["prep_bottle_barcode"] = "" + + if idx < len(all_vial_bottles): + vials = all_vial_bottles[idx] + if len(vials) == 0: + all_mass_ratios[idx]["vial_bottle_barcodes"] = "" + elif len(vials) == 1: + all_mass_ratios[idx]["vial_bottle_barcodes"] = vials[0].get("barCode", "") + else: + all_mass_ratios[idx]["vial_bottle_barcodes"] = json.dumps([v.get("barCode", "") for v in vials], ensure_ascii=False) + else: + all_mass_ratios[idx]["vial_bottle_barcodes"] = "" + + # ========== 构造最终结果 ========== final_result = { "status": "all_completed", "total_orders": len(order_codes), + "bottle_count": len(order_codes), "reports": all_reports, - "original_response": response + "mass_ratios": all_mass_ratios, + "vial_plates": all_vial_plates, + "prep_bottles": all_prep_bottles, + "vial_bottles": all_vial_bottles, + "original_response": response, } - - print(f"返回报文数量: {len(all_reports)}") - for i, report in enumerate(all_reports, 1): - print(f"报文 {i}: orderCode={report.get('orderCode', 'N/A')}, status={report.get('status', 'N/A')}") - print("========================") - + + logger.info("=" * 80) + logger.info(f"[{tag}] 返回报文数量: {len(all_reports)}, 分液瓶板数量: {len(all_vial_plates)}") + for idx, vial_plate in enumerate(all_vial_plates, 1): + logger.info( + f" [{idx}] orderCode={vial_plate.get('orderCode', 'N/A')}, " + f"materialId={vial_plate.get('materialId', 'N/A')[:20]}..., " + f"locationId={vial_plate.get('locationId', 'N/A')[:20]}..., " + f"typeName={vial_plate.get('typeName', 'N/A')}" + ) + logger.info("=" * 80) + return final_result - def create_orders_v2(self, xlsx_path: str) -> Dict[str, Any]: + # -------------------- 2.14 新建实验（Excel 入口） -------------------- + def create_orders(self, xlsx_path: str, csv_export_path: str = "") -> Dict[str, Any]: """ 从 Excel 解析并创建实验（2.14）- V2版本 约定： @@ -1052,112 +1014,1159 @@ def _as_str(val, default="") -> str: print(f"[create_orders_v2] ⚠️ 第 {idx+1} 行未找到有效物料") orders.append(order_data) - print("================================================") - print("orders:", orders) - print(f"[create_orders_v2] 即将提交订单数量: {len(orders)}") - response = self._post_lims("/api/lims/order/orders", orders) - print(f"[create_orders_v2] 接口返回: {response}") + if not orders: + logger.error("[create_orders] 没有有效的订单可提交") + return {"status": "error", "message": "没有有效订单数据"} + + result = self._submit_and_wait_orders(orders, tag="create_orders") + + # ========== CSV 导出 ========== + if csv_export_path: + try: + csv_file = self._export_order_csv(result, csv_export_path) + result["csv_file"] = csv_file + except Exception as e: + logger.error(f"[create_orders] CSV 导出失败: {e}") + + return result + + def create_orders_formulation( + self, + formulation: List[Dict[str, Any]], + batch_id: str = "", + order_names: List[str] = [], + bottle_type: str = "配液小瓶", + mix_time: List[int] = [], + coin_cell_volume: float = 0.0, + pouch_cell_volume: float = 0.0, + conductivity_volume: float = 0.0, + conductivity_bottle_count: int = 0, + csv_export_path: str = "", + ) -> Dict[str, Any]: + """ + 配方批量输入版本的 create_orders —— 等价于 create_orders， + 但参数来源于前端 FormulationBatchWidget，而非 Excel 文件。 + + Args: + formulation: 配方列表，每个元素代表一个订单（一瓶），格式： + [ + { + "order_name": "配方A", # 可选，配方名称 + "materials": [ # 物料列表 + {"name": "LiPF6", "mass": 12.5}, + {"name": "EC", "mass": 50.0}, + ] + }, + ... + ] + batch_id: 批次ID，若为空则用当前时间戳 + order_names: 配方ID/订单编号列表，与 formulation 一一对应。 + 用于填写 DoE 撒点编号等自定义标识，便于后续扣电组装、测试环节追溯。 + 优先级：order_names > formulation 内的 order_name > 自动生成({batch_id}_order_{序号}) + bottle_type: 配液瓶类型，默认 "配液小瓶" + mix_time: 混匀时间列表(秒)，与 formulation 一一对应，不足则补 0 + coin_cell_volume: 纽扣电池组装分液体积 + pouch_cell_volume: 软包电池注液组装分液体积 + conductivity_volume: 电导率测试分液体积 + conductivity_bottle_count: 电导测试分液瓶数 + + Returns: + 与 create_orders 返回格式一致的结果字典 + """ + if not formulation: + raise ValueError("formulation 参数不能为空") + + if not batch_id: + batch_id = f"formulation_{datetime.now().strftime('%Y%m%d%H%M%S')}" + + create_time = f"{datetime.now().year}/{datetime.now().month}/{datetime.now().day}" + + # 将 formulation 转换为 LIMS orders 格式（与 create_orders 中的格式一致） + orders: List[Dict[str, Any]] = [] + for idx, item in enumerate(formulation): + materials = item.get("materials", []) + item.get("liquids", []) # 兼容两种物料列表命名 + if idx < len(order_names) and order_names[idx]: + order_name = str(order_names[idx]) + else: + order_name = str(item.get("order_name", f"{batch_id}_order_{idx + 1}")) + + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + for mat in materials: + name = mat.get("name", "") + mass = float(mat.get("mass", mat.get("volume", 0.0))) + if name and mass > 0: + mats.append({"name": name, "mass": mass}) + total_mass += mass + + if not mats: + logger.warning(f"[create_orders_formulation] 第 {idx + 1} 个配方无有效物料，跳过") + continue + + if isinstance(mix_time, (int, float)): + raw_mix_time = mix_time + else: + raw_mix_time = mix_time[idx] if idx < len(mix_time) else None + try: + item_mix_time = int(raw_mix_time) if raw_mix_time not in (None, "", "null") else 0 + except (ValueError, TypeError): + item_mix_time = 0 + logger.info(f"[create_orders_formulation] 第 {idx + 1} 个配方: orderName={order_name}, " + f"coinCellVolume={coin_cell_volume}, pouchCellVolume={pouch_cell_volume}, " + f"conductivityVolume={conductivity_volume}, totalMass={total_mass}, " + f"material_count={len(mats)}") + + orders.append({ + "batchId": batch_id, + "orderName": order_name, + "createTime": create_time, + "bottleType": bottle_type, + "mixTime": item_mix_time, + "loadSheddingInfo": coin_cell_volume, + "pouchCellInfo": pouch_cell_volume, + "conductivityInfo": conductivity_volume, + "conductivityBottleCount": conductivity_bottle_count, + "materialInfos": mats, + "totalMass": round(total_mass, 4), + }) + + if not orders: + logger.error("[create_orders_formulation] 没有有效的订单可提交") + return {"status": "error", "message": "没有有效配方数据"} + + result = self._submit_and_wait_orders(orders, tag="create_orders_formulation") + + # ========== CSV 导出 ========== + if csv_export_path: + try: + csv_file = self._export_order_csv(result, csv_export_path) + result["csv_file"] = csv_file + except Exception as e: + logger.error(f"[create_orders_formulation] CSV 导出失败: {e}") + + return result + + def _extract_vial_plate_from_report(self, report: Dict) -> Optional[Dict]: + """ + 从 order_finish 报文中提取分液瓶板信息 + + Args: + report: LIMS order_finish 报文 + + Returns: + { + "materialId": "...", + "locationId": "...", + "orderCode": "...", + "typeName": "5ml分液瓶板", # 可选 + "barCode": "..." # 可选 + } + """ + order_code = report.get("orderCode", "N/A") + used_materials = report.get("usedMaterials", []) + + # ========== 新增：调试日志 ========== + logger.info( + f"[提取分液瓶板] 开始处理订单 orderCode={order_code}, " + f"物料数量={len(used_materials)}" + ) + + # 配置：自动堆栈-左的 locationId 前缀 + AUTO_STACK_LEFT_PREFIX = "3a19debc-84b5-" + + for idx, material in enumerate(used_materials): + location_id = material.get("locationId", "") + typemode = material.get("typemode", "") + material_id = material.get("materialId", "") + + logger.debug( + f"[提取分液瓶板] 物料 #{idx+1}: materialId={material_id[:20]}..., " + f"locationId={location_id[:20] if location_id else 'None'}..., " + f"typemode={typemode}" + ) + + # 判断条件：typemode=1 且 locationId 以自动堆栈-左前缀开头 + # ⚠️ 检查 location_id 不为 None + if typemode == "1" and location_id and location_id.startswith(AUTO_STACK_LEFT_PREFIX): + logger.info( + f"[提取分液瓶板] 找到候选物料: materialId={material_id}, " + f"locationId={location_id}" + ) + + # 可选：调用 LIMS API 2.4 获取详细信息 + try: + material_info = self._query_material_info(material_id) + type_name = material_info.get("typeName", "") + + # 确认是分液瓶板 + if "分液瓶板" in type_name: + logger.info( + f"[提取分液瓶板] ✅ 确认为分液瓶板: orderCode={order_code}, " + f"materialId={material_id}, locationId={location_id}, " + f"typeName={type_name}" + ) + return { + "materialId": material_id, + "locationId": location_id, + "orderCode": order_code, + "typeName": type_name, + "barCode": material_info.get("barCode") + } + else: + logger.warning( + f"[提取分液瓶板] ⚠️ 候选物料不是分液瓶板: typeName={type_name}, " + f"跳过并继续搜索" + ) + except Exception as e: + logger.warning( + f"[提取分液瓶板] ⚠️ 查询物料详情失败: materialId={material_id}, " + f"错误={str(e)}, 返回基本信息" + ) + # 即使查询失败，也返回基本信息 + return { + "materialId": material_id, + "locationId": location_id, + "orderCode": order_code + } + + logger.warning(f"[提取分液瓶板] ❌ 未找到分液瓶板: orderCode={order_code}") + return None + + def _extract_prep_bottle_from_report(self, report: Dict) -> Optional[Dict]: + """ + 从 order_finish 报文中提取配液瓶信息 + + 筛选条件： + - typemode == "1" 且 realQuantity == 1 且 usedQuantity == 1 + - locationId 以 "3a19deae-2c7a-" 开头（手动传递窗右或手动传递窗左） + 二次确认： + - 调用 LIMS API 2.4，typeName 包含 "配液瓶(小)" 或 "配液瓶(大)" + + Args: + report: LIMS order_finish 报文 + + Returns: + { + "materialId": "...", + "locationId": "...", + "orderCode": "...", + "typeName": "配液瓶(小)" or "配液瓶(大)", + "barCode": "..." + } + 未找到时返回 None + """ + order_code = report.get("orderCode", "N/A") + used_materials = report.get("usedMaterials", []) + + logger.info( + f"[提取配液瓶] 开始处理订单 orderCode={order_code}, " + f"物料数量={len(used_materials)}" + ) + + # 手动传递窗右/左的 locationId 前缀 + MANUAL_WINDOW_PREFIX = "3a19deae-2c7a-" + + for idx, material in enumerate(used_materials): + location_id = material.get("locationId", "") + typemode = material.get("typemode", "") + material_id = material.get("materialId", "") + real_qty = material.get("realQuantity") + used_qty = material.get("usedQuantity") + + # 筛选条件：typemode=1, realQuantity=1, usedQuantity=1, 手动传递窗位置 + if ( + typemode == "1" + and real_qty == 1 + and used_qty == 1 + and location_id + and location_id.startswith(MANUAL_WINDOW_PREFIX) + ): + logger.debug( + f"[提取配液瓶] 候选物料 #{idx+1}: materialId={material_id[:20]}..." + ) + + # 调用 LIMS API 2.4 确认类型 + try: + material_info = self._query_material_info(material_id) + type_name = material_info.get("typeName", "") + + if "配液瓶(小)" in type_name or "配液瓶(大)" in type_name: + logger.info( + f"[提取配液瓶] ✅ 确认为配液瓶: orderCode={order_code}, " + f"typeName={type_name}, barCode={material_info.get('barCode')}" + ) + return { + "materialId": material_id, + "locationId": location_id, + "orderCode": order_code, + "typeName": type_name, + "barCode": material_info.get("barCode"), + } + else: + logger.debug( + f"[提取配液瓶] 候选物料不是配液瓶: typeName={type_name}, 跳过" + ) + except Exception as e: + logger.warning( + f"[提取配液瓶] ⚠️ 查询物料详情失败: materialId={material_id}, 错误={e}" + ) + + logger.warning(f"[提取配液瓶] ❌ 未找到配液瓶: orderCode={order_code}") + return None + + def _extract_vial_bottles_from_report(self, report: Dict) -> List[Dict]: + """ + 从 order_finish 报文中提取分液瓶信息（注意不是分液瓶板） + + 一个 orderCode 可能对应多个分液瓶： + - 1 × 5ml分液瓶 + - n × 20ml分液瓶 (n=1~4) + - 1 × 5ml分液瓶 + n × 20ml分液瓶 (n=1~4) + + 筛选条件： + - typemode == "1" 且 realQuantity == 1 且 usedQuantity == 1 + - locationId 以 "3a19debc-84b5-" 或 "3a19debe-5200" 开头 + （自动堆栈-左 或 自动堆栈-右） + 二次确认： + - typeName 为 "5ml分液瓶" 或 "20ml分液瓶" + + Args: + report: LIMS order_finish 报文 + + Returns: + 分液瓶信息列表，每个元素： + { + "materialId": "...", + "locationId": "...", + "orderCode": "...", + "typeName": "5ml分液瓶" or "20ml分液瓶", + "barCode": "..." + } + """ + order_code = report.get("orderCode", "N/A") + used_materials = report.get("usedMaterials", []) + + logger.info( + f"[提取分液瓶] 开始处理订单 orderCode={order_code}, " + f"物料数量={len(used_materials)}" + ) + + # 自动堆栈-左 和 自动堆栈-右 的 locationId 前缀 + AUTO_STACK_PREFIXES = ("3a19debc-84b5-", "3a19debe-5200") + + vial_bottles: List[Dict] = [] + + for idx, material in enumerate(used_materials): + location_id = material.get("locationId", "") + typemode = material.get("typemode", "") + material_id = material.get("materialId", "") + real_qty = material.get("realQuantity") + used_qty = material.get("usedQuantity") + + # 筛选条件 + if ( + typemode == "1" + and real_qty == 1 + and used_qty == 1 + and location_id + and any(location_id.startswith(p) for p in AUTO_STACK_PREFIXES) + ): + logger.debug( + f"[提取分液瓶] 候选物料 #{idx+1}: materialId={material_id[:20]}..." + ) + + # 调用 LIMS API 2.4 确认类型 + try: + material_info = self._query_material_info(material_id) + type_name = material_info.get("typeName", "") + + if type_name in ("5ml分液瓶", "20ml分液瓶"): + bar_code = material_info.get("barCode") + logger.info( + f"[提取分液瓶] ✅ 确认为分液瓶: orderCode={order_code}, " + f"typeName={type_name}, barCode={bar_code}" + ) + vial_bottles.append({ + "materialId": material_id, + "locationId": location_id, + "orderCode": order_code, + "typeName": type_name, + "barCode": bar_code, + }) + else: + logger.debug( + f"[提取分液瓶] 候选物料不是分液瓶: typeName={type_name}, 跳过" + ) + except Exception as e: + logger.warning( + f"[提取分液瓶] ⚠️ 查询物料详情失败: materialId={material_id}, 错误={e}" + ) + + if vial_bottles: + logger.info( + f"[提取分液瓶] 订单 {order_code} 共找到 {len(vial_bottles)} 个分液瓶: " + f"{[v['typeName'] for v in vial_bottles]}" + ) + else: + logger.warning(f"[提取分液瓶] ❌ 未找到分液瓶: orderCode={order_code}") + + return vial_bottles + + def _export_order_csv(self, final_result: Dict, csv_export_path: str) -> str: + """ + 将配液分液结果导出为 CSV 文件 + + CSV 表头: + orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, + 目标配液质量比, 真实配液质量比, 时间 + + Args: + final_result: _submit_and_wait_orders 返回的完整结果 + csv_export_path: CSV 文件保存目录路径 + + Returns: + 生成的 CSV 文件完整路径 + """ + # 确保目录存在 + os.makedirs(csv_export_path, exist_ok=True) + + # 生成文件名 + time_date = datetime.now().strftime("%Y%m%d_%H%M%S") + csv_file = os.path.join(csv_export_path, f"electrolyte_orders_{time_date}.csv") + + # 从 final_result 提取数据 + reports = final_result.get("reports", []) + mass_ratios = final_result.get("mass_ratios", []) + prep_bottles = final_result.get("prep_bottles", []) + vial_bottles_all = final_result.get("vial_bottles", []) + + # 建立 orderCode → mass_ratio 的索引 + ratio_map = {} + for ratio_item in mass_ratios: + oc = ratio_item.get("orderCode") + if oc: + ratio_map[oc] = ratio_item + + # 建立 orderCode → prep_bottle 的索引 + prep_map = {} + for pb in prep_bottles: + if pb: + oc = pb.get("orderCode") + if oc: + prep_map[oc] = pb + + # 建立 orderCode → vial_bottles 的索引 + vial_map: Dict[str, List[Dict]] = {} + for vb_list in vial_bottles_all: + if isinstance(vb_list, list): + for vb in vb_list: + oc = vb.get("orderCode") + if oc: + vial_map.setdefault(oc, []).append(vb) + elif isinstance(vb_list, dict): + oc = vb_list.get("orderCode") + if oc: + vial_map.setdefault(oc, []).append(vb_list) + + export_time = datetime.now().strftime("%Y-%m-%d %H:%M:%S") + + logger.info(f"[CSV导出] 开始导出, 订单数={len(reports)}, 路径={csv_file}") + + with open(csv_file, "w", newline="", encoding="utf-8-sig") as f: + writer = csv.writer(f) + # 写表头 + writer.writerow([ + "orderCode", "orderName", + "配液瓶类型", "配液瓶二维码", + "分液瓶类型", "分液瓶二维码", + "目标配液质量比", "真实配液质量比", + "时间", + ]) + + for report in reports: + order_code = report.get("orderCode", "N/A") + order_name = report.get("orderName", "N/A") + + # 配液瓶信息 + prep_info = prep_map.get(order_code, {}) + prep_type = prep_info.get("typeName", "") + prep_barcode = prep_info.get("barCode", "") + + # 分液瓶信息（可能多个） + vial_list = vial_map.get(order_code, []) + if len(vial_list) == 0: + vial_type_str = "" + vial_barcode_str = "" + elif len(vial_list) == 1: + vial_type_str = vial_list[0].get("typeName", "") + vial_barcode_str = vial_list[0].get("barCode", "") + else: + # 多个分液瓶用JSON数组表示 + vial_type_str = json.dumps( + [v.get("typeName", "") for v in vial_list], + ensure_ascii=False, + ) + vial_barcode_str = json.dumps( + [v.get("barCode", "") for v in vial_list], + ensure_ascii=False, + ) + + # 质量比信息 + ratio_info = ratio_map.get(order_code, {}) + target_ratio = ratio_info.get("target_mass_ratio", {}) + real_ratio = ratio_info.get("real_mass_ratio", {}) + target_ratio_str = json.dumps(target_ratio, ensure_ascii=False) if target_ratio else "" + real_ratio_str = json.dumps(real_ratio, ensure_ascii=False) if real_ratio else "" + + writer.writerow([ + order_code, order_name, + prep_type, prep_barcode, + vial_type_str, vial_barcode_str, + target_ratio_str, real_ratio_str, + export_time, + ]) + + logger.info( + f"[CSV导出] 写入: orderCode={order_code}, " + f"配液瓶={prep_type}({prep_barcode}), " + f"分液瓶数={len(vial_list)}" + ) + + f.flush() + + logger.info(f"[CSV导出] ✅ 导出完成: {csv_file}") + return csv_file + + def _query_material_info(self, material_id: str) -> Dict: + """ + 调用 LIMS API 2.4 查询物料详情 + + Args: + material_id: 物料ID (materialId) + + Returns: + { + "typeName": "5ml分液瓶板", + "barCode": "...", + "name": "...", + "detail": [...] + } + """ + # 从配置加载 api_key和api_host（用于日志） + api_key = self.bioyond_config.get("api_key", "8A819E5C") + api_host = self.bioyond_config.get("api_host", "UNKNOWN") + + # ========== 调试日志 ========== + logger.info( + f"[查询物料详情] 开始查询 materialId={material_id}, " + f"api_host={api_host}, api_key={api_key[:4]}****" + ) + + try: + # 直接传递 material_id，_post_lims 会自动包装为 {apiKey, requestTime, data} + response = self._post_lims("/api/lims/storage/material-info", material_id) + + logger.debug(f"[查询物料详情] API响应: code={response.get('code')}, message={response.get('message')}") + + if response.get("code") == 1: + data = response.get("data", {}) + logger.info( + f"[查询物料详情] ✅ 成功: materialId={material_id}, " + f"typeName={data.get('typeName')}, barCode={data.get('barCode')}" + ) + return data + else: + error_msg = f"查询物料详情失败: {response.get('message')}" + logger.warning(f"[查询物料详情] ❌ {error_msg}") + raise ValueError(error_msg) + except Exception as e: + logger.error( + f"[查询物料详情] ❌ 异常: materialId={material_id}, " + f"错误类型={type(e).__name__}, 错误信息={str(e)}" + ) + raise + + def _create_vial_plate_resource(self, vial_plate_info: Dict) -> None: + """ + 创建分液瓶板资源对象并添加到资源树 + + Args: + vial_plate_info: 分液瓶板元数据 + { + "materialId": "3a1f3df9-ddce-f544-bd48-07077ad87bc5", + "locationId": "3a19debc-84b5-4c1c-d3a1-26830cf273ff", + "orderCode": "BSO2026020500002", + "typeName": "5ml分液瓶板" 或 "20ml分液瓶板" + } + """ + from unilabos.resources.bioyond.YB_bottle_carriers import ( + YB_Vial_5mL_Carrier, + YB_Vial_20mL_Carrier + ) + + material_id = vial_plate_info["materialId"] + location_id = vial_plate_info["locationId"] + order_code = vial_plate_info["orderCode"] + type_name = vial_plate_info["typeName"] + + logger.info( + f"[资源树] 开始创建分液瓶板: orderCode={order_code}, " + f"typeName={type_name}" + ) + + # 1. 根据类型创建Carrier对象 + if "5ml" in type_name.lower() or "5mL" in type_name: + vial_plate_obj = YB_Vial_5mL_Carrier( + name=f"vial_plate_{order_code}" + ) + logger.debug(f"[资源树] 创建 YB_Vial_5mL_Carrier: {vial_plate_obj.name}") + elif "20ml" in type_name.lower() or "20mL" in type_name: + vial_plate_obj = YB_Vial_20mL_Carrier( + name=f"vial_plate_{order_code}" + ) + logger.debug(f"[资源树] 创建 YB_Vial_20mL_Carrier: {vial_plate_obj.name}") + else: + logger.warning( + f"[资源树] ⚠️ 未知的分液瓶板类型: {type_name}, 跳过创建" + ) + return + + # ✅ 关键：分配 UUID（用于资源树转运） + # 使用 materialId 作为 UUID，确保与LIMS系统一致 + vial_plate_obj.unilabos_uuid = material_id + logger.debug(f"[资源树] 分配 UUID: {material_id[:30]}...") + + # ✅ 新增：查询并创建分液瓶板上的瓶子资源 + try: + self._populate_vial_bottles(vial_plate_obj, material_id, order_code) + except Exception as e: + logger.warning( + f"[资源树] ⚠️ 创建瓶子资源失败（继续创建瓶板）: {e}" + ) + + # 2. 解析位置 (locationId → warehouse + slot) + wh_name, slot_name = self._get_warehouse_and_slot_from_location_id( + location_id + ) + + if not wh_name or not slot_name: + logger.warning( + f"[资源树] ⚠️ 无法解析位置: locationId={location_id}, " + f"wh_name={wh_name}, slot_name={slot_name}" + ) + return + + logger.debug( + f"[资源树] 解析位置: locationId={location_id[:20]}... → " + f"{wh_name}[{slot_name}]" + ) + + # 3. 添加到资源树 + try: + warehouse = self.deck.get_resource(wh_name) + if not warehouse: + logger.error(f"[资源树] ❌ 未找到仓库: {wh_name}") + return + + # 使用直接槽位赋值 + # warehouse 的 sites 是一个 dict: {"A01": ResourceHolder, "A02": ...} + # 直接通过 warehouse[slot_name] 访问槽位并赋值资源对象 + warehouse[slot_name] = vial_plate_obj + + logger.info( + f"[资源树] ✅ 创建成功: {wh_name}[{slot_name}] = " + f"{vial_plate_obj.name} (类型: {type_name})" + ) + except Exception as e: + logger.error( + f"[资源树] ❌ 添加到资源树失败: {wh_name}[{slot_name}], " + f"错误={e}" + ) + raise + + def _populate_vial_bottles( + self, + vial_plate_obj, + plate_material_id: str, + order_code: str + ) -> None: + """ + 查询分液瓶板的detail信息，创建瓶子资源并添加到瓶板 + + Args: + vial_plate_obj: 瓶板资源对象 + plate_material_id: 瓶板的materialId + order_code: 订单号 + """ + logger.info(f"[资源树] 查询瓶板子物料: materialId={plate_material_id[:20]}...") - # 提取所有返回的 orderCode - data_list = response.get("data", []) - if not data_list: - logger.error("创建订单未返回有效数据！") - return response + # 1. 调用LIMS接口查询瓶板详情 + try: + plate_detail = self.get_material_info(plate_material_id) + except Exception as e: + logger.error(f"[资源树] ❌ 查询瓶板详情失败: {e}") + return - # 收集所有 orderCode - order_codes = [] - for order_item in data_list: - code = order_item.get("orderCode") - if code: - order_codes.append(code) + # 2. 提取detail字段（包含所有瓶子信息） + bottles_detail = plate_detail.get("detail", []) + if not bottles_detail: + logger.warning(f"[资源树] ⚠️ 瓶板无子物料信息") + return - if not order_codes: - logger.error("未找到任何有效的 orderCode！") - return response + logger.info(f"[资源树] 瓶板包含 {len(bottles_detail)} 个瓶子") - print(f"[create_orders_v2] 等待 {len(order_codes)} 个订单完成: {order_codes}") + # 3. 为每个瓶子创建资源 + from unilabos.resources.bioyond.YB_bottles import YB_Vial_5mL - # ========== 步骤1: 等待所有订单完成并收集报文（不计算质量比）========== - all_reports = [] - for idx, order_code in enumerate(order_codes, 1): - print(f"[create_orders_v2] 正在等待第 {idx}/{len(order_codes)} 个订单: {order_code}") - result = self.wait_for_order_finish(order_code) - - # 提取报文数据 - if result.get("status") == "success": - report = result.get("report", {}) - all_reports.append(report) - print(f"[create_orders_v2] ✓ 订单 {order_code} 完成") - else: - logger.warning(f"订单 {order_code} 状态异常: {result.get('status')}") - # 即使订单失败，也记录下这个结果 - all_reports.append({ + created_count = 0 + for idx, bottle_info in enumerate(bottles_detail, 1): + try: + bottle_material_id = bottle_info.get("detailMaterialId") + bottle_code = bottle_info.get("code", f"bottle_{idx}") + bottle_x = bottle_info.get("x", 0) + bottle_y = bottle_info.get("y", 0) + associate_id = bottle_info.get("associateId") # 关联订单ID + + if not bottle_material_id: + logger.warning(f" 瓶子[{idx}]: 缺少materialId，跳过") + continue + + # ✅ 创建瓶子资源（使用工厂函数） + bottle_obj = YB_Vial_5mL( + name=f"{vial_plate_obj.name}_vial_{bottle_code.replace(' ', '_')}", + diameter=20.0, + height=50.0, + max_volume=5000.0, # 5mL + barcode=None + ) + + # ✅ 设置UUID（用于LIMS同步） + bottle_obj.unilabos_uuid = bottle_material_id + + # ✅ 存储元数据（供扣电使用） + bottle_obj._unilabos_state = { "orderCode": order_code, - "status": result.get("status"), - "error": result.get("message", "未知错误") - }) + "materialId": bottle_material_id, + "code": bottle_code, + "position_x": bottle_x, + "position_y": bottle_y, + "associateId": associate_id + } + + # ✅ 添加到瓶板（根据xy坐标计算索引） + # 假设瓶板布局: x=1,2 y=1,2,3,4 (2x4布局) + bottle_index = (bottle_x - 1) * 4 + (bottle_y - 1) + + if 0 <= bottle_index < len(vial_plate_obj.children): + vial_plate_obj.children[bottle_index] = bottle_obj + created_count += 1 + logger.debug( + f" 瓶子[{idx}]: code={bottle_code}, " + f"位置=({bottle_x},{bottle_y}), 索引={bottle_index}" + ) + else: + logger.warning( + f" 瓶子[{idx}]: 索引超出范围 ({bottle_index} >= {len(vial_plate_obj.children)})" + ) + + except Exception as e: + logger.warning(f" 瓶子[{idx}]: 创建失败 - {e}") + continue + + logger.info(f"[资源树] ✅ 已创建 {created_count}/{len(bottles_detail)} 个瓶子资源") + + def transfer_3_to_2_to_1_auto( + self, + vial_plates: List[Dict], + target_device: str = "BatteryStation", + target_location: str = "bottle_rack_6x2", + mass_ratios: List[Dict] = None, # ✅ 新增：配方信息（用于瓶子放置位置映射） + **kwargs # 兼容性参数，捕获已废弃的 vial_plate_info 等参数 + ) -> Dict[str, Any]: + """ + 自动转运（从 create_orders 结果自动定位源位置） - print(f"[create_orders_v2] 所有订单已完成，共收集 {len(all_reports)} 个报文") + Args: + vial_plates: 分液瓶板列表 + 格式: [{"materialId": "...", "locationId": "...", "orderCode": "..."}, ...] + target_device: 目标设备ID + target_location: 目标资源名称 + mass_ratios: 配方信息列表（可选），用于确定瓶子在bottle_rack的位置 + 格式: [{"orderCode": "...", "real_mass_ratio": {...}, ...}, ...] + **kwargs: 兼容性参数，用于捕获已废弃的参数（如 vial_plate_info） - # ========== 步骤2: 统一计算所有订单的质量比 ========== - print(f"[create_orders_v2] 开始统一计算 {len(all_reports)} 个订单的质量比...") - all_mass_ratios = [] # 存储所有订单的质量比，与reports顺序一致 + Returns: + { + "total": 转运总数, + "success": 成功数量, + "failed": 失败数量, + "results": [每个转运的详细结果] + } + """ + # 检查是否传递了已废弃的参数 + if kwargs: + logger.warning( + f"[transfer_3_to_2_to_1_auto] ⚠️ 检测到已废弃的参数: {list(kwargs.keys())}, " + f"这些参数将被忽略" + ) - for idx, report in enumerate(all_reports, 1): - order_code = report.get("orderCode", "N/A") - print(f"[create_orders_v2] 计算第 {idx}/{len(all_reports)} 个订单 {order_code} 的质量比...") - - # 只为成功完成的订单计算质量比 - if "error" not in report: - try: - mass_ratios = self._process_order_reagents(report) - # 精简输出，只保留核心质量比信息 - all_mass_ratios.append({ - "orderCode": order_code, - "orderName": report.get("orderName", "N/A"), - "real_mass_ratio": mass_ratios.get("real_mass_ratio", {}), - "target_mass_ratio": mass_ratios.get("target_mass_ratio", {}) + # ========== 参数验证 ========== + if not vial_plates: + raise ValueError("vial_plates 参数不能为空") + + logger.info("=" * 80) + logger.info(f"[transfer_3_to_2_to_1_auto] 接收到 {len(vial_plates)} 个分液瓶板") + for idx, plate in enumerate(vial_plates, 1): + logger.info( + f" [{idx}] orderCode={plate.get('orderCode', 'N/A')}, " + f"materialId={plate.get('materialId', 'N/A')[:20]}..." + ) + logger.info("=" * 80) + + # ========== 步骤2：依次转运每个分液瓶板（去重，同一瓶板只转运一次）========== + results = [] + success_count = 0 + failed_count = 0 + transferred_material_ids = set() # ✅ 记录已转运的materialId + + logger.info( + f"[批量转运] 开始转运 {len(vial_plates)} 个订单的分液瓶板 → " + f"{target_device}.{target_location}" + ) + + for idx, plate_info in enumerate(vial_plates, 1): + try: + # ✅ 检查 plate_info 是否有效 + if not plate_info or not isinstance(plate_info, dict): + logger.error( + f"[批量转运] ❌ [{idx}/{len(vial_plates)}] 分液瓶板信息无效: {plate_info}" + ) + results.append({ + "index": idx, + "orderCode": "N/A", + "materialId": "N/A", + "status": "failed", + "error": "分液瓶板信息无效或为空" }) - logger.info(f"✓ 已计算订单 {order_code} 的试剂质量比") - except Exception as e: - logger.error(f"计算订单 {order_code} 质量比失败: {e}") - all_mass_ratios.append({ + failed_count += 1 + continue + + material_id = plate_info.get('materialId') + order_code = plate_info.get('orderCode', 'N/A') + + logger.info(f"\n{'='*60}") + logger.info(f"[批量转运] 处理 [{idx}/{len(vial_plates)}]") + logger.info(f" orderCode: {order_code}") + logger.info(f" materialId: {material_id[:20] if material_id else 'N/A'}...") + + # ✅ 检查是否已转运（同一物理瓶板只转运一次） + if material_id in transferred_material_ids: + logger.info( + f" ℹ️ 该瓶板已转运，跳过 (多订单共用同一瓶板)" + ) + results.append({ + "index": idx, "orderCode": order_code, - "orderName": report.get("orderName", "N/A"), - "real_mass_ratio": {}, - "target_mass_ratio": {}, - "error": str(e) + "materialId": material_id, + "status": "skipped", + "message": "该瓶板已转运（共用瓶板）" }) - else: - # 失败的订单不计算质量比 - all_mass_ratios.append({ + success_count += 1 # 视为成功 + logger.info(f"{'='*60}") + continue + + logger.info(f"{'='*60}") + + # 调用单个转运逻辑 + result = self._transfer_single_vial_plate( + vial_plate_info=plate_info, + target_device=target_device, + target_location=target_location + ) + + transferred_material_ids.add(material_id) + results.append({ + "index": idx, "orderCode": order_code, - "orderName": report.get("orderName", "N/A"), - "real_mass_ratio": {}, - "target_mass_ratio": {}, - "error": "订单未成功完成" + "materialId": material_id, + "status": "success", + "result": result + }) + success_count += 1 + logger.info(f"[批量转运] ✅ [{idx}/{len(vial_plates)}] 转运成功") + + except Exception as e: + logger.error( + f"[批量转运] ❌ [{idx}/{len(vial_plates)}] 失败: {str(e)}" + ) + results.append({ + "index": idx, + "orderCode": plate_info.get("orderCode", "N/A") if plate_info else "N/A", + "materialId": plate_info.get("materialId", "N/A") if plate_info else "N/A", + "status": "failed", + "error": str(e) }) + failed_count += 1 + + # ========== 步骤3：汇总结果 ========== + summary = { + "total": len(vial_plates), + "success": success_count, + "failed": failed_count, + "results": results + } - print(f"[create_orders_v2] 质量比计算完成") - print("实验记录本========================create_orders_v2========================") + logger.info(f"\n{'='*60}") + logger.info(f"[批量转运] 完成汇总:") + logger.info(f" 总数: {summary['total']}") + logger.info(f" 成功: {summary['success']} ✅") + logger.info(f" 失败: {summary['failed']} ❌") + logger.info(f"{'='*60}\n") - # 返回所有订单的完成报文 - final_result = { - "status": "all_completed", - "total_orders": len(order_codes), - "bottle_count": len(order_codes), # 明确标注瓶数，用于下游check - "reports": all_reports, # 原始订单报文（不含质量比） - "mass_ratios": all_mass_ratios, # 所有质量比统一放在这里 - "original_response": response - } + return summary + + def _transfer_single_vial_plate( + self, + vial_plate_info: Dict, + target_device: str, + target_location: str + ) -> Dict[str, Any]: + """ + 转运单个分液瓶板（内部方法） - print(f"返回报文数量: {len(all_reports)}") - for i, report in enumerate(all_reports, 1): - print(f"报文 {i}: orderCode={report.get('orderCode', 'N/A')}, status={report.get('status', 'N/A')}") - print("========================") + Args: + vial_plate_info: 单个分液瓶板信息 + target_device: 目标设备ID + target_location: 目标资源名称 - return final_result + Returns: + LIMS转运结果 + """ + location_id = vial_plate_info["locationId"] + material_id = vial_plate_info["materialId"] + + # 步骤1：locationId → warehouse名称 + 槽位名称 + wh_name, slot_name = self._get_warehouse_and_slot_from_location_id(location_id) + + if not wh_name or not slot_name: + raise ValueError(f"无法从 locationId 解析仓库和槽位: {location_id}") + + logger.info( + f"[自动转运] 分液瓶板位置: {wh_name}[{slot_name}], " + f"materialId={material_id}" + ) + + # 步骤2：获取 warehouse_id + warehouse_id = self._get_warehouse_id(wh_name) + + # 步骤3：槽位名称 → 坐标 + x, y, z = self._slot_to_coordinates(slot_name) + logger.info(f"[自动转运] 坐标: ({x}, {y}, {z})") + + # 步骤4：调用物理转运 + lims_result = self.transfer_3_to_2_to_1( + source_wh_id=warehouse_id, + source_x=x, + source_y=y, + source_z=z + ) + logger.info(f"[LIMS转运] 完成: {lims_result}") + + # 步骤5：资源树数字转运 + try: + # 获取 warehouse 对象 + warehouse = self.deck.get_resource(wh_name) + if not warehouse: + raise ValueError(f"资源树中未找到仓库: {wh_name}") + + # 通过槽位名称直接访问 + vial_plate = warehouse[slot_name] + + if vial_plate: + # ========== 获取目标资源对象 ========== + logger.info( + f"[资源同步] 准备目标资源: {target_device}.{target_location}" + ) + + # 从目标设备的资源树中获取真实的接驳槽对象（electrolyte_buffer） + target_resource_obj = self._get_resource_from_device( + device_id=target_device, + resource_name=target_location, + ) + if target_resource_obj is None: + raise RuntimeError( + f"[资源同步] 目标设备 '{target_device}' 中未找到资源 '{target_location}'。" + f"请确认 YihuaCoinCellDeck.setup() 中已添加 electrolyte_buffer 槽位，" + f"且目标节点已启动并完成资源树初始化。" + ) + + logger.info( + f"[资源同步] 找到目标资源: {target_resource_obj.name}, " + f"UUID={getattr(target_resource_obj, 'unilabos_uuid', 'N/A')}" + ) + + # 执行资源树转移 + self.transfer_resource_to_another( + resource=[vial_plate], + mount_resource=[target_resource_obj], + sites=["electrolyte_buffer"], + mount_device_id=f"/devices/{target_device}" + ) + logger.info( + f"[资源同步] ✅ 成功: {vial_plate.name} → " + f"{target_device}.{target_location}" + ) + else: + logger.warning( + f"[资源同步] ⚠️ 警告: {wh_name}[{slot_name}] 槽位为空, " + f"可能资源树未及时更新" + ) + except Exception as e: + logger.error(f"[资源同步] ❌ 失败: {e}") + # 不中断流程，物理转运已完成 + + return lims_result + + def _get_resource_from_device( + self, + device_id: str, + resource_name: str, + ): + """ + 从指定设备的本地资源树中按名称查找 PLR 资源对象。 + + Args: + device_id: 目标设备 ID（如 "BatteryStation"） + resource_name: 资源名称（如 "bottle_rack_6x2"） + + Returns: + 找到的 PLR Resource 对象，未找到则返回 None + """ + # 优先：通过全局设备注册表直接访问目标设备的 deck + # DeviceInfoType 是 TypedDict（即普通 dict），必须用 dict.get() 而非 getattr() + try: + from unilabos.ros.nodes.base_device_node import registered_devices + device_info = registered_devices.get(device_id) + if device_info is not None: + driver = device_info.get("driver_instance") + if driver is not None: + deck = getattr(driver, "deck", None) + if deck is not None and hasattr(deck, "get_resource"): + try: + res = deck.get_resource(resource_name) + if res is not None: + return res + except Exception: + pass + except Exception: + pass + + # 降级：遍历 workstation 已注册的 plr_resources 列表（仅当前设备） + try: + for res in getattr(self, "_plr_resources", []): + if res.name == resource_name: + return res + found = res.get_resource(resource_name) if hasattr(res, "get_resource") else None + if found is not None: + return found + except Exception: + pass + + return None + + def _get_warehouse_and_slot_from_location_id( + self, + location_id: str + ) -> Tuple[Optional[str], Optional[str]]: + """ + 从 locationId 解析仓库名称和槽位名称 + + Args: + location_id: site_uuid, 例如 "3a19debc-84b5-4c1c-d3a1-26830cf273ff" + + Returns: + (warehouse_name, slot_name) + 例如：("自动堆栈-左", "A01") + """ + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {}) + + for wh_name, wh_data in warehouse_mapping.items(): + site_uuids = wh_data.get("site_uuids", {}) + for slot_name, site_uuid in site_uuids.items(): + if site_uuid == location_id: + return (wh_name, slot_name) + + logger.error(f"未找到 locationId: {location_id}") + return (None, None) + + def _get_warehouse_id(self, warehouse_name: str) -> str: + """ + 获取仓库的 warehouse_id (uuid) + + 带降级逻辑：如果配置缺失，使用默认值（自动堆栈-左） + + Args: + warehouse_name: 仓库名称，例如 "自动堆栈-左" + + Returns: + warehouse_id + """ + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {}) + wh_data = warehouse_mapping.get(warehouse_name, {}) + warehouse_id = wh_data.get("uuid") + + if not warehouse_id: + # 降级：使用默认值 + default_uuid = "3a19debc-84b4-0359-e2d4-b3beea49348b" + logger.warning( + f"仓库 '{warehouse_name}' 的 uuid 未配置, " + f"使用默认值: {default_uuid}" + ) + warehouse_id = default_uuid + + return warehouse_id + + def _slot_to_coordinates(self, slot_name: str) -> Tuple[int, int, int]: + """ + 槽位名称 → LIMS坐标 + + Args: + slot_name: 槽位名称，例如 "A01", "B02", "E03" + + Returns: + (x, y, z) 坐标元组 + + 转换规则： + - 字母 → x (A=1, B=2, C=3...) + - 数字 → y (01=1, 02=2, 03=3...) + - z 固定为 1 + + Examples: + >>> _slot_to_coordinates("A01") + (1, 1, 1) + >>> _slot_to_coordinates("B02") + (2, 2, 1) + >>> _slot_to_coordinates("E03") + (5, 3, 1) + """ + if not slot_name or len(slot_name) < 2: + raise ValueError(f"Invalid slot name: {slot_name}") + + letter = slot_name[0].upper() # 'A', 'B', 'C'... + number_str = slot_name[1:] # '01', '02', '03'... + + # 字母 → x + x = ord(letter) - ord('A') + 1 + + # 数字 → y + y = int(number_str) + + # z 固定为 1 + z = 1 + + return (x, y, z) + # 2.7 启动调度 def scheduler_start(self) -> Dict[str, Any]: @@ -1326,160 +2335,6 @@ def scheduler_start_and_auto_feeding( } - def scheduler_start_and_auto_feeding_v2( - self, - # ★ Excel路径参数 - xlsx_path: Optional[str] = "D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx", - # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- - WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, - WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, - WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0, - WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0, - WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0, - WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0, - WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0, - WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0, - WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0, - WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0, - WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0, - WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0, - - # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ---------------- - WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "", - WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "", - WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "", - WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "", - WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "", - WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "", - WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "", - WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "", - WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "", - - # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ---------------- - WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0, - WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0, - WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0, - WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0, - WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0, - WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0, - WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0, - WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0, - WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0, - WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0, - WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0, - WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0, - WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0, - WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0, - WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0, - ) -> Dict[str, Any]: - """ - 组合函数 V2 版本（测试版）：先启动调度，然后执行自动化上料 - - ⚠️ 这是测试版本，使用非阻塞轮询等待方式，避免 ROS2 Action feedback publisher 失效 - - 与 V1 的区别： - - 使用 wait_for_order_finish_polling 替代原有的阻塞等待 - - 允许 ROS2 在等待期间正常发布 feedback 消息 - - 适用于长时间运行的任务 - - 参数与 scheduler_start_and_auto_feeding 完全相同 - - Returns: - 包含调度启动结果和上料结果的字典 - """ - logger.info("=" * 60) - logger.info("[V2测试版本] 开始执行组合操作：启动调度 + 自动化上料") - logger.info("=" * 60) - - # 步骤1: 启动调度 - logger.info("【步骤 1/2】启动调度...") - scheduler_result = self.scheduler_start() - logger.info(f"调度启动结果: {scheduler_result}") - - # 检查调度是否启动成功 - if scheduler_result.get("code") != 1: - logger.error(f"调度启动失败: {scheduler_result}") - return { - "success": False, - "step": "scheduler_start", - "scheduler_result": scheduler_result, - "error": "调度启动失败" - } - - logger.info("✓ 调度启动成功") - - # 步骤2: 执行自动化上料（这里会调用 auto_feeding4to3，内部使用轮询等待） - logger.info("【步骤 2/2】执行自动化上料...") - - # 临时替换 wait_for_order_finish 为轮询版本 - original_wait_func = self.wait_for_order_finish - self.wait_for_order_finish = self.wait_for_order_finish_polling - - try: - feeding_result = self.auto_feeding4to3( - xlsx_path=xlsx_path, - WH4_x1_y1_z1_1_materialName=WH4_x1_y1_z1_1_materialName, WH4_x1_y1_z1_1_quantity=WH4_x1_y1_z1_1_quantity, - WH4_x2_y1_z1_2_materialName=WH4_x2_y1_z1_2_materialName, WH4_x2_y1_z1_2_quantity=WH4_x2_y1_z1_2_quantity, - WH4_x3_y1_z1_3_materialName=WH4_x3_y1_z1_3_materialName, WH4_x3_y1_z1_3_quantity=WH4_x3_y1_z1_3_quantity, - WH4_x4_y1_z1_4_materialName=WH4_x4_y1_z1_4_materialName, WH4_x4_y1_z1_4_quantity=WH4_x4_y1_z1_4_quantity, - WH4_x5_y1_z1_5_materialName=WH4_x5_y1_z1_5_materialName, WH4_x5_y1_z1_5_quantity=WH4_x5_y1_z1_5_quantity, - WH4_x1_y2_z1_6_materialName=WH4_x1_y2_z1_6_materialName, WH4_x1_y2_z1_6_quantity=WH4_x1_y2_z1_6_quantity, - WH4_x2_y2_z1_7_materialName=WH4_x2_y2_z1_7_materialName, WH4_x2_y2_z1_7_quantity=WH4_x2_y2_z1_7_quantity, - WH4_x3_y2_z1_8_materialName=WH4_x3_y2_z1_8_materialName, WH4_x3_y2_z1_8_quantity=WH4_x3_y2_z1_8_quantity, - WH4_x4_y2_z1_9_materialName=WH4_x4_y2_z1_9_materialName, WH4_x4_y2_z1_9_quantity=WH4_x4_y2_z1_9_quantity, - WH4_x5_y2_z1_10_materialName=WH4_x5_y2_z1_10_materialName, WH4_x5_y2_z1_10_quantity=WH4_x5_y2_z1_10_quantity, - WH4_x1_y3_z1_11_materialName=WH4_x1_y3_z1_11_materialName, WH4_x1_y3_z1_11_quantity=WH4_x1_y3_z1_11_quantity, - WH4_x2_y3_z1_12_materialName=WH4_x2_y3_z1_12_materialName, WH4_x2_y3_z1_12_quantity=WH4_x2_y3_z1_12_quantity, - WH4_x1_y1_z2_1_materialName=WH4_x1_y1_z2_1_materialName, WH4_x1_y1_z2_1_quantity=WH4_x1_y1_z2_1_quantity, - WH4_x1_y1_z2_1_materialType=WH4_x1_y1_z2_1_materialType, WH4_x1_y1_z2_1_targetWH=WH4_x1_y1_z2_1_targetWH, - WH4_x2_y1_z2_2_materialName=WH4_x2_y1_z2_2_materialName, WH4_x2_y1_z2_2_quantity=WH4_x2_y1_z2_2_quantity, - WH4_x2_y1_z2_2_materialType=WH4_x2_y1_z2_2_materialType, WH4_x2_y1_z2_2_targetWH=WH4_x2_y1_z2_2_targetWH, - WH4_x3_y1_z2_3_materialName=WH4_x3_y1_z2_3_materialName, WH4_x3_y1_z2_3_quantity=WH4_x3_y1_z2_3_quantity, - WH4_x3_y1_z2_3_materialType=WH4_x3_y1_z2_3_materialType, WH4_x3_y1_z2_3_targetWH=WH4_x3_y1_z2_3_targetWH, - WH4_x1_y2_z2_4_materialName=WH4_x1_y2_z2_4_materialName, WH4_x1_y2_z2_4_quantity=WH4_x1_y2_z2_4_quantity, - WH4_x1_y2_z2_4_materialType=WH4_x1_y2_z2_4_materialType, WH4_x1_y2_z2_4_targetWH=WH4_x1_y2_z2_4_targetWH, - WH4_x2_y2_z2_5_materialName=WH4_x2_y2_z2_5_materialName, WH4_x2_y2_z2_5_quantity=WH4_x2_y2_z2_5_quantity, - WH4_x2_y2_z2_5_materialType=WH4_x2_y2_z2_5_materialType, WH4_x2_y2_z2_5_targetWH=WH4_x2_y2_z2_5_targetWH, - WH4_x3_y2_z2_6_materialName=WH4_x3_y2_z2_6_materialName, WH4_x3_y2_z2_6_quantity=WH4_x3_y2_z2_6_quantity, - WH4_x3_y2_z2_6_materialType=WH4_x3_y2_z2_6_materialType, WH4_x3_y2_z2_6_targetWH=WH4_x3_y2_z2_6_targetWH, - WH4_x1_y3_z2_7_materialName=WH4_x1_y3_z2_7_materialName, WH4_x1_y3_z2_7_quantity=WH4_x1_y3_z2_7_quantity, - WH4_x1_y3_z2_7_materialType=WH4_x1_y3_z2_7_materialType, WH4_x1_y3_z2_7_targetWH=WH4_x1_y3_z2_7_targetWH, - WH4_x2_y3_z2_8_materialName=WH4_x2_y3_z2_8_materialName, WH4_x2_y3_z2_8_quantity=WH4_x2_y3_z2_8_quantity, - WH4_x2_y3_z2_8_materialType=WH4_x2_y3_z2_8_materialType, WH4_x2_y3_z2_8_targetWH=WH4_x2_y3_z2_8_targetWH, - WH4_x3_y3_z2_9_materialName=WH4_x3_y3_z2_9_materialName, WH4_x3_y3_z2_9_quantity=WH4_x3_y3_z2_9_quantity, - WH4_x3_y3_z2_9_materialType=WH4_x3_y3_z2_9_materialType, WH4_x3_y3_z2_9_targetWH=WH4_x3_y3_z2_9_targetWH, - WH3_x1_y1_z3_1_materialType=WH3_x1_y1_z3_1_materialType, WH3_x1_y1_z3_1_materialId=WH3_x1_y1_z3_1_materialId, WH3_x1_y1_z3_1_quantity=WH3_x1_y1_z3_1_quantity, - WH3_x2_y1_z3_2_materialType=WH3_x2_y1_z3_2_materialType, WH3_x2_y1_z3_2_materialId=WH3_x2_y1_z3_2_materialId, WH3_x2_y1_z3_2_quantity=WH3_x2_y1_z3_2_quantity, - WH3_x3_y1_z3_3_materialType=WH3_x3_y1_z3_3_materialType, WH3_x3_y1_z3_3_materialId=WH3_x3_y1_z3_3_materialId, WH3_x3_y1_z3_3_quantity=WH3_x3_y1_z3_3_quantity, - WH3_x1_y2_z3_4_materialType=WH3_x1_y2_z3_4_materialType, WH3_x1_y2_z3_4_materialId=WH3_x1_y2_z3_4_materialId, WH3_x1_y2_z3_4_quantity=WH3_x1_y2_z3_4_quantity, - WH3_x2_y2_z3_5_materialType=WH3_x2_y2_z3_5_materialType, WH3_x2_y2_z3_5_materialId=WH3_x2_y2_z3_5_materialId, WH3_x2_y2_z3_5_quantity=WH3_x2_y2_z3_5_quantity, - WH3_x3_y2_z3_6_materialType=WH3_x3_y2_z3_6_materialType, WH3_x3_y2_z3_6_materialId=WH3_x3_y2_z3_6_materialId, WH3_x3_y2_z3_6_quantity=WH3_x3_y2_z3_6_quantity, - WH3_x1_y3_z3_7_materialType=WH3_x1_y3_z3_7_materialType, WH3_x1_y3_z3_7_materialId=WH3_x1_y3_z3_7_materialId, WH3_x1_y3_z3_7_quantity=WH3_x1_y3_z3_7_quantity, - WH3_x2_y3_z3_8_materialType=WH3_x2_y3_z3_8_materialType, WH3_x2_y3_z3_8_materialId=WH3_x2_y3_z3_8_materialId, WH3_x2_y3_z3_8_quantity=WH3_x2_y3_z3_8_quantity, - WH3_x3_y3_z3_9_materialType=WH3_x3_y3_z3_9_materialType, WH3_x3_y3_z3_9_materialId=WH3_x3_y3_z3_9_materialId, WH3_x3_y3_z3_9_quantity=WH3_x3_y3_z3_9_quantity, - WH3_x1_y4_z3_10_materialType=WH3_x1_y4_z3_10_materialType, WH3_x1_y4_z3_10_materialId=WH3_x1_y4_z3_10_materialId, WH3_x1_y4_z3_10_quantity=WH3_x1_y4_z3_10_quantity, - WH3_x2_y4_z3_11_materialType=WH3_x2_y4_z3_11_materialType, WH3_x2_y4_z3_11_materialId=WH3_x2_y4_z3_11_materialId, WH3_x2_y4_z3_11_quantity=WH3_x2_y4_z3_11_quantity, - WH3_x3_y4_z3_12_materialType=WH3_x3_y4_z3_12_materialType, WH3_x3_y4_z3_12_materialId=WH3_x3_y4_z3_12_materialId, WH3_x3_y4_z3_12_quantity=WH3_x3_y4_z3_12_quantity, - WH3_x1_y5_z3_13_materialType=WH3_x1_y5_z3_13_materialType, WH3_x1_y5_z3_13_materialId=WH3_x1_y5_z3_13_materialId, WH3_x1_y5_z3_13_quantity=WH3_x1_y5_z3_13_quantity, - WH3_x2_y5_z3_14_materialType=WH3_x2_y5_z3_14_materialType, WH3_x2_y5_z3_14_materialId=WH3_x2_y5_z3_14_materialId, WH3_x2_y5_z3_14_quantity=WH3_x2_y5_z3_14_quantity, - WH3_x3_y5_z3_15_materialType=WH3_x3_y5_z3_15_materialType, WH3_x3_y5_z3_15_materialId=WH3_x3_y5_z3_15_materialId, WH3_x3_y5_z3_15_quantity=WH3_x3_y5_z3_15_quantity, - ) - finally: - # 恢复原有函数 - self.wait_for_order_finish = original_wait_func - - logger.info("=" * 60) - logger.info("[V2测试版本] 组合操作完成") - logger.info("=" * 60) - - return { - "success": True, - "scheduler_result": scheduler_result, - "feeding_result": feeding_result, - "version": "v2_polling" - } - - # 2.24 物料变更推送 def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: """ @@ -1956,21 +2811,23 @@ def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: Resource if "update_resource_site" in plr_resource.unilabos_extra: site = plr_resource.unilabos_extra["update_resource_site"] plr_model = plr_resource.model - board_type = None - for key, (moudle_name,moudle_uuid) in self.bioyond_config['material_type_mappings'].items(): - if plr_model == moudle_name: - board_type = key - break + + # 直接用 plr_model 作为键查找（配置现在使用英文model名作为键） + board_type = plr_model if plr_model in self.bioyond_config['material_type_mappings'] else None + if board_type is None: - pass + logger.error(f"板类型 {plr_model} 不在 material_type_mappings 中") + return + bottle1 = plr_resource.children[0] - bottle_moudle = bottle1.model - bottle_type = None - for key, (moudle_name, moudle_uuid) in self.bioyond_config['material_type_mappings'].items(): - if bottle_moudle == moudle_name: - bottle_type = key - break + + # 直接用 bottle_moudle 作为键查找 + bottle_type = bottle_moudle if bottle_moudle in self.bioyond_config['material_type_mappings'] else None + + if bottle_type is None: + logger.error(f"瓶类型 {bottle_moudle} 不在 material_type_mappings 中") + return # 从 parent_resource 获取仓库名称 warehouse_name = parent_resource.name if parent_resource else "手动堆栈" @@ -1980,6 +2837,37 @@ def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: Resource return self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}") + def _get_type_id_by_name(self, type_name: str) -> Optional[str]: + """根据物料类型名称查找对应的 UUID。 + + 查找优先级： + 1. 直接以英文 model 名（如 "YB_Vial_5mL_Carrier"）作为 key 查找； + 2. 按中文名称（value[0]，如 "5ml分液瓶板"）遍历查找。 + + Args: + type_name: 物料类型名称，可以是英文 model key 或中文名称 + + Returns: + 对应的 UUID，如果找不到则返回 None + """ + mappings = self.bioyond_config['material_type_mappings'] + + # 优先：直接 key 命中（英文 model 名） + if type_name in mappings: + value = mappings[type_name] + logger.debug(f"[类型映射] 直接 key 命中: {type_name} → {value[1][:8]}...") + return value[1] + + # 兜底：按中文名遍历（value 格式: [中文名称, UUID]） + for key, value in mappings.items(): + if value[0] == type_name: + logger.debug(f"[类型映射] 中文名匹配: {type_name} → {key} → {value[1][:8]}...") + return value[1] + + logger.error(f"[类型映射] 未找到类型: {type_name}") + logger.debug(f"[类型映射] 可用类型列表: {[v[0] for v in mappings.values()]}") + return None + def create_sample( self, name: str, @@ -1996,8 +2884,14 @@ def create_sample( location_code: 库位编号，例如 "A01" warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等 """ - carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1] - bottle_type_id = self.bioyond_config['material_type_mappings'][bottle_type][1] + # 使用反向查找获取 type_id + carrier_type_id = self._get_type_id_by_name(board_type) + bottle_type_id = self._get_type_id_by_name(bottle_type) + + if not carrier_type_id: + raise ValueError(f"未找到板类型 '{board_type}' 的配置，请检查 material_type_mappings") + if not bottle_type_id: + raise ValueError(f"未找到瓶类型 '{bottle_type}' 的配置，请检查 material_type_mappings") # 从指定仓库获取库位UUID if warehouse_name not in self.bioyond_config['warehouse_mapping']: @@ -2052,7 +2946,7 @@ def create_sample( if __name__ == "__main__": lab_registry.setup() - deck = BIOYOND_YB_Deck(setup=True) + deck = bioyond_electrolyte_deck(name="YB_Deck") ws = BioyondCellWorkstation(deck=deck) # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") # logger.info(ws.scheduler_stop()) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template2.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template2.xlsx new file mode 100644 index 000000000..9fb8bdbdc Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template2.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template3.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template3.xlsx new file mode 100644 index 000000000..cf463a3a4 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template3.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template4.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template4.xlsx new file mode 100644 index 000000000..1afec460d Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template4.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template5.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template5.xlsx new file mode 100644 index 000000000..27a311d72 Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template5.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 327d8195c..6a493ced1 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -258,7 +258,7 @@ def sync_to_external(self, resource: Any) -> bool: logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库") # 第1步：从配置中获取仓库配置 - warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {}) + warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {}) # 确定目标仓库名称 parent_name = None @@ -760,10 +760,9 @@ def __init__( except: pass - # 创建通信模块 + # 创建通信模块；同步器将在 post_init 中初始化并执行首次同步 self._create_communication_module(bioyond_config) - self.resource_synchronizer = BioyondResourceSynchronizer(self) - self.resource_synchronizer.sync_from_external() + self.resource_synchronizer = None # TODO: self._ros_node里面拿属性 @@ -802,6 +801,15 @@ def __del__(self): def post_init(self, ros_node: ROS2WorkstationNode): self._ros_node = ros_node + # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化仓库 + if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup): + logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库") + self.deck.setup() + + # 初始化同步器并执行首次同步（需在仓库初始化之后） + self.resource_synchronizer = BioyondResourceSynchronizer(self) + self.resource_synchronizer.sync_from_external() + # 启动连接监控 try: self.connection_monitor = ConnectionMonitor(self) diff --git a/unilabos/devices/workstation/changelog_2026-03-12.md b/unilabos/devices/workstation/changelog_2026-03-12.md new file mode 100644 index 000000000..955954f61 --- /dev/null +++ b/unilabos/devices/workstation/changelog_2026-03-12.md @@ -0,0 +1,219 @@ +# 代码变更说明 — 2026-03-12 + +> 本次变更基于 `implementation_plan_v2.md` 执行，目标：**物理几何结构初始化与物料内容物填充彻底解耦**，消除 PLR 反序列化时的 `Resource already assigned to deck` 错误，并修复若干运行时新增问题。 + +--- + +## 一、物料系统标准化重构（主线任务） + +### 1. `unilabos/resources/battery/magazine.py` + +**改动**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 三个工厂函数的 `klasses` 参数改为 `None`。 + +**原因**：原来三个工厂函数在初始化时就向洞位填满极片对象（`ElectrodeSheet`），导致 PLR 反序列化时"几何结构已创建子节点 + DB 再次 assign"双重冲突。 + +**原则**：物料余量改由寄存器直读（阶段 F），资源树不再追踪每个极片实体。`MagazineHolder_6_Battery` 原本就是 `klasses=None`，三者现在保持一致。 + +--- + +### 2. `unilabos/resources/battery/magazine.py`（追加，响应重复 UUID 问题） + +**改动**：为 `Magazine`（洞位类）新增 `serialize` 和 `deserialize` 重写： +- `serialize`：序列化时强制将 `children` 置空，不再把极片写回数据库。 +- `deserialize`：反序列化时强制忽略 `children` 字段，阻止数据库中旧极片记录被恢复。 + +**原因**：数据库中遗留有旧的 `ElectrodeSheet` 记录（`A1_sheet100` 等），启动时被 PLR 反序列化进来，导致同一 UUID 出现在多个 Magazine 洞位中，触发 `发现重复的uuid` 错误。此修复从源头截断旧数据，经过一次完整的"启动 → 资源树写回"后，数据库旧极片记录也会被干净覆盖。 + +--- + +### 3. `unilabos/resources/battery/bottle_carriers.py` + +**改动**：删除 `YIHUA_Electrolyte_12VialCarrier` 末尾的 12 瓶填充循环及对应 `import`。 + +**原因**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 应初始化为空载架，瓶子由 Bioyond 侧实际转运后再填入。原来初始化时直接塞满 `YB_pei_ye_xiao_Bottle`，反序列化时产生重复 assign。 + +--- + +### 4. `unilabos/resources/bioyond/decks.py` + +**改动**： +- 将 `BIOYOND_YB_Deck` 重命名为 `BioyondElectrolyteDeck`，保留 `BIOYOND_YB_Deck` 作为向后兼容别名。 +- 工厂函数 `YB_Deck()` 重命名为 `bioyond_electrolyte_deck()`，保留 `YB_Deck` 作为别名。 +- `BIOYOND_PolymerReactionStation_Deck`、`BIOYOND_PolymerPreparationStation_Deck`、`BioyondElectrolyteDeck` 三个 Deck 类： + - 移除 `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用。 + - 删除临时 `deserialize` 补丁（该补丁是为了强制 `setup=False`，根本原因消除后不再需要）。 + +**原因**：`setup` 参数导致 PLR 反序列化时先通过 `__init__` 创建所有子资源，再从 JSON `children` 字段再次 assign，产生 `already assigned to deck` 错误。正确模式：`__init__` 只初始化自身几何，`setup()` 由工厂函数调用，反序列化由 PLR 从 DB 数据重建子资源。 + +--- + +### 5. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py` + +**改动**： +- `CoincellDeck` 重命名为 `YihuaCoinCellDeck`，保留 `CoincellDeck` 作为向后兼容别名。 +- 工厂函数 `YH_Deck()` 重命名为 `yihua_coin_cell_deck()`，保留 `YH_Deck` 作为别名。 +- 移除 `YihuaCoinCellDeck.__init__` 中的 `setup: bool = False` 参数及调用，删除 `deserialize` 补丁（原因同 decks.py）。 +- `MaterialPlate.__init__` 移除 `fill` 参数和 `fill=True` 分支，新增类方法 `MaterialPlate.create_with_holes()` 作为"带洞位"的工厂方法，`setup()` 改为调用该工厂方法。 +- `YihuaCoinCellDeck.setup()` 末尾新增 `electrolyte_buffer`（`ResourceStack`）接驳槽，用于接收来自 Bioyond 侧的分液瓶板，命名与 `bioyond_cell_workstation.py` 中 `sites=["electrolyte_buffer"]` 一致。 + +--- + +### 6. `unilabos/resources/resource_tracker.py` + +**改动 1**：`to_plr_resources` 中，`load_all_state` 调用前预填 `Container` 类资源缺失的键： + +```python +state.setdefault("liquid_history", []) +state.setdefault("pending_liquids", {}) +``` + +**原因**：新版 PLR 要求 `Container` 状态中必须包含这两个键，旧数据库记录缺失时 `load_all_state` 会抛出 `KeyError`。 + +**改动 2**：`_validate_tree` 中，遇到重复 UUID 时改为自动重新分配新 UUID 并打 `WARNING`，不再直接抛异常崩溃。 + +**原因**：旧数据库中存在多个同名同 UUID 的极片对象（历史脏数据），严格校验会导致节点无法启动。改为 WARNING + 自动修复，确保启动成功，下次资源树写回后脏数据自然清除。 + +--- + +### 7. `unilabos/resources/itemized_carrier.py` + +**改动**：将原来的 `idx is None` 兜底补丁（静默调用 `super().assign_child_resource`，不更新槽位追踪）替换为两段式逻辑： + +1. **XY 近似匹配**（容差 2mm）：精确三维坐标匹配失败时，仅对比 XY 二维坐标，找到最近槽位后用槽位的正确坐标（含 Z）完成 assign，并打 `WARNING`。 +2. **XY 也失败才抛异常**：给出详细的槽位列表和传入坐标，便于问题排查。 + +**原因**：数据库中存储的资源坐标 Z=0，而 `warehouse_factory` 定义的槽位 Z=dz（如 10mm）。精确匹配永远失败，原补丁静默兜底掩盖了这一问题。近似匹配修复了 Z 偏移，同时保留了真正异常时的报错能力。 + +--- + +### 8. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` + +**改动 1**：更新导入：`BIOYOND_YB_Deck` → `BioyondElectrolyteDeck, bioyond_electrolyte_deck`。 + +**改动 2**：`__main__` 入口处改为调用 `bioyond_electrolyte_deck(name="YB_Deck")`。 + +**改动 3**：新增 `_get_resource_from_device(device_id, resource_name)` 方法，用于从目标设备的资源树中动态查找 PLR 资源对象（带降级回退逻辑）。 + +**改动 4**：跨站转运逻辑中，将原来"创建 `size=1,1,1` 的虚拟 `ResourcePLR` + 硬编码 UUID"的方式，改为通过 `_get_resource_from_device` 从目标设备获取真实的 `electrolyte_buffer` 资源对象。 + +**原因**：原代码使用硬编码 UUID 的虚拟资源作为转运目标，该对象在 YihuaCoinCellDeck 的资源树中不存在，转移后资源树状态混乱。 + +--- + +### 9. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py` + +**改动 1**：更新导入：`CoincellDeck` → `YihuaCoinCellDeck, yihua_coin_cell_deck`，`__main__` 入口改为调用 `yihua_coin_cell_deck()`。 + +**改动 2**：新增 10 个 `@property`，实现对依华扣电工站 Modbus 寄存器的直读： + +| 属性名 | 寄存器地址 | 说明 | +|---|---|---| +| `data_10mm_positive_plate_remaining` | 520 | 10mm正极片余量 | +| `data_12mm_positive_plate_remaining` | 522 | 12mm正极片余量 | +| `data_16mm_positive_plate_remaining` | 524 | 16mm正极片余量 | +| `data_aluminum_foil_remaining` | 526 | 铝箔余量 | +| `data_positive_shell_remaining` | 528 | 正极壳余量 | +| `data_flat_washer_remaining` | 530 | 平垫余量 | +| `data_negative_shell_remaining` | 532 | 负极壳余量 | +| `data_spring_washer_remaining` | 534 | 弹垫余量 | +| `data_finished_battery_remaining_capacity` | 536 | 成品电池余量 | +| `data_finished_battery_ng_remaining_capacity` | 538 | 成品电池NG槽余量 | + +**原因**：`coin_cell_workstation.yaml` 的 `status_types` 中定义了这 10 个属性，但代码中从未实现，导致每次前端轮询时均报 `AttributeError`。 + +--- + +## 二、配置与注册表更新 + +### 10. `yibin_electrolyte_config.json` +- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`（class、type、_resource_type 三处） +- `CoincellDeck` → `YihuaCoinCellDeck`（class、type、_resource_type 三处） +- 移除 `"setup": true` 字段 + +### 11. `yibin_coin_cell_only_config.json` +- `CoincellDeck` → `YihuaCoinCellDeck` +- 移除 `"setup": true` + +### 12. `yibin_electrolyte_only_config.json` +- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck` +- 移除 `"setup": true` + +### 13. `unilabos/registry/resources/bioyond/deck.yaml` +- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`，工厂函数路径更新为 `bioyond_electrolyte_deck` +- `CoincellDeck` → `YihuaCoinCellDeck`，工厂函数路径更新为 `yihua_coin_cell_deck` + +--- + +## 三、独立 Bug 修复 + +### 14. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv` + +**改动**：10 条余量寄存器记录的 `DataType` 列从 `REAL` 改为 `FLOAT32`。 + +**原因**：`REAL` 是 IEC 61131-3 PLC 工程师惯用名称，但 pymodbus 的 `DATATYPE` 枚举只有 `FLOAT32`，`DataType['REAL']` 查表时抛 `KeyError: 'REAL'`，导致 `CoinCellAssemblyWorkstation` 节点启动失败。 + +--- + +## 四、运行期新增 Bug 修复（第二轮，2026-03-12 18:12 日志） + +### 15. `unilabos/devices/workstation/bioyond_studio/station.py` + +**改动**：第 261 行 `self.bioyond_config` → `self.workstation.bioyond_config`。 + +**原因**：`BioyondResourceSynchronizer.sync_to_external` 内部误用了 `self.bioyond_config`，而该类从未设置此属性（应通过 `self.workstation.bioyond_config` 访问）。触发场景：用户在前端将任意物料拖入仓库时，同步到 Bioyond 必定抛出 `AttributeError: 'BioyondResourceSynchronizer' object has no attribute 'bioyond_config'`。 + +--- + +### 16. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` + +**改动**：`_get_type_id_by_name` 方法新增"直接英文 key 命中"分支： + +- **原逻辑**：仅按 `value[0]`（中文名，如 `"5ml分液瓶板"`）遍历比较。 +- **新逻辑**：先以 `type_name` 直接查找 `material_type_mappings` 字典 key（英文 model 名，如 `"YB_Vial_5mL_Carrier"`），命中则立即返回 UUID；否则再按中文名兜底遍历。 + +**原因**：`resource_tree_transfer` 将 `plr_resource.model`（英文 key）作为 `board_type` / `bottle_type` 传给 `create_sample`，后者再调用 `_get_type_id_by_name`。旧版函数只按中文名查，导致英文 key 永远匹配不到 → `ValueError: 未找到板类型 'YB_Vial_5mL_Carrier' 的配置`。新函数兼容两种查找方式，同时保持向后兼容。 + +--- + +## 五、运行期新增 Bug 修复（第三轮，2026-03-12 20:30 日志） + +### 17. `unilabos/resources/resource_tracker.py`（追加） + +**改动**：在 `to_plr_resources` 中，`sub_cls.deserialize` 调用前新增 `_deduplicate_plr_dict(plr_dict)` 预处理函数。 + +**函数逻辑**：递归遍历整个 `plr_dict` 树，在**全树范围**对 `children` 列表按 `name` 去重——保留首次出现的同名节点，跳过重复项并打 `WARNING`。 + +**根本原因**： +1. 用户通过前端将 `YB_Vial_5mL_Carrier` 拖入仓库 E01，carrier 及其子 vial（`YB_Vial_5mL_Carrier_vial_A1` 等）被写入数据库。 +2. 随后 `sync_from_external`（Bioyond 定期同步）以**新 UUID** 重新创建同名 carrier 并赋给同一槽位，PLR 内存树中的旧 carrier 被替换，但**数据库旧记录未被清除**。 +3. 下次重启时，数据库同一 `WareHouse` 下存在两条同名 `BottleCarrier`（不同 UUID），`node_to_plr_dict` 将二者都放入 `children` 列表，PLR 反序列化第二个 carrier 时子 vial 命名冲突，抛出 `ValueError: Resource with name 'YB_Vial_5mL_Carrier_vial_A1' already exists in the tree.`，整个 deck 无法加载，系统启动失败。 + +**连锁错误（随根因修复自动消除）**： +- `TypeError: Deck.__init__() got an unexpected keyword argument 'data'` — deck 加载失败后 `driver_creator.py` 触发降级路径，参数类型错误 +- `AttributeError: 'ResourceDictInstance' object has no attribute 'copy'` — 另一条降级路径失败 +- `ValueError: Deck 配置不能为空` — 所有 deck 创建路径失败，`deck=None` 传入工作站 + +--- + +> **验证状态**：2026-03-12 20:56 日志确认系统正常运行，无新增 ERROR 级错误。 + +--- + +## 六、变更文件汇总（最终） + +| 文件 | 变更类型 | 轮次 | +|---|---|---| +| `resources/battery/magazine.py` | 重构 + Bug 修复（极片子节点解耦 + 旧数据清理） | 第一轮 | +| `resources/battery/bottle_carriers.py` | 重构（移除初始化时自动填瓶） | 第一轮 | +| `resources/bioyond/decks.py` | 重构 + 重命名（BioyondElectrolyteDeck） | 第一轮 | +| `devices/workstation/coin_cell_assembly/YB_YH_materials.py` | 重构 + 重命名（YihuaCoinCellDeck）+ 新增 electrolyte_buffer 槽位 | 第一轮 | +| `resources/resource_tracker.py` | Bug 修复 × 3（Container 状态键预填 + 重复 UUID 自动修复 + 树级名称去重） | 第一/三轮 | +| `resources/itemized_carrier.py` | Bug 修复（XY 近似坐标匹配，修复 Z 偏移） | 第一轮 | +| `devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | 重构 + Bug 修复（跨站转运 + 类型映射双模式查找） | 第一/二轮 | +| `devices/workstation/bioyond_studio/station.py` | Bug 修复（sync_to_external 属性访问路径） | 第二轮 | +| `devices/workstation/coin_cell_assembly/coin_cell_assembly.py` | 新增 10 个 Modbus 余量属性 + 更新导入 | 第一轮 | +| `yibin_electrolyte_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 | +| `yibin_coin_cell_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 | +| `yibin_electrolyte_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 | +| `registry/resources/bioyond/deck.yaml` | 注册表更新（类名 + 工厂函数路径） | 第一轮 | +| `devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv` | Bug 修复（REAL → FLOAT32） | 第一轮 | diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index c9187e656..41ccd1f05 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -130,20 +130,14 @@ def __init__( ordering: Optional[OrderedDict[str, str]] = None, category: str = "material_plate", model: Optional[str] = None, - fill: bool = False ): - """初始化料板 + """初始化料板（不主动填充洞位，由工厂方法或反序列化恢复） Args: name: 料板名称 size_x: 长度 (mm) size_y: 宽度 (mm) size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 category: 类别 model: 型号 """ @@ -153,42 +147,50 @@ def __init__( hole_diameter=20.0, info="", ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + @classmethod + def create_with_holes( + cls, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_plate", + model: Optional[str] = None, + ) -> "MaterialPlate": + """工厂方法：创建带 4x4 洞位的料板（仅用于初始 setup，不在反序列化路径调用）""" + # 默认洞位间距（与 _unilabos_state 默认值保持一致） + hole_spacing_x = 24.0 + hole_spacing_y = 24.0 + # 先建洞位，再作为 ordered_items 传入构造函数 + # （ItemizedResource.__init__ 要求 ordered_items 或 ordering 二选一必须有值） holes = create_ordered_items_2d( klass=MaterialHole, num_items_x=4, num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dx=(size_x - 4 * hole_spacing_x) / 2, + dy=(size_y - 4 * hole_spacing_y) / 2, dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, + item_dx=hole_spacing_x, + item_dy=hole_spacing_y, + size_x=16, + size_y=16, + size_z=16, + ) + return cls( + name=name, size_x=size_x, size_y=size_y, size_z=size_z, + ordered_items=holes, category=category, model=model, ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) def update_locations(self): # TODO:调多次相加 @@ -534,30 +536,19 @@ def serialize_state(self) -> Dict[str, Dict[str, Any]]: return data -class CoincellDeck(Deck): - """纽扣电池组装工作站台面类""" +class YihuaCoinCellDeck(Deck): + """依华纽扣电池组装工作站台面类""" def __init__( self, name: str = "coin_cell_deck", - size_x: float = 1450.0, # 1m - size_y: float = 1450.0, # 1m - size_z: float = 100.0, # 0.9m + size_x: float = 1450.0, + size_y: float = 1450.0, + size_z: float = 100.0, origin: Coordinate = Coordinate(-2200, 0, 0), category: str = "coin_cell_deck", - setup: bool = False, # 是否自动执行 setup + setup: bool = False, ): - """初始化纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - 1m - size_y: 宽度 (mm) - 1m - size_z: 高度 (mm) - 0.9m - origin: 原点坐标 - category: 类别 - setup: 是否自动执行 setup 配置标准布局 - """ super().__init__( name=name, size_x=1450.0, @@ -591,14 +582,11 @@ def setup(self) -> None: # ====================================== 物料板 ============================================ # 创建物料板（料盘carrier）- 4x4布局 # 负极料盘 - fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True) + fujiliaopan = MaterialPlate.create_with_holes(name="负极料盘", size_x=120, size_y=100, size_z=10.0) self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0)) - # for i in range(16): - # fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - # fujiliaopan.children[i].assign_child_resource(fujipian, location=None) # 隔膜料盘 - gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True) + gemoliaopan = MaterialPlate.create_with_holes(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0) self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0)) # for i in range(16): # gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) @@ -633,11 +621,27 @@ def setup(self) -> None: waste_tip_box = WasteTipBox(name="waste_tip_box") self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0)) + # 分液瓶板接驳区 - 接收来自 BioyondElectrolyte 侧的完整 Vial Carrier 板 + # 命名 electrolyte_buffer 与 bioyond_cell_workstation.py 中 sites=["electrolyte_buffer"] 对应 + electrolyte_buffer = ResourceStack( + name="electrolyte_buffer", + direction="z", + resources=[], + ) + self.assign_child_resource(electrolyte_buffer, Coordinate(x=1050.0, y=700.0, z=0)) + + +def yihua_coin_cell_deck(name: str = "coin_cell_deck") -> YihuaCoinCellDeck: + deck = YihuaCoinCellDeck(name=name) + deck.setup() + return deck + + +# 向后兼容别名，日后废弃 +CoincellDeck = YihuaCoinCellDeck -def YH_Deck(name=""): - cd = CoincellDeck(name=name) - cd.setup() - return cd +def YH_Deck(name: str = "") -> YihuaCoinCellDeck: + return yihua_coin_cell_deck(name=name or "coin_cell_deck") if __name__ == "__main__": diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 91efd45fb..67eeac83a 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -17,7 +17,7 @@ from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import * from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode -from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck, yihua_coin_cell_deck from unilabos.resources.graphio import convert_resources_to_type from unilabos.utils.log import logger import struct @@ -161,7 +161,9 @@ def __init__(self, logger.info("没有传入依华deck，检查启动json文件") super().__init__(deck=deck, *args, **kwargs,) self.debug_mode = debug_mode - + self._modbus_address = address + self._modbus_port = port + """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) logger.debug(f"创建 Modbus 客户端: {modbus_client}") @@ -178,9 +180,11 @@ def __init__(self, raise ValueError('modbus tcp connection failed') self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_b.csv')) self.client = modbus_client.register_node_list(self.nodes) + self._modbus_client_raw = modbus_client else: print("测试模式，跳过连接") self.nodes, self.client = None, None + self._modbus_client_raw = None """ 工站的配置 """ @@ -191,9 +195,40 @@ def __init__(self, self.csv_export_file = None self.coin_num_N = 0 #已组装电池数量 + def _ensure_modbus_connected(self) -> None: + """检查 Modbus TCP 连接是否存活，若已断开则自动重连（防止长时间空闲后连接超时）""" + if self.debug_mode or self._modbus_client_raw is None: + return + raw_client = self._modbus_client_raw.client + if raw_client.is_socket_open(): + return + logger.warning("[Modbus] 检测到连接已断开，尝试重连...") + try: + raw_client.close() + except Exception: + pass + count = 10 + while count > 0: + count -= 1 + try: + raw_client.connect() + except Exception: + pass + if raw_client.is_socket_open(): + break + time.sleep(2) + if not raw_client.is_socket_open(): + raise RuntimeError(f"Modbus TCP 重连失败（{self._modbus_address}:{self._modbus_port}），请检查设备连接") + logger.info("[Modbus] 重连成功") + def post_init(self, ros_node: ROS2WorkstationNode): self._ros_node = ros_node - #self.deck = create_a_coin_cell_deck() + + # Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化子物料 + if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup): + logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化") + self.deck.setup() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": [self.deck] }) @@ -623,12 +658,28 @@ def data_electrolyte_volume(self) -> int: return vol @property - def data_coin_num(self) -> int: - """当前电池数量 (INT16)""" + def data_coin_type(self) -> int: + """电池类型 - 7种或8种组装物料 (INT16)""" + if self.debug_mode: + return 7 + coin_type, read_err = self.client.use_node('REG_DATA_COIN_TYPE').read(1) + return coin_type + + @property + def data_current_assembling_count(self) -> int: + """当前进行组装的电池数量 - Current assembling battery count (INT16)""" if self.debug_mode: return 0 - num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) - return num + count, read_err = self.client.use_node('REG_DATA_CURRENT_ASSEMBLING_COUNT').read(1) + return count + + @property + def data_current_completed_count(self) -> int: + """当前完成组装的电池数量 - Current completed battery count (INT16)""" + if self.debug_mode: + return 0 + count, read_err = self.client.use_node('REG_DATA_CURRENT_COMPLETED_COUNT').read(1) + return count @property def data_coin_cell_code(self) -> str: @@ -726,6 +777,116 @@ def data_glove_box_water_content(self) -> float: return 0.0 return _decode_float32_correct(result.registers) + @property + def data_10mm_positive_plate_remaining(self) -> float: + """10mm正极片剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_10MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取10mm正极片余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_12mm_positive_plate_remaining(self) -> float: + """12mm正极片剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_12MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取12mm正极片余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_16mm_positive_plate_remaining(self) -> float: + """16mm正极片剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_16MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取16mm正极片余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_aluminum_foil_remaining(self) -> float: + """铝箔剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_ALUMINUM_FOIL_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取铝箔余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_positive_shell_remaining(self) -> float: + """正极壳剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_POSITIVE_SHELL_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取正极壳余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_flat_washer_remaining(self) -> float: + """平垫剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FLAT_WASHER_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取平垫余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_negative_shell_remaining(self) -> float: + """负极壳剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_NEGATIVE_SHELL_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取负极壳余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_spring_washer_remaining(self) -> float: + """弹垫剩余物料数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_SPRING_WASHER_REMAINING_COUNT').address, count=2) + if result.isError(): + logger.error("读取弹垫余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_finished_battery_remaining_capacity(self) -> float: + """成品电池剩余可容纳数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_REMAINING_CAPACITY').address, count=2) + if result.isError(): + logger.error("读取成品电池余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + + @property + def data_finished_battery_ng_remaining_capacity(self) -> float: + """成品电池NG槽剩余可容纳数量 (FLOAT32)""" + if self.debug_mode: + return 0.0 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_NG_REMAINING_CAPACITY').address, count=2) + if result.isError(): + logger.error("读取成品电池NG槽余量失败") + return 0.0 + return _decode_float32_correct(result.registers) + # @property # def data_stack_vision_code(self) -> int: # """物料堆叠复检图片编码 (INT16)""" @@ -925,6 +1086,7 @@ def func_pack_device_init_auto_start_combined(self, material_search_enable: bool # 步骤0: 前置条件检查 logger.info("\n【步骤 0/4】前置条件检查...") + self._ensure_modbus_connected() try: # 检查 REG_UNILAB_INTERACT (应该为False，表示使用Unilab交互) unilab_interact_node = self.client.use_node('REG_UNILAB_INTERACT') @@ -985,6 +1147,42 @@ def func_pack_device_init_auto_start_combined(self, material_search_enable: bool raise RuntimeError(error_msg) logger.info(" ✓ COIL_GB_L_IGNORE_CMD 检查通过 (值为False，使用左手套箱)") + + # 检查握手寄存器残留（正常初始状态均应为False） + # 若上次运行意外断网，这些Unilab侧COIL可能被遗留为True，导致PLC逻辑卡死 + handshake_checks = [ + ("COIL_UNILAB_SEND_MSG_SUCC_CMD", "Unilab→PLC 配方发送完毕", "上次配方握手未正常复位，PLC可能处于等待配方的卡死状态"), + ("COIL_UNILAB_REC_MSG_SUCC_CMD", "Unilab→PLC 数据接收完毕", "上次数据接收握手未正常复位"), + ("UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM", "Unilab→PLC 瓶数发送完毕", "上次瓶数握手未正常复位"), + ("UNILAB_SEND_FINISHED_CMD", "Unilab→PLC 一组完成确认", "上次完成握手未正常复位"), + ("COIL_REQUEST_REC_MSG_STATUS", "PLC→Unilab 请求接收配方", "PLC正处于等待配方状态，设备流程已卡死，需重启PLC或手动复位握手"), + ("COIL_REQUEST_SEND_MSG_STATUS", "PLC→Unilab 请求发送测试数据", "PLC正处于等待发送数据状态，设备流程已卡死"), + ] + for coil_name, coil_desc, stuck_reason in handshake_checks: + try: + hs_node = self.client.use_node(coil_name) + hs_value, hs_err = hs_node.read(1) + if hs_err: + logger.warning(f" ⚠ 无法读取 {coil_name}，跳过此项检查") + continue + hs_actual = hs_value[0] if isinstance(hs_value, (list, tuple)) else hs_value + logger.info(f" {coil_name} 当前值: {hs_actual}") + if hs_actual: + error_msg = ( + "❌ 前置握手寄存器检查失败！\n" + f" {coil_name} = True (期望值: False)\n" + f" 含义: {coil_desc}\n" + f" 原因: {stuck_reason}\n" + " 建议: 检查上次运行是否意外中断，手动将该寄存器置为False后重试" + ) + logger.error(error_msg) + raise RuntimeError(error_msg) + logger.info(f" ✓ {coil_name} 检查通过 (值为False)") + except RuntimeError: + raise + except Exception as hs_e: + logger.warning(f" ⚠ 检查 {coil_name} 时发生异常: {hs_e}，跳过此项") + logger.info("✓ 所有前置条件检查通过！") except ValueError as e: @@ -1158,7 +1356,8 @@ def func_sendbottle_allpack_multi( lvbodian: bool = True, battery_pressure_mode: bool = True, battery_clean_ignore: bool = False, - file_path: str = "/Users/sml/work" + file_path: str = "/Users/sml/work", + formulations: List[Dict] = None ) -> Dict[str, Any]: """ 发送瓶数+简化组装函数（适用于第二批次及后续批次） @@ -1185,17 +1384,44 @@ def func_sendbottle_allpack_multi( battery_pressure_mode: 是否启用压力模式 battery_clean_ignore: 是否忽略电池清洁 file_path: 实验记录保存路径 + formulations: 配方信息列表（从 create_orders.mass_ratios 获取） + 包含 orderCode, target_mass_ratio, real_mass_ratio 等 + 用于CSV数据追溯，可选参数 Returns: dict: 包含组装结果的字典 - 注意： + 注意: - 第一次启动需先调用 func_pack_device_init_auto_start_combined() - 后续批次直接调用此函数即可 """ logger.info("=" * 60) logger.info("开始发送瓶数+简化组装流程...") logger.info(f"电解液瓶数: {elec_num}, 每瓶电池数: {elec_use_num}") + + # 存储配方信息到设备状态（供 CSV 写入使用） + if formulations: + logger.info(f"接收到配方信息: {len(formulations)} 条") + # 将配方信息按 orderCode 索引，方便后续查找 + self._formulations_map = { + f["orderCode"]: f for f in formulations + } if formulations else {} + # ✅ 新增：存储配方列表（按接收顺序），用于索引访问 + self._formulations_list = formulations + else: + logger.warning("未接收到配方信息，CSV将不包含配方字段") + self._formulations_map = {} + self._formulations_list = [] + + # ✅ 新增：存储每瓶电池数，用于计算当前使用的瓶号 + # ⚠️ 确保转换为整数（前端可能传递字符串） + self._elec_use_num = int(elec_use_num) if elec_use_num else 0 + logger.info(f"已存储参数: 每瓶电池数={self._elec_use_num}, 配方数={len(self._formulations_list)}") + + # ✅ 新增：软件层电池计数器（防止硬件计数器不准确） + self._software_battery_counter = 0 # 从0开始，每写入一次CSV递增 + logger.info("软件层电池计数器已初始化") + logger.info("=" * 60) # 步骤1: 发送电解液瓶数（触发物料搬运） @@ -1331,7 +1557,8 @@ def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: data_assembly_time = self.data_assembly_time data_assembly_pressure = self.data_assembly_pressure data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num + data_coin_type = self.data_coin_type # 电池类型（7或8种物料） + data_battery_number = self.data_current_assembling_count # ✅ 真正的电池编号 # 处理电解液二维码 - 确保是字符串类型 try: @@ -1361,28 +1588,32 @@ def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: logger.debug(f"data_assembly_time: {data_assembly_time}") logger.debug(f"data_assembly_pressure: {data_assembly_pressure}") logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}") - logger.debug(f"data_coin_num: {data_coin_num}") + logger.debug(f"data_coin_type: {data_coin_type}") # 电池类型 + logger.debug(f"data_battery_number: {data_battery_number}") # ✅ 电池编号 logger.debug(f"data_electrolyte_code: {data_electrolyte_code}") logger.debug(f"data_coin_cell_code: {data_coin_cell_code}") #接收完信息后，读取完毕标志位置True - liaopan3 = self.deck.get_resource("成品弹夹") + finished_battery_magazine = self.deck.get_resource("成品弹夹") + + # 计算电池应该放在哪个洞，以及洞内的堆叠位置 + # 成品弹夹有6个洞，每个洞可堆叠20颗电池 + # 前5个洞（索引0-4）放正常电池，第6个洞（索引5）放NG电池 + BATTERIES_PER_HOLE = 20 + MAX_NORMAL_BATTERIES = 100 # 5个洞 × 20颗/洞 + + hole_index = self.coin_num_N // BATTERIES_PER_HOLE # 第几个洞（0-4为正常电池） + in_hole_position = self.coin_num_N % BATTERIES_PER_HOLE # 洞内的堆叠序号 + + if hole_index >= 5: + logger.error(f"电池数量超出正常容量范围: {self.coin_num_N + 1} > {MAX_NORMAL_BATTERIES}") + raise ValueError(f"成品弹夹正常洞位已满（最多{MAX_NORMAL_BATTERIES}颗），当前尝试放置第{self.coin_num_N + 1}颗") + + target_hole = finished_battery_magazine.children[hole_index] # 获取目标洞 # 生成唯一的电池名称（使用时间戳确保唯一性） timestamp_suffix = datetime.now().strftime("%Y%m%d_%H%M%S_%f") battery_name = f"battery_{self.coin_num_N}_{timestamp_suffix}" - # 检查目标位置是否已有资源，如果有则先卸载 - target_slot = liaopan3.children[self.coin_num_N] - if target_slot.children: - logger.warning(f"位置 {self.coin_num_N} 已有资源，将先卸载旧资源") - try: - # 卸载所有现有子资源 - for child in list(target_slot.children): - target_slot.unassign_child_resource(child) - logger.info(f"已卸载旧资源: {child.name}") - except Exception as e: - logger.error(f"卸载旧资源时出错: {e}") - # 创建新的电池资源 battery = ElectrodeSheet(name=battery_name, size_x=14, size_y=14, size_z=2) battery._unilabos_state = { @@ -1393,13 +1624,12 @@ def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: "electrolyte_volume": data_electrolyte_volume } - # 分配新资源到目标位置 + # 将电池堆叠到目标洞中 try: - target_slot.assign_child_resource(battery, location=None) - logger.info(f"成功分配电池 {battery_name} 到位置 {self.coin_num_N}") + target_hole.assign_child_resource(battery, location=None) + logger.info(f"成功放置电池 {battery_name} 到弹夹洞{hole_index}的第{in_hole_position + 1}层 (总计第{self.coin_num_N + 1}颗)") except Exception as e: - logger.error(f"分配电池资源失败: {e}") - # 如果分配失败，尝试使用更简单的方法 + logger.error(f"放置电池资源失败: {e}") raise #print(jipian2.parent) @@ -1420,6 +1650,7 @@ def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: time_date = datetime.now().strftime("%Y%m%d") #秒级时间戳用于标记每一行电池数据 timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + self._last_assembly_timestamp = timestamp #生成输出文件的变量 self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") #将数据存入csv文件 @@ -1430,17 +1661,79 @@ def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: writer.writerow([ 'Time', 'open_circuit_voltage', 'pole_weight', 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' + 'data_coin_type', 'electrolyte_code', 'coin_cell_code', + 'orderName', 'prep_bottle_barcode', 'vial_bottle_barcodes', + 'target_mass_ratio', 'real_mass_ratio' ]) #立刻写入磁盘 csvfile.flush() #开始追加电池信息 with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: writer = csv.writer(csvfile) + + # ========== 提取配方信息 ========== + formulation_order_name = "" + prep_bottle_barcode = "" + vial_bottle_barcodes = "" + target_ratio_str = "" + real_ratio_str = "" + + # 从 self._formulations_list 获取配方信息 + if hasattr(self, '_formulations_list') and self._formulations_list: + # ✅ 新方案：根据电池编号和每瓶电池数计算当前瓶号 + # 例如：elec_use_num=2时，电池1-2用瓶0，电池3-4用瓶1 + if hasattr(self, '_elec_use_num') and self._elec_use_num: + # ⚠️ 确保转换为整数（防御性编程） + elec_use_num_int = int(self._elec_use_num) if self._elec_use_num else 1 + if elec_use_num_int > 0: + current_bottle_index = (data_battery_number - 1) // elec_use_num_int + else: + current_bottle_index = 0 + + logger.debug( + f"[CSV写入] 电池 {data_battery_number}: 计算瓶号索引={current_bottle_index} " + f"(每瓶{self._elec_use_num}颗电池)" + ) + else: + # 降级方案：尝试从二维码解析（仅当参数未设置时） + current_bottle_index = int(data_electrolyte_code.split('-')[-1]) if '-' in str(data_electrolyte_code) else 0 + logger.debug( + f"[CSV写入] 电池 {data_battery_number}: 从二维码解析瓶号索引={current_bottle_index}" + ) + + # 从配方列表中获取对应配方 + if 0 <= current_bottle_index < len(self._formulations_list): + formulation = self._formulations_list[current_bottle_index] + formulation_order_name = formulation.get("orderName", "") + prep_bottle_barcode = formulation.get("prep_bottle_barcode", "") + vial_bottle_barcodes = formulation.get("vial_bottle_barcodes", "") + + real_ratio = formulation.get("real_mass_ratio", {}) + target_ratio = formulation.get("target_mass_ratio", {}) + + # 将配方比例转为JSON字符串 + import json + target_ratio_str = json.dumps(target_ratio, ensure_ascii=False) if target_ratio else "" + real_ratio_str = json.dumps(real_ratio, ensure_ascii=False) if real_ratio else "" + + logger.info( + f"[CSV写入] 电池 {data_battery_number}: 使用配方[{current_bottle_index}] " + f"orderName={formulation_order_name}, 配液瓶={prep_bottle_barcode}, 分液瓶={vial_bottle_barcodes}" + ) + else: + logger.warning( + f"[CSV写入] 电池 {data_battery_number}: 瓶号索引 {current_bottle_index} " + f"超出配方列表范围 (共{len(self._formulations_list)}个配方)" + ) + else: + logger.debug(f"[CSV写入] 电池 {data_battery_number}: 未找到配方信息数据") + writer.writerow([ timestamp, data_open_circuit_voltage, data_pole_weight, data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code + data_coin_type, data_electrolyte_code, data_coin_cell_code, + formulation_order_name, prep_bottle_barcode, vial_bottle_barcodes, + target_ratio_str, real_ratio_str ]) #立刻写入磁盘 csvfile.flush() @@ -1585,17 +1878,18 @@ def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_typ pole_weight = 0.0 battery_info = { - "battery_index": coin_num_N + 1, - "battery_barcode": battery_qr_code, - "electrolyte_barcode": electrolyte_qr_code, + "Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")), "open_circuit_voltage": open_circuit_voltage, "pole_weight": pole_weight, "assembly_time": self.data_assembly_time, "assembly_pressure": self.data_assembly_pressure, - "electrolyte_volume": self.data_electrolyte_volume + "electrolyte_volume": self.data_electrolyte_volume, + "data_coin_type": getattr(self, "data_coin_type", 0), + "electrolyte_code": electrolyte_qr_code, + "coin_cell_code": battery_qr_code, } battery_data_list.append(battery_info) - print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}") + print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}") time.sleep(1) # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 @@ -1624,6 +1918,7 @@ def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_typ "success": True, "total_batteries": len(battery_data_list), "batteries": battery_data_list, + "assembly_data": battery_data_list, "summary": { "electrolyte_bottles_used": elec_num, "batteries_per_bottle": elec_use_num, @@ -1667,8 +1962,7 @@ def func_allpack_cmd_simp( file_path: str = "/Users/sml/work" ) -> Dict[str, Any]: """ - 简化版电池组装函数，整合了原 qiming_coin_cell_code 的参数设置和双滴模式 - + 此函数是 func_allpack_cmd 的增强版本，自动处理以下配置： - 负极片和隔膜的盘数及矩阵点位 - 枪头盒矩阵点位 @@ -1839,17 +2133,18 @@ def func_allpack_cmd_simp( pole_weight = 0.0 battery_info = { - "battery_index": coin_num_N + 1, - "battery_barcode": battery_qr_code, - "electrolyte_barcode": electrolyte_qr_code, + "Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")), "open_circuit_voltage": open_circuit_voltage, "pole_weight": pole_weight, "assembly_time": self.data_assembly_time, "assembly_pressure": self.data_assembly_pressure, - "electrolyte_volume": self.data_electrolyte_volume + "electrolyte_volume": self.data_electrolyte_volume, + "data_coin_type": getattr(self, "data_coin_type", 0), + "electrolyte_code": electrolyte_qr_code, + "coin_cell_code": battery_qr_code, } battery_data_list.append(battery_info) - print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}") + print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}") time.sleep(1) @@ -1876,6 +2171,7 @@ def func_allpack_cmd_simp( "success": True, "total_batteries": len(battery_data_list), "batteries": battery_data_list, + "assembly_data": battery_data_list, "summary": { "electrolyte_bottles_used": elec_num, "batteries_per_bottle": elec_use_num, @@ -1922,7 +2218,7 @@ def func_pack_device_stop(self) -> bool: def fun_wuliao_test(self) -> bool: #找到data_init中构建的2个物料盘 - liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") + test_battery_plate = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") for i in range(16): battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) battery._unilabos_state = { @@ -1932,7 +2228,7 @@ def fun_wuliao_test(self) -> bool: "electrolyte_volume": 20.0, "electrolyte_name": f"DP{i}" } - liaopan3.children[i].assign_child_resource(battery, location=None) + test_battery_plate.children[i].assign_child_resource(battery, location=None) ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": [self.deck] @@ -1975,7 +2271,7 @@ def func_read_data_and_output(self, file_path: str="/Users/sml/work"): data_assembly_time = self.data_assembly_time data_assembly_pressure = self.data_assembly_pressure data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num + data_coin_type = self.data_coin_type # 电池类型（7或8种物料） data_electrolyte_code = self.data_electrolyte_code data_coin_cell_code = self.data_coin_cell_code # 电解液瓶位置 @@ -2089,7 +2385,7 @@ def func_read_data_and_output(self, file_path: str="/Users/sml/work"): writer.writerow([ timestamp, data_open_circuit_voltage, data_pole_weight, data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code + data_coin_type, data_electrolyte_code, data_coin_cell_code # ✅ 已修正 ]) #立刻写入磁盘 csvfile.flush() @@ -2140,7 +2436,7 @@ def data_tips_inventory(self) -> int: if __name__ == "__main__": # 简单测试 - workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck")) + workstation = CoinCellAssemblyWorkstation(deck=yihua_coin_cell_deck(name="coin_cell_deck")) # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False) # print(f"工作站创建成功: {workstation.deck.name}") # print(f"料盘数量: {len(workstation.deck.children)}") diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_20260112.xlsx b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_20260112.xlsx new file mode 100644 index 000000000..40a421b56 Binary files /dev/null and b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_20260112.xlsx differ diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv index e46d1de5f..d28b1b6d1 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv @@ -1,4 +1,4 @@ -Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, COIL_SYS_START_CMD,BOOL,,,,coil,8010, COIL_SYS_STOP_CMD,BOOL,,,,coil,8020, COIL_SYS_RESET_CMD,BOOL,,,,coil,8030, @@ -29,7 +29,9 @@ REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume -REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num +REG_DATA_COIN_TYPE,INT16,,,,hold_register,10018,data_coin_type +REG_DATA_CURRENT_ASSEMBLING_COUNT,INT16,,,,hold_register,10072,data_current_assembling_count +REG_DATA_CURRENT_COMPLETED_COUNT,INT16,,,,hold_register,10074,data_current_completed_count REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code() REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code() REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code() @@ -69,65 +71,75 @@ REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460, COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470, COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480, COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490, -COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常 -COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停 -COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停 -COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡 -COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料 -COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料 -COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料 -COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料 -COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料 -COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料 -COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料 -COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料 -COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料 -COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料 -COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常 -COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常 -COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常 -COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常 -COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常 -COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常 -COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常 -COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常 -COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常 -COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常 -COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常 -COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常 -COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常 -COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常 -COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常 -COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常 -COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警 -COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常 -COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误 -COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制 -COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大 -COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败 -COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败 -COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败 -COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败 -COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败 -COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常 -COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常 -COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常 -COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常 -COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常 -COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常 -COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常 -COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常 -COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常 -COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常 -COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常 -COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常 -COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常 -COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常 -COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常 -COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常 -COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常 -COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常 -COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常 -COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常 -COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常 -COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常 +COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,??100-???? +COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,??101-?? +COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,??111-????? +COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,??112-???????? +COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,??160-?????? +COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,??161-????? +COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,??162-????? +COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,??163-????? +COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,??164-???? +COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,??165-????? +COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,??166-???? +COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,??167-???? +COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,??168-????? +COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,??169-?????? +COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,??201-???01?? +COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,??202-???02?? +COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,??203-???03?? +COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,??204-???04?? +COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,??205-???05?? +COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,??206-???06?? +COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,??207-???07?? +COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,??208-???08?? +COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,??209-???09?? +COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,??210-???10?? +COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,??211-???11?? +COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,??212-???12?? +COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,??213-???13?? +COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,??214-???14?? +COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,??250-?????? +COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,??251-??????? +COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,??252-????? +COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,??256-???? +COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,??262-RB????????? +COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,??263-RB???X?Y?Z????? +COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,??264-RB??????????? +COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,??265-RB???1#?????? +COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,??266-RB???2#?????? +COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,??267-RB???3#?????? +COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,??268-RB???4#?????? +COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,??269-RB????????? +COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,??280-RB???? +COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,??290-???????? +COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,??291-????NG?? +COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,??292-??????? +COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,??310-??????????? +COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,??311-??????????? +COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,??312-??????????? +COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,??313-??????????? +COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,??340-???????????? +COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,??342-???????????? +COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,??344-?????????? +COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,??350-?????????? +COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,??352-?????????? +COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,??354-??????????? +COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,??356-??????????? +COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,??360-?????????? +COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,??362-??????????? +COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,??364-??????????? +COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,??366-????????? +COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,??370-?????????? +COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,??151-?????????? +COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,??152-????????? +REG_DATA_10MM_POSITIVE_PLATE_REMAINING_COUNT,FLOAT32,,,,hold_register,520,10mm??????????R? +REG_DATA_12MM_POSITIVE_PLATE_REMAINING_COUNT,FLOAT32,,,,hold_register,522,12mm??????????R? +REG_DATA_16MM_POSITIVE_PLATE_REMAINING_COUNT,FLOAT32,,,,hold_register,524,16mm??????????R? +REG_DATA_ALUMINUM_FOIL_REMAINING_COUNT,FLOAT32,,,,hold_register,526,?????????R? +REG_DATA_POSITIVE_SHELL_REMAINING_COUNT,FLOAT32,,,,hold_register,528,??????????R? +REG_DATA_FLAT_WASHER_REMAINING_COUNT,FLOAT32,,,,hold_register,530,?????????R? +REG_DATA_NEGATIVE_SHELL_REMAINING_COUNT,FLOAT32,,,,hold_register,532,??????????R? +REG_DATA_SPRING_WASHER_REMAINING_COUNT,FLOAT32,,,,hold_register,534,?????????R? +REG_DATA_FINISHED_BATTERY_REMAINING_CAPACITY,FLOAT32,,,,hold_register,536,????????????R? +REG_DATA_FINISHED_BATTERY_NG_REMAINING_CAPACITY,FLOAT32,,,,hold_register,538,????NG?????????R? diff --git a/unilabos/devices/workstation/implementation_plan.md b/unilabos/devices/workstation/implementation_plan.md new file mode 100644 index 000000000..86f2ee322 --- /dev/null +++ b/unilabos/devices/workstation/implementation_plan.md @@ -0,0 +1,88 @@ +# 物料系统标准化重构方案 + +根据开发者的反馈，本方案旨在遵循“标准化而非绕过”的原则，对资源类（Deck、Carrier、Magazine）进行重构。核心目标是将物理结构的初始化与物料/极片的初始填充逻辑解耦，彻底解决反序列化过程中的初始化冲突。 + +## 拟议变更 + +### [参考] PRCXI9300 标准化模式 +#### [参考文件] [prcxi.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/liquid_handling/prcxi/prcxi.py) +* **PRCXI9300Deck**: 演示了如何在 `serialize` 中导出 `sites` 元数据，以及如何在 `assign_child_resource` 中实现稳健的槽位匹配（支持按名称、坐标或索引匹配）。 +* **PRCXI9300Container**: 演示了标准的 `load_state` 和 `serialize_state` 模式，确保业务状态（如 `Material` UUID）能正确往返序列化。 + +### [组件] 台面 (Decks) +#### [修改] [decks.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/bioyond/decks.py) +* 将 `BIOYOND_YB_Deck` 重命名为 **`BioyondElectrolyteDeck`**，对应工厂函数 `YB_Deck()` 重命名为 **`bioyond_electrolyte_deck()`**。 +* `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` **保持不变**。 +* 以上三个 Deck 的 `__init__` 中均移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。 + +#### [修改 + 重命名] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py) → `yihua_coin_cell_materials.py` +* 将 `CoincellDeck` 重命名为 **`YihuaCoinCellDeck`**，对应工厂函数 `YH_Deck()` 重命名为 **`yihua_coin_cell_deck()`**。 +* 从 `YihuaCoinCellDeck.__init__` 中移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。 + +### [组件] 容器类与弹夹 (Itemized Carriers & Magazines) +#### [修改] [magazine.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/battery/magazine.py) +* 重构 `magazine_factory`：将创建 `MagazineHolder` 几何结构（空槽位）的过程与填充 `ElectrodeSheet` 物料的过程分离。 +* 确保 `MagazineHolder` 和 `Magazine` 的 `__init__` 过程中不主动创建任何内容物。 + +#### [修改] [warehouse.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/warehouse.py) +* 确保 `WareHouse` 类和 `warehouse_factory` 遵循相同模式：先初始化几何结构，内容物另行处理。 + +#### [修改] [itemized_carrier.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/itemized_carrier.py) +* 移除之前添加的 `idx is None` 兜底补丁。 +* 修复命名规范，确保 `assign_child_resource` 在反序列化时能准确匹配资源。 + +### [组件] 状态兼容性 (State Compatibility) +#### [修改] [resource_tracker.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/resource_tracker.py) +* 在 `to_plr_resources` 方法中调用 `load_all_state` 之前，预处理 `all_states` 字典。 +* 对于 `Container` 类型的资源，如果其状态中缺少 `liquid_history` 或 `pending_liquids` 等 PLR 新版本要求的键，则填充默认值（如空列表/字典），防止反序列化中断。 + +### [组件] 料盘 (Material Plates) +#### [修改] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py) +* 重构 `MaterialPlate`：不在 `__init__` 中直接调用 `create_ordered_items_2d`。 +* 重构 `YIHUA_Electrolyte_12VialCarrier`：将其修改为标准的基类定义或在工厂方法中彻底剥离内部 12 个 `YB_pei_ye_xiao_Bottle` 的强制初始化，以防反序列化冲突。 + +### [组件] 跨站转运与分液瓶板 (Vial Plate Transfer) +#### [修改] [bioyond_cell_workstation.py] & [YB_YH_materials.py] +* **分析**：目前的 `bioyond_cell_workstation.py` 在执行转移时，是用 `sites=["electrolyte_buffer"]` 试图把整块 `YB_Vial_5mL_Carrier` 板转移给目标。但由于实际工艺中，配液站将分液瓶板传往扣电工站后，是由扣电工站的机械臂**逐瓶抓取**并放入内部的 `bottle_rack_6x2`（电解液缓存位），用完后再放入 `bottle_rack_6x2_2`（废液位），因此配液站的这一次“跨工位资源树转移”在逻辑上存在偏差：目标槽位不应该是装单瓶的载体 `bottle_rack`。 +* **修复方案**： + 1. **目标端 (Yihua 侧)**： + * 在 `YB_YH_materials.py` 中为从配液站传过来的“分液瓶板”本身设置一个接驳专用的 `PlateSlot`（或者单纯直接移到 Deck 指定坐标）。这个位置负责真正在资源树层级上合法接收配液站传过来的完整 Board。 + * 重构 `YIHUA_Electrolyte_12VialCarrier`：为了防止初始化反序列化冲突，取消内部在 `__init__` 中自动填充满 12 个 `YB_pei_ye_xiao_Bottle` 实例的逻辑。`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 初始化时均应为空。 + 2. **转运端 (Bioyond 侧)**： + * 修改 `bioyond_cell_workstation.py` 的资源树数字转运代码，将其转移目标对应到 Yihua 侧新设立的“分液瓶板接驳区域”资源，或者干脆只更新资源树坐标位置（使其脱离 Bioyond Deck 加入 Yihua Deck），而不再强行挂载到一个无法容纳 Carrier 的 `bottle_rack_6x2` 内部。 + +### [组件] 依华扣电组装工站物料余量监控 (Material Monitoring) +#### [修改] 寄存器直读与前端集成 +* **物理对象保留但虚化追踪**：原有的实体台面对象（如 `MaterialPlate`、`MagazineHolder` 各类型及其对应的洞位坐标）**仍然保留并使用**。保留它们是为了给机器臂提供基础的物理空间取放标定，以及作为前端页面的可视和可交互区块。 +* **内部物料免追踪**：既然余量完全由寄存器接管，**我们将不再在这些弹夹或洞位内部显式生成、塞入和追踪每一个具体的极片或外壳对象 (如 `ElectrodeSheet` 等)**。这恰好与我们的重构主旨（不主动在 `__init__` 建子物料以避开反序列化冲突）完美结合，进一步极大地减轻了后台资源树对象的复杂度。 +* **监控方式变更**：放弃现有的物料余量方式，直接读取依华扣电组装工站开放的寄存器地址以获取准确余量。 +* **前端界面集成**：在前端界面点击负极壳、弹垫片等弹夹的 data view 时，直接读取并显示寄存器中的各自余量。 +* **新增寄存器映射** (参考 `coin_cell_assembly_b.csv`)： + * `10mm正极片剩余物料数量（R）`：`read hold_register 520` (REAL) + * `12mm正极片剩余物料数量（R）`：`read hold_register 522` (REAL) + * `16mm正极片剩余物料数量（R）`：`read hold_register 524` (REAL) + * `铝箔剩余物料数量（R）`：`read hold_register 526` (REAL) + * `正极壳剩余物料数量（R）`：`read hold_register 528` (REAL) + * `平垫剩余物料数量（R）`：`read hold_register 530` (REAL) + * `负极壳剩余物料数量（R）`：`read hold_register 532` (REAL) + * `弹垫剩余物料数量（R）`：`read hold_register 534` (REAL) + * `成品电池剩余可容纳数量（R）`：`read hold_register 536` (REAL) + * `成品电池NG槽剩余可容纳数量（R）`：`read hold_register 538` (REAL) + +### [配置] JSON 配置文件 (Configuration Files) +#### [修改] 资源类型名称更新 +* 更新以下配置文件，将其中的 `BIOYOND_YB_Deck` 替换为新的类名 **`BioyondElectrolyteDeck`**，以及将 `coin_cell_deck` 替换为 **`YihuaCoinCellDeck`**： + * `yibin_electrolyte_config.json` + * `yibin_coin_cell_only_config.json` + * `yibin_electrolyte_only_config.json` + +## 验证计划 + +### 自动化测试 +* 对重构后的类运行 `pylabrobot` 序列化/反序列化测试，确保状态能够完美恢复。 +* 检查各工作站节点启动时是否仍存在 `ValueError: Resource '...' already assigned to deck` 报错。 +* 检查 `resource_tracker` 中是否仍存在重复 UUID 报错。 + +### 手动验证 +* 重启各工作站节点，验证资源树是否能根据数据库数据正确还还原。 +* 验证“自动”与“手动”传输窗资源在台面上的分配是否正确。 diff --git a/unilabos/devices/workstation/implementation_plan_v2.md b/unilabos/devices/workstation/implementation_plan_v2.md new file mode 100644 index 000000000..7e2233ef9 --- /dev/null +++ b/unilabos/devices/workstation/implementation_plan_v2.md @@ -0,0 +1,388 @@ +# 物料系统标准化重构方案 v2（增强版） + +> **基于原始方案 (`implementation_plan.md`) 的补充与细化**。 +> 本文档在原方案基础上：①增加当前代码现状核查结果；②明确各任务的执行顺序与文件级改动；③新增注意事项与回归测试命令。 + +--- + +## 0. 核心原则（保持不变） + +"**物理几何结构初始化（Deck / Carrier / Magazine 的 `__init__`）与物料内容物填充（`setup()` / `klasses` 参数）必须彻底解耦**"，以消除 PLR 反序列化时的 `Resource already assigned to deck` 错误。 + +--- + +## 1. 当前代码现状核查（2026-03-12） + +| 文件 | 计划要求 | 当前状态 | 是否完成 | +|---|---|---|---| +| `resources/bioyond/decks.py` | 重命名类；移除 `setup` 参数和 `deserialize` 补丁 | 仍是 `BIOYOND_YB_Deck`；`setup` 参数和 `deserialize` 均存在 | ❌ | +| `coin_cell_assembly/YB_YH_materials.py` | 重命名类；文件迁移；移除补丁 | 仍是 `CoincellDeck`；`setup` 参数和 `deserialize` 均存在 | ❌ | +| `resources/battery/magazine.py` | `magazine_factory` 不主动填充物料 | `MagazineHolder_6_Cathode` / `_6_Anode` / `_4_Cathode` 仍传 `klasses`，初始化时填满极片 | ❌ | +| `resources/battery/bottle_carriers.py` | `YIHUA_Electrolyte_12VialCarrier` 初始化时不填充瓶子 | 第 54-55 行仍循环填充 12 个 `YB_pei_ye_xiao_Bottle` | ❌ | +| `resources/itemized_carrier.py` | 移除 `idx is None` 兜底补丁 | 第 182-190 行仍保留该兜底逻辑 | ❌（待前置任务完成后移除） | +| `resources/resource_tracker.py` | `load_all_state` 前预填 `Container` 缺失键 | 第 616 行直接调用，无预处理 | ❌ | +| `bioyond_cell_workstation.py` | 修正跨站转运目标为合法接驳槽 | 第 1563 行仍 `sites=["electrolyte_buffer"]`，目标 UUID 为硬编码虚拟资源 | ❌ | +| `yibin_*.json` 配置文件 | 更新类名 | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌ | +| `registry/resources/bioyond/deck.yaml` | 更新类名（原计划未提及） | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌（**新增**） | + +--- + +## 2. 执行顺序（含依赖关系） + +``` +阶段 A（底层资源类） + A1. magazine.py — 移除 klasses 填充 + A2. bottle_carriers.py — 移除瓶子填充 + +阶段 B（Deck 层） + B1. decks.py — 移除 setup 参数和 deserialize 补丁；重命名 + B2. YB_YH_materials.py → 重命名；移除 CoincellDeck 的 setup 参数和 deserialize 补丁 + +阶段 C（状态兼容） + C1. resource_tracker.py — 预填 Container 缺失键 + C2. itemized_carrier.py — 移除 idx is None 兜底补丁（B 阶段完成后） + +阶段 D（跨站转运修复） + D1. YB_YH_materials.py 新增 vial_plate_dock（接驳专用槽） + D2. bioyond_cell_workstation.py 修正 transfer 目标 + +阶段 E（配置与注册表） + E1. yibin_*.json 更新类名 + E2. registry/resources/bioyond/deck.yaml 更新类名 + E3. coin_cell_assembly.py 更新导入路径（若文件重命名） +``` + +--- + +## 3. 分阶段详细说明 + +--- + +### 阶段 A — 底层资源类 + +#### A1. `unilabos/resources/battery/magazine.py` + +**问题**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 在调用 `magazine_factory` 时传入 `klasses`，导致每次 `__init__` 就填满极片，反序列化时重复添加。 + +**修改**： + +- 将三个函数中的 `klasses=[...]` 改为 `klasses=None`（与 `MagazineHolder_6_Battery` 保持一致）。 +- **理由**：物料余量已由寄存器管理（见阶段 F），不需要在资源树中追踪每一个极片。 + +```python +# 修改前（MagazineHolder_6_Cathode 举例） +klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan], + +# 修改后 +klasses=None, +``` + +> **注意**：`magazine_factory` 中 `klasses` 参数及循环体代码保留（仍可按需在非序列化场景使用），只是各具体工厂函数不再传入。 + +--- + +#### A2. `unilabos/resources/battery/bottle_carriers.py` + +**问题**：`YIHUA_Electrolyte_12VialCarrier` 第 54-55 行在工厂函数末尾循环填充 12 个瓶子。 + +**修改**：删除以下两行： + +```python +# 删除 +for i in range(12): + carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}") +``` + +**理由**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 均应初始化为空，瓶子由 Bioyond 侧实际转运后再填入。 + +--- + +### 阶段 B — Deck 层重构 + +#### B1. `unilabos/resources/bioyond/decks.py` + +**改动列表**： + +1. **重命名** `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck` +2. **重命名** `YB_Deck()` 工厂函数 → `bioyond_electrolyte_deck()` +3. **移除** `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用 +4. **删除** `deserialize` 方法重写（该临时补丁在 `setup` 参数移除后自然失效，继续保留反而掩盖问题） +5. `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` 同步执行第 3、4 步 + +**重构后初始化模式**： + +```python +class BioyondElectrolyteDeck(Deck): + def __init__(self, name: str = "YB_Deck", ...): + super().__init__(name=name, ...) + # ❌ 不调用 self.setup() + # PLR 反序列化时只会调用 __init__，然后从 children JSON 重建子资源 + + def setup(self) -> None: + # 完整的子资源初始化逻辑保留在这里，只由工厂函数调用 + ... + +def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck: + deck = BioyondElectrolyteDeck(name=name) + deck.setup() # ✅ 工厂函数负责填充 + return deck +``` + +**同步修改**： +- `bioyond_cell_workstation.py` 第 20 行： + ```python + # 修改前 + from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck + # 修改后 + from unilabos.resources.bioyond.decks import BioyondElectrolyteDeck + ``` +- 同文件第 2440 行：`BIOYOND_YB_Deck(setup=True)` → `bioyond_electrolyte_deck(name="YB_Deck")` + +--- + +#### B2. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py` + +**改动列表**： + +1. **重命名** `CoincellDeck` → `YihuaCoinCellDeck` +2. **重命名** `YH_Deck()` → `yihua_coin_cell_deck()`（可保留 `YH_Deck` 作为兼容别名，日后废弃） +3. **移除** `CoincellDeck.__init__` 中 `setup: bool = False` 参数及调用 +4. **删除** `CoincellDeck.deserialize` 重写方法 +5. `MaterialPlate.__init__` 中移除 `fill` 参数，始终不主动调用 `create_ordered_items_2d`（当前 `fill=False` 路径已正确，只需删除 `fill=True` 分支） + +```python +# 修改前（MaterialPlate.__init__ 片段） +if fill: + super().__init__(..., ordered_items=holes, ...) +else: + super().__init__(..., ordered_items=ordered_items, ...) + +# 修改后（始终走 "不填充" 路径） +super().__init__(..., ordered_items=ordered_items, ...) +# holes 的创建代码整体移入独立工厂方法 +``` + +**同步修改**： +- `coin_cell_assembly.py` 第 20 行导入： + ```python + # 修改前 + from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck + # 修改后 + from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck + ``` +- 同文件第 2245 行：`CoincellDeck(setup=True, name="coin_cell_deck")` → `yihua_coin_cell_deck(name="coin_cell_deck")` +- 文件重命名（可选）：`YB_YH_materials.py` → `yihua_coin_cell_materials.py`（若重命名，所有 import 路径需全局替换） + +--- + +### 阶段 C — 状态兼容 + +#### C1. `unilabos/resources/resource_tracker.py` + +**问题**：第 616 行直接调用 `plr_resource.load_all_state(all_states)`，若 `Container` 类资源的 `data` 字段缺少 `liquid_history` 或 `pending_liquids`，PLR 新版本会抛出 `KeyError`。 + +**修改**：在第 616 行前插入预处理： + +```python +# 在 load_all_state 调用前预填缺失键 +from pylabrobot.resources.container import Container as PLRContainer +for res_name, state in all_states.items(): + if state and isinstance(state, dict): + # Container 类型要求这两个键存在 + state.setdefault("liquid_history", []) + state.setdefault("pending_liquids", {}) + +plr_resource.load_all_state(all_states) +``` + +--- + +#### C2. `unilabos/resources/itemized_carrier.py` + +**前提**：B1、B2 阶段完成，Deck 类名与资源命名规范已对齐后再执行此步。 + +**修改**：删除第 182-190 行的兜底补丁： + +```python +# 删除以下整个 if 块 +if idx is None: + fallback_location = location if location is not None else Coordinate.zero() + super().assign_child_resource(resource, location=fallback_location, reassign=reassign) + return +``` + +**替代**：改为抛出带诊断信息的异常，便于后续问题排查： + +```python +if idx is None: + raise ValueError( + f"[ItemizedCarrier] 无法为资源 '{resource.name}' 找到匹配的槽位。" + f"已知槽位：{list(self.child_locations.keys())}，" + f"传入坐标：{location}" + ) +``` + +--- + +### 阶段 D — 跨站转运修复 + +#### D1. `YB_YH_materials.py` — 新增分液瓶板接驳槽 + +在 `YihuaCoinCellDeck.setup()` 中，新增一个专用于接收 Bioyond 侧传来的完整分液瓶板的 `ResourceStack`（或 `PlateSlot`）： + +```python +# 在 setup() 末尾追加 +from pylabrobot.resources.resource_stack import ResourceStack + +vial_plate_dock = ResourceStack( + name="electrolyte_buffer", # 保持与 bioyond_cell_workstation.py 的 sites 键一致 + direction="z", + resources=[], +) +self.assign_child_resource(vial_plate_dock, Coordinate(x=1050.0, y=700.0, z=0)) +``` + +> **说明**：槽位命名 `electrolyte_buffer` 与 `bioyond_cell_workstation.py` 现有的 `sites=["electrolyte_buffer"]` 对应，减少改动量。如改名，D2 需同步。 + +--- + +#### D2. `bioyond_cell_workstation.py` — 修正 transfer 目标 + +**问题**：第 1545-1552 行创建了一个 `size=1,1,1` 的虚拟 `ResourcePLR` 并硬编码 UUID，这个对象在 YihuaCoinCellDeck 的资源树中不存在，导致转移后资源树状态混乱。 + +**修改**： + +```python +# 修改前：创建虚拟目标资源 +target_resource_obj = ResourcePLR(name=target_location, size_x=1.0, ...) +target_resource_obj.unilabos_uuid = "550e8400-e29b-41d4-a716-446655440001" # 硬编码 + +# 修改后：通过 ROS2/设备注册表查询真实资源 +# （需要从 target_device 的资源树中取出 electrolyte_buffer 的真实对象） +target_resource_obj = self._get_resource_from_device( + device_id=target_device, + resource_name=target_location +) +if target_resource_obj is None: + raise RuntimeError( + f"目标设备 {target_device} 中未找到资源 '{target_location}'，" + f"请确认 YihuaCoinCellDeck.setup() 中已添加 electrolyte_buffer 槽位" + ) +``` + +> **说明**：`_get_resource_from_device` 需根据现有 ROS2 资源同步机制实现，或复用已有的 `get_plr_resource_by_name` 类似方法。 + +--- + +### 阶段 E — 配置与注册表 + +#### E1. `yibin_electrolyte_config.json` / `yibin_coin_cell_only_config.json` / `yibin_electrolyte_only_config.json` + +全局替换以下字符串： + +| 旧值 | 新值 | +|---|---| +| `BIOYOND_YB_Deck` | `BioyondElectrolyteDeck` | +| `unilabos.resources.bioyond.decks:BIOYOND_YB_Deck` | `unilabos.resources.bioyond.decks:BioyondElectrolyteDeck` | +| `CoincellDeck` | `YihuaCoinCellDeck` | +| `unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck` | 若文件已重命名：`unilabos.devices.workstation.coin_cell_assembly.yihua_coin_cell_materials:YihuaCoinCellDeck` | + +--- + +#### E2. `unilabos/registry/resources/bioyond/deck.yaml`（**原计划未覆盖，新增**） + +当前第 25 行和第 37 行仍使用旧类名，需同步更新： + +```yaml +# 修改前 +BIOYOND_YB_Deck: + ... +CoincellDeck: + ... + +# 修改后 +BioyondElectrolyteDeck: + ... +YihuaCoinCellDeck: + ... +``` + +--- + +### 阶段 F — 物料余量监控集成（原计划第5节细化） + +**目标**：弃用资源树内极片对象计数，改为直读依华扣电工站寄存器。 + +#### F1. `coin_cell_assembly/coin_cell_assembly.py` — 新增寄存器读取方法 + +参考 `coin_cell_assembly_b.csv` 中的地址，封装读取工具方法： + +```python +MATERIAL_REGISTER_MAP = { + "10mm正极片": (520, "REAL"), + "12mm正极片": (522, "REAL"), + "16mm正极片": (524, "REAL"), + "铝箔": (526, "REAL"), + "正极壳": (528, "REAL"), + "平垫": (530, "REAL"), + "负极壳": (532, "REAL"), + "弹垫": (534, "REAL"), + "成品容量": (536, "REAL"), + "成品NG容量": (538, "REAL"), +} + +def get_material_remaining(self, material_name: str) -> float: + """通过寄存器直读指定物料的剩余数量""" + if material_name not in MATERIAL_REGISTER_MAP: + raise KeyError(f"未知物料名称: {material_name}") + address, dtype = MATERIAL_REGISTER_MAP[material_name] + return self.read_hold_register(address, dtype) # 复用现有 Modbus 读取方法 +``` + +#### F2. 前端 data view 集成 + +- 前端点击 `MagazineHolder` 类资源的 data view 时，调用后端 `get_material_remaining` 接口（而非读取 `children` 长度）。 +- 具体接口路径和前端调用代码需与前端开发同步，本文档不作具体实现约定。 + +--- + +## 4. 验证计划（细化） + +### 4.1 单元测试（自动化） + +```bash +# 序列化/反序列化往返测试 +python -m pytest unilabos/test/ -k "serial" -v + +# 特别检查以下错误消失： +# - ValueError: Resource '...' already assigned to deck +# - KeyError: 'liquid_history' +# - 重复 UUID 报错 +``` + +### 4.2 集成测试（手动） + +按以下顺序逐步验证，确保每步正常后再进行下一步： + +1. **单独启动 `BatteryStation` 节点**，检查 `CoincellDeck`（现 `YihuaCoinCellDeck`）能否从数据库状态正确还原，无 `already assigned` 报错。 +2. **单独启动 `BioyondElectrolyte` 节点**，检查 `BioyondElectrolyteDeck` 反序列化正常。 +3. **同时启动两个节点**，模拟执行一次分液→扣电的完整跨站转运，确认： + - `electrolyte_buffer` 槽位正确接收分液瓶板。 + - `bottle_rack_6x2` 初始为空，不出现虚拟瓶子。 +4. **重启两个节点**（模拟断电恢复），确认资源树从数据库还原后，`electrolyte_buffer` 中仍持有正确的分液瓶板对象。 +5. **寄存器余量读取**：手动触发 `get_material_remaining("负极壳")`，确认返回值与设备显示一致。 + +--- + +## 5. 与原计划的差异对照 + +| 维度 | 原计划 | 本文档新增/修订 | +|---|---|---| +| 执行顺序 | 未排序 | 明确 A→B→C→D→E→F 的依赖顺序 | +| `itemized_carrier.py` | 移除兜底补丁 | 补充：替换为带诊断信息的异常，便于排查 | +| `bottle_carriers.py` | 提及 `YIHUA_Electrolyte_12VialCarrier` 需修改 | 明确：删除第 54-55 行的瓶子填充循环 | +| `MaterialPlate` | 提及移除 `fill` 参数 | 说明保留 `fill=False` 路径；整体删除 `fill=True` 分支 | +| `deck.yaml` | 未提及 | **新增**：该注册文件也需要同步更新类名 | +| `resource_tracker.py` | 简略描述 | 提供具体的 `setdefault` 预处理代码示例 | +| 跨站转运 | 描述了问题和方向 | 细化：新增 `electrolyte_buffer` 槽位的具体名称和坐标；修正 `transfer` 目标查找方式 | +| 验证计划 | 简述目标 | 提供具体测试命令和逐步手动验证流程 | diff --git a/unilabos/registry/ast_registry_scanner.py b/unilabos/registry/ast_registry_scanner.py index 80aba3e2c..62cd2dbed 100644 --- a/unilabos/registry/ast_registry_scanner.py +++ b/unilabos/registry/ast_registry_scanner.py @@ -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) diff --git a/unilabos/registry/decorators.py b/unilabos/registry/decorators.py index 25a2e57f8..1dffe1697 100644 --- a/unilabos/registry/decorators.py +++ b/unilabos/registry/decorators.py @@ -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 AddProtocol(self): ... """ 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 wrapper(*args, **kwargs): "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] diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index f57cd35c5..57f2e4a71 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -22,8 +22,7 @@ bioyond_cell: required: - xlsx_path type: object - result: - type: object + result: {} required: - goal title: auto_batch_outbound_from_xlsx参数 @@ -33,111 +32,6 @@ bioyond_cell: feedback: {} goal: {} goal_default: - WH3_x1_y1_z3_1_materialId: '' - WH3_x1_y1_z3_1_materialType: '' - WH3_x1_y1_z3_1_quantity: 0 - WH3_x1_y2_z3_4_materialId: '' - WH3_x1_y2_z3_4_materialType: '' - WH3_x1_y2_z3_4_quantity: 0 - WH3_x1_y3_z3_7_materialId: '' - WH3_x1_y3_z3_7_materialType: '' - WH3_x1_y3_z3_7_quantity: 0 - WH3_x1_y4_z3_10_materialId: '' - WH3_x1_y4_z3_10_materialType: '' - WH3_x1_y4_z3_10_quantity: 0 - WH3_x1_y5_z3_13_materialId: '' - WH3_x1_y5_z3_13_materialType: '' - WH3_x1_y5_z3_13_quantity: 0 - WH3_x2_y1_z3_2_materialId: '' - WH3_x2_y1_z3_2_materialType: '' - WH3_x2_y1_z3_2_quantity: 0 - WH3_x2_y2_z3_5_materialId: '' - WH3_x2_y2_z3_5_materialType: '' - WH3_x2_y2_z3_5_quantity: 0 - WH3_x2_y3_z3_8_materialId: '' - WH3_x2_y3_z3_8_materialType: '' - WH3_x2_y3_z3_8_quantity: 0 - WH3_x2_y4_z3_11_materialId: '' - WH3_x2_y4_z3_11_materialType: '' - WH3_x2_y4_z3_11_quantity: 0 - WH3_x2_y5_z3_14_materialId: '' - WH3_x2_y5_z3_14_materialType: '' - WH3_x2_y5_z3_14_quantity: 0 - WH3_x3_y1_z3_3_materialId: '' - WH3_x3_y1_z3_3_materialType: '' - WH3_x3_y1_z3_3_quantity: 0 - WH3_x3_y2_z3_6_materialId: '' - WH3_x3_y2_z3_6_materialType: '' - WH3_x3_y2_z3_6_quantity: 0 - WH3_x3_y3_z3_9_materialId: '' - WH3_x3_y3_z3_9_materialType: '' - WH3_x3_y3_z3_9_quantity: 0 - WH3_x3_y4_z3_12_materialId: '' - WH3_x3_y4_z3_12_materialType: '' - WH3_x3_y4_z3_12_quantity: 0 - WH3_x3_y5_z3_15_materialId: '' - WH3_x3_y5_z3_15_materialType: '' - WH3_x3_y5_z3_15_quantity: 0 - WH4_x1_y1_z1_1_materialName: '' - WH4_x1_y1_z1_1_quantity: 0.0 - WH4_x1_y1_z2_1_materialName: '' - WH4_x1_y1_z2_1_materialType: '' - WH4_x1_y1_z2_1_quantity: 0.0 - WH4_x1_y1_z2_1_targetWH: '' - WH4_x1_y2_z1_6_materialName: '' - WH4_x1_y2_z1_6_quantity: 0.0 - WH4_x1_y2_z2_4_materialName: '' - WH4_x1_y2_z2_4_materialType: '' - WH4_x1_y2_z2_4_quantity: 0.0 - WH4_x1_y2_z2_4_targetWH: '' - WH4_x1_y3_z1_11_materialName: '' - WH4_x1_y3_z1_11_quantity: 0.0 - WH4_x1_y3_z2_7_materialName: '' - WH4_x1_y3_z2_7_materialType: '' - WH4_x1_y3_z2_7_quantity: 0.0 - WH4_x1_y3_z2_7_targetWH: '' - WH4_x2_y1_z1_2_materialName: '' - WH4_x2_y1_z1_2_quantity: 0.0 - WH4_x2_y1_z2_2_materialName: '' - WH4_x2_y1_z2_2_materialType: '' - WH4_x2_y1_z2_2_quantity: 0.0 - WH4_x2_y1_z2_2_targetWH: '' - WH4_x2_y2_z1_7_materialName: '' - WH4_x2_y2_z1_7_quantity: 0.0 - WH4_x2_y2_z2_5_materialName: '' - WH4_x2_y2_z2_5_materialType: '' - WH4_x2_y2_z2_5_quantity: 0.0 - WH4_x2_y2_z2_5_targetWH: '' - WH4_x2_y3_z1_12_materialName: '' - WH4_x2_y3_z1_12_quantity: 0.0 - WH4_x2_y3_z2_8_materialName: '' - WH4_x2_y3_z2_8_materialType: '' - WH4_x2_y3_z2_8_quantity: 0.0 - WH4_x2_y3_z2_8_targetWH: '' - WH4_x3_y1_z1_3_materialName: '' - WH4_x3_y1_z1_3_quantity: 0.0 - WH4_x3_y1_z2_3_materialName: '' - WH4_x3_y1_z2_3_materialType: '' - WH4_x3_y1_z2_3_quantity: 0.0 - WH4_x3_y1_z2_3_targetWH: '' - WH4_x3_y2_z1_8_materialName: '' - WH4_x3_y2_z1_8_quantity: 0.0 - WH4_x3_y2_z2_6_materialName: '' - WH4_x3_y2_z2_6_materialType: '' - WH4_x3_y2_z2_6_quantity: 0.0 - WH4_x3_y2_z2_6_targetWH: '' - WH4_x3_y3_z2_9_materialName: '' - WH4_x3_y3_z2_9_materialType: '' - WH4_x3_y3_z2_9_quantity: 0.0 - WH4_x3_y3_z2_9_targetWH: '' - WH4_x4_y1_z1_4_materialName: '' - WH4_x4_y1_z1_4_quantity: 0.0 - WH4_x4_y2_z1_9_materialName: '' - WH4_x4_y2_z1_9_quantity: 0.0 - WH4_x5_y1_z1_5_materialName: '' - WH4_x5_y1_z1_5_quantity: 0.0 - WH4_x5_y2_z1_10_materialName: '' - WH4_x5_y2_z1_10_quantity: 0.0 xlsx_path: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx handles: {} placeholder_keys: {} @@ -148,321 +42,6 @@ bioyond_cell: feedback: {} goal: properties: - WH3_x1_y1_z3_1_materialId: - default: '' - type: string - WH3_x1_y1_z3_1_materialType: - default: '' - type: string - WH3_x1_y1_z3_1_quantity: - default: 0 - type: number - WH3_x1_y2_z3_4_materialId: - default: '' - type: string - WH3_x1_y2_z3_4_materialType: - default: '' - type: string - WH3_x1_y2_z3_4_quantity: - default: 0 - type: number - WH3_x1_y3_z3_7_materialId: - default: '' - type: string - WH3_x1_y3_z3_7_materialType: - default: '' - type: string - WH3_x1_y3_z3_7_quantity: - default: 0 - type: number - WH3_x1_y4_z3_10_materialId: - default: '' - type: string - WH3_x1_y4_z3_10_materialType: - default: '' - type: string - WH3_x1_y4_z3_10_quantity: - default: 0 - type: number - WH3_x1_y5_z3_13_materialId: - default: '' - type: string - WH3_x1_y5_z3_13_materialType: - default: '' - type: string - WH3_x1_y5_z3_13_quantity: - default: 0 - type: number - WH3_x2_y1_z3_2_materialId: - default: '' - type: string - WH3_x2_y1_z3_2_materialType: - default: '' - type: string - WH3_x2_y1_z3_2_quantity: - default: 0 - type: number - WH3_x2_y2_z3_5_materialId: - default: '' - type: string - WH3_x2_y2_z3_5_materialType: - default: '' - type: string - WH3_x2_y2_z3_5_quantity: - default: 0 - type: number - WH3_x2_y3_z3_8_materialId: - default: '' - type: string - WH3_x2_y3_z3_8_materialType: - default: '' - type: string - WH3_x2_y3_z3_8_quantity: - default: 0 - type: number - WH3_x2_y4_z3_11_materialId: - default: '' - type: string - WH3_x2_y4_z3_11_materialType: - default: '' - type: string - WH3_x2_y4_z3_11_quantity: - default: 0 - type: number - WH3_x2_y5_z3_14_materialId: - default: '' - type: string - WH3_x2_y5_z3_14_materialType: - default: '' - type: string - WH3_x2_y5_z3_14_quantity: - default: 0 - type: number - WH3_x3_y1_z3_3_materialId: - default: '' - type: string - WH3_x3_y1_z3_3_materialType: - default: '' - type: string - WH3_x3_y1_z3_3_quantity: - default: 0 - type: number - WH3_x3_y2_z3_6_materialId: - default: '' - type: string - WH3_x3_y2_z3_6_materialType: - default: '' - type: string - WH3_x3_y2_z3_6_quantity: - default: 0 - type: number - WH3_x3_y3_z3_9_materialId: - default: '' - type: string - WH3_x3_y3_z3_9_materialType: - default: '' - type: string - WH3_x3_y3_z3_9_quantity: - default: 0 - type: number - WH3_x3_y4_z3_12_materialId: - default: '' - type: string - WH3_x3_y4_z3_12_materialType: - default: '' - type: string - WH3_x3_y4_z3_12_quantity: - default: 0 - type: number - WH3_x3_y5_z3_15_materialId: - default: '' - type: string - WH3_x3_y5_z3_15_materialType: - default: '' - type: string - WH3_x3_y5_z3_15_quantity: - default: 0 - type: number - WH4_x1_y1_z1_1_materialName: - default: '' - type: string - WH4_x1_y1_z1_1_quantity: - default: 0.0 - type: number - WH4_x1_y1_z2_1_materialName: - default: '' - type: string - WH4_x1_y1_z2_1_materialType: - default: '' - type: string - WH4_x1_y1_z2_1_quantity: - default: 0.0 - type: number - WH4_x1_y1_z2_1_targetWH: - default: '' - type: string - WH4_x1_y2_z1_6_materialName: - default: '' - type: string - WH4_x1_y2_z1_6_quantity: - default: 0.0 - type: number - WH4_x1_y2_z2_4_materialName: - default: '' - type: string - WH4_x1_y2_z2_4_materialType: - default: '' - type: string - WH4_x1_y2_z2_4_quantity: - default: 0.0 - type: number - WH4_x1_y2_z2_4_targetWH: - default: '' - type: string - WH4_x1_y3_z1_11_materialName: - default: '' - type: string - WH4_x1_y3_z1_11_quantity: - default: 0.0 - type: number - WH4_x1_y3_z2_7_materialName: - default: '' - type: string - WH4_x1_y3_z2_7_materialType: - default: '' - type: string - WH4_x1_y3_z2_7_quantity: - default: 0.0 - type: number - WH4_x1_y3_z2_7_targetWH: - default: '' - type: string - WH4_x2_y1_z1_2_materialName: - default: '' - type: string - WH4_x2_y1_z1_2_quantity: - default: 0.0 - type: number - WH4_x2_y1_z2_2_materialName: - default: '' - type: string - WH4_x2_y1_z2_2_materialType: - default: '' - type: string - WH4_x2_y1_z2_2_quantity: - default: 0.0 - type: number - WH4_x2_y1_z2_2_targetWH: - default: '' - type: string - WH4_x2_y2_z1_7_materialName: - default: '' - type: string - WH4_x2_y2_z1_7_quantity: - default: 0.0 - type: number - WH4_x2_y2_z2_5_materialName: - default: '' - type: string - WH4_x2_y2_z2_5_materialType: - default: '' - type: string - WH4_x2_y2_z2_5_quantity: - default: 0.0 - type: number - WH4_x2_y2_z2_5_targetWH: - default: '' - type: string - WH4_x2_y3_z1_12_materialName: - default: '' - type: string - WH4_x2_y3_z1_12_quantity: - default: 0.0 - type: number - WH4_x2_y3_z2_8_materialName: - default: '' - type: string - WH4_x2_y3_z2_8_materialType: - default: '' - type: string - WH4_x2_y3_z2_8_quantity: - default: 0.0 - type: number - WH4_x2_y3_z2_8_targetWH: - default: '' - type: string - WH4_x3_y1_z1_3_materialName: - default: '' - type: string - WH4_x3_y1_z1_3_quantity: - default: 0.0 - type: number - WH4_x3_y1_z2_3_materialName: - default: '' - type: string - WH4_x3_y1_z2_3_materialType: - default: '' - type: string - WH4_x3_y1_z2_3_quantity: - default: 0.0 - type: number - WH4_x3_y1_z2_3_targetWH: - default: '' - type: string - WH4_x3_y2_z1_8_materialName: - default: '' - type: string - WH4_x3_y2_z1_8_quantity: - default: 0.0 - type: number - WH4_x3_y2_z2_6_materialName: - default: '' - type: string - WH4_x3_y2_z2_6_materialType: - default: '' - type: string - WH4_x3_y2_z2_6_quantity: - default: 0.0 - type: number - WH4_x3_y2_z2_6_targetWH: - default: '' - type: string - WH4_x3_y3_z2_9_materialName: - default: '' - type: string - WH4_x3_y3_z2_9_materialType: - default: '' - type: string - WH4_x3_y3_z2_9_quantity: - default: 0.0 - type: number - WH4_x3_y3_z2_9_targetWH: - default: '' - type: string - WH4_x4_y1_z1_4_materialName: - default: '' - type: string - WH4_x4_y1_z1_4_quantity: - default: 0.0 - type: number - WH4_x4_y2_z1_9_materialName: - default: '' - type: string - WH4_x4_y2_z1_9_quantity: - default: 0.0 - type: number - WH4_x5_y1_z1_5_materialName: - default: '' - type: string - WH4_x5_y1_z1_5_quantity: - default: 0.0 - type: number - WH4_x5_y2_z1_10_materialName: - default: '' - type: string - WH4_x5_y2_z1_10_quantity: - default: 0.0 - type: number xlsx_path: default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx type: string @@ -491,9 +70,7 @@ bioyond_cell: goal: properties: material_names: - items: - type: string - type: array + type: string type_id: default: 3a190ca0-b2f6-9aeb-8067-547e72c11469 type: string @@ -502,8 +79,7 @@ bioyond_cell: type: string required: [] type: object - result: - type: object + result: {} required: - goal title: create_and_inbound_materials参数 @@ -539,8 +115,7 @@ bioyond_cell: - type_id - warehouse_name type: object - result: - type: object + result: {} required: - goal title: create_material参数 @@ -561,34 +136,40 @@ bioyond_cell: goal: properties: mappings: - additionalProperties: - type: object type: object required: - mappings type: object - result: - items: - type: object - type: array + result: {} required: - goal title: create_materials参数 type: object type: UniLabJsonCommand auto-create_orders: + always_free: true feedback: {} goal: {} goal_default: xlsx_path: null + csv_export_path: '' handles: output: - data_key: total_orders data_source: executor data_type: integer handler_key: bottle_count - io_type: sink label: 配液瓶数 + - data_key: vial_plates + data_source: executor + data_type: array + handler_key: vial_plates_output + label: 分液瓶板列表 + - data_key: mass_ratios + data_source: executor + data_type: array + handler_key: mass_ratios_output + label: 配方信息列表 placeholder_keys: {} result: {} schema: @@ -599,54 +180,140 @@ bioyond_cell: properties: xlsx_path: type: string + csv_export_path: + default: '' + description: CSV导出目录路径，为空则不导出 + type: string required: - xlsx_path type: object - result: - type: object + result: {} required: - goal title: create_orders参数 type: object type: UniLabJsonCommand - auto-create_orders_v2: + auto-create_orders_formulation: + always_free: true feedback: {} goal: {} goal_default: - xlsx_path: null + batch_id: '' + order_names: [] + bottle_type: 配液小瓶 + conductivity_bottle_count: 0 + conductivity_volume: 0.0 + formulation: null + coin_cell_volume: 0.0 + mix_time: [] + pouch_cell_volume: 0.0 + csv_export_path: '' handles: output: - data_key: total_orders data_source: executor data_type: integer handler_key: bottle_count - io_type: sink label: 配液瓶数 - placeholder_keys: {} + - data_key: vial_plates + data_source: executor + data_type: array + handler_key: vial_plates_output + label: 分液瓶板列表 + - data_key: mass_ratios + data_source: executor + data_type: array + handler_key: mass_ratios_output + label: 配方信息列表 + placeholder_keys: + formulation: unilabos_formulation result: {} schema: - description: 从Excel解析并创建实验（V2版本） + description: 配方批量输入版本的创建实验——通过前端配方组件输入物料配比，替代Excel导入 properties: feedback: {} goal: properties: - xlsx_path: + batch_id: + default: '' + description: 批次ID，为空则自动生成时间戳 type: string - required: - - xlsx_path - type: object - result: - type: object - required: - - goal - title: create_orders_v2参数 - type: object - type: UniLabJsonCommand - auto-create_sample: - feedback: {} - goal: {} - goal_default: - board_type: null + order_names: + default: [] + description: 配方ID/订单编号列表，与formulation一一对应，用于填写DoE撒点编号等自定义标识，便于后续追溯。未填则自动生成。 + items: + type: string + type: array + bottle_type: + default: 配液小瓶 + description: 配液瓶类型 + type: string + conductivity_bottle_count: + default: 0 + description: 电导测试分液瓶数 + type: integer + conductivity_volume: + default: 0.0 + description: 电导率测试分液体积 + type: number + formulation: + description: 配方列表，每个元素代表一个订单（一瓶） + items: + properties: + materials: + description: 物料列表 + items: + properties: + mass: + description: 质量(g) + type: number + name: + description: 物料名称 + type: string + required: + - name + - mass + type: object + type: array + order_name: + description: 配方名称（可选） + type: string + required: + - materials + type: object + type: array + coin_cell_volume: + default: 0.0 + description: 纽扣电池组装分液体积 + type: number + mix_time: + default: [] + description: 混匀时间列表(秒)，与 formulation 一一对应 + items: + type: integer + type: array + pouch_cell_volume: + default: 0.0 + description: 软包电池注液组装分液体积 + type: number + csv_export_path: + default: '' + description: CSV导出目录路径，为空则不导出 + type: string + required: + - formulation + type: object + result: {} + required: + - goal + title: create_orders_formulation参数 + type: object + type: UniLabJsonCommand + auto-create_sample: + feedback: {} + goal: {} + goal_default: + board_type: null bottle_type: null location_code: null name: null @@ -677,8 +344,7 @@ bioyond_cell: - bottle_type - location_code type: object - result: - type: object + result: {} required: - goal title: create_sample参数 @@ -731,8 +397,7 @@ bioyond_cell: type: string required: [] type: object - result: - type: object + result: {} required: - goal title: order_list_v2参数 @@ -778,1059 +443,188 @@ bioyond_cell: description: '' properties: feedback: {} - goal: - properties: - report_request: - type: string - required: - - report_request - type: object - result: {} - required: - - goal - title: process_sample_finish_report参数 - type: object - type: UniLabJsonCommand - auto-process_step_finish_report: - feedback: {} - goal: {} - goal_default: - report_request: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - report_request: - type: string - required: - - report_request - type: object - result: {} - required: - - goal - title: process_step_finish_report参数 - type: object - type: UniLabJsonCommand - auto-report_material_change: - feedback: {} - goal: {} - goal_default: - material_obj: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - material_obj: - type: object - required: - - material_obj - type: object - result: - type: object - required: - - goal - title: report_material_change参数 - type: object - type: UniLabJsonCommand - auto-resource_tree_transfer: - feedback: {} - goal: {} - goal_default: - old_parent: null - parent_resource: null - plr_resource: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - old_parent: - type: object - parent_resource: - type: object - plr_resource: - type: object - required: - - old_parent - - plr_resource - - parent_resource - type: object - result: {} - required: - - goal - title: resource_tree_transfer参数 - type: object - type: UniLabJsonCommand - auto-scheduler_continue: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: - type: object - required: - - goal - title: scheduler_continue参数 - type: object - type: UniLabJsonCommand - auto-scheduler_reset: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: - type: object - required: - - goal - title: scheduler_reset参数 - type: object - type: UniLabJsonCommand - auto-scheduler_start: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: - type: object - required: - - goal - title: scheduler_start参数 - type: object - type: UniLabJsonCommand - auto-scheduler_start_and_auto_feeding: - feedback: {} - goal: {} - goal_default: - WH3_x1_y1_z3_1_materialId: '' - WH3_x1_y1_z3_1_materialType: '' - WH3_x1_y1_z3_1_quantity: 0 - WH3_x1_y2_z3_4_materialId: '' - WH3_x1_y2_z3_4_materialType: '' - WH3_x1_y2_z3_4_quantity: 0 - WH3_x1_y3_z3_7_materialId: '' - WH3_x1_y3_z3_7_materialType: '' - WH3_x1_y3_z3_7_quantity: 0 - WH3_x1_y4_z3_10_materialId: '' - WH3_x1_y4_z3_10_materialType: '' - WH3_x1_y4_z3_10_quantity: 0 - WH3_x1_y5_z3_13_materialId: '' - WH3_x1_y5_z3_13_materialType: '' - WH3_x1_y5_z3_13_quantity: 0 - WH3_x2_y1_z3_2_materialId: '' - WH3_x2_y1_z3_2_materialType: '' - WH3_x2_y1_z3_2_quantity: 0 - WH3_x2_y2_z3_5_materialId: '' - WH3_x2_y2_z3_5_materialType: '' - WH3_x2_y2_z3_5_quantity: 0 - WH3_x2_y3_z3_8_materialId: '' - WH3_x2_y3_z3_8_materialType: '' - WH3_x2_y3_z3_8_quantity: 0 - WH3_x2_y4_z3_11_materialId: '' - WH3_x2_y4_z3_11_materialType: '' - WH3_x2_y4_z3_11_quantity: 0 - WH3_x2_y5_z3_14_materialId: '' - WH3_x2_y5_z3_14_materialType: '' - WH3_x2_y5_z3_14_quantity: 0 - WH3_x3_y1_z3_3_materialId: '' - WH3_x3_y1_z3_3_materialType: '' - WH3_x3_y1_z3_3_quantity: 0 - WH3_x3_y2_z3_6_materialId: '' - WH3_x3_y2_z3_6_materialType: '' - WH3_x3_y2_z3_6_quantity: 0 - WH3_x3_y3_z3_9_materialId: '' - WH3_x3_y3_z3_9_materialType: '' - WH3_x3_y3_z3_9_quantity: 0 - WH3_x3_y4_z3_12_materialId: '' - WH3_x3_y4_z3_12_materialType: '' - WH3_x3_y4_z3_12_quantity: 0 - WH3_x3_y5_z3_15_materialId: '' - WH3_x3_y5_z3_15_materialType: '' - WH3_x3_y5_z3_15_quantity: 0 - WH4_x1_y1_z1_1_materialName: '' - WH4_x1_y1_z1_1_quantity: 0.0 - WH4_x1_y1_z2_1_materialName: '' - WH4_x1_y1_z2_1_materialType: '' - WH4_x1_y1_z2_1_quantity: 0.0 - WH4_x1_y1_z2_1_targetWH: '' - WH4_x1_y2_z1_6_materialName: '' - WH4_x1_y2_z1_6_quantity: 0.0 - WH4_x1_y2_z2_4_materialName: '' - WH4_x1_y2_z2_4_materialType: '' - WH4_x1_y2_z2_4_quantity: 0.0 - WH4_x1_y2_z2_4_targetWH: '' - WH4_x1_y3_z1_11_materialName: '' - WH4_x1_y3_z1_11_quantity: 0.0 - WH4_x1_y3_z2_7_materialName: '' - WH4_x1_y3_z2_7_materialType: '' - WH4_x1_y3_z2_7_quantity: 0.0 - WH4_x1_y3_z2_7_targetWH: '' - WH4_x2_y1_z1_2_materialName: '' - WH4_x2_y1_z1_2_quantity: 0.0 - WH4_x2_y1_z2_2_materialName: '' - WH4_x2_y1_z2_2_materialType: '' - WH4_x2_y1_z2_2_quantity: 0.0 - WH4_x2_y1_z2_2_targetWH: '' - WH4_x2_y2_z1_7_materialName: '' - WH4_x2_y2_z1_7_quantity: 0.0 - WH4_x2_y2_z2_5_materialName: '' - WH4_x2_y2_z2_5_materialType: '' - WH4_x2_y2_z2_5_quantity: 0.0 - WH4_x2_y2_z2_5_targetWH: '' - WH4_x2_y3_z1_12_materialName: '' - WH4_x2_y3_z1_12_quantity: 0.0 - WH4_x2_y3_z2_8_materialName: '' - WH4_x2_y3_z2_8_materialType: '' - WH4_x2_y3_z2_8_quantity: 0.0 - WH4_x2_y3_z2_8_targetWH: '' - WH4_x3_y1_z1_3_materialName: '' - WH4_x3_y1_z1_3_quantity: 0.0 - WH4_x3_y1_z2_3_materialName: '' - WH4_x3_y1_z2_3_materialType: '' - WH4_x3_y1_z2_3_quantity: 0.0 - WH4_x3_y1_z2_3_targetWH: '' - WH4_x3_y2_z1_8_materialName: '' - WH4_x3_y2_z1_8_quantity: 0.0 - WH4_x3_y2_z2_6_materialName: '' - WH4_x3_y2_z2_6_materialType: '' - WH4_x3_y2_z2_6_quantity: 0.0 - WH4_x3_y2_z2_6_targetWH: '' - WH4_x3_y3_z2_9_materialName: '' - WH4_x3_y3_z2_9_materialType: '' - WH4_x3_y3_z2_9_quantity: 0.0 - WH4_x3_y3_z2_9_targetWH: '' - WH4_x4_y1_z1_4_materialName: '' - WH4_x4_y1_z1_4_quantity: 0.0 - WH4_x4_y2_z1_9_materialName: '' - WH4_x4_y2_z1_9_quantity: 0.0 - WH4_x5_y1_z1_5_materialName: '' - WH4_x5_y1_z1_5_quantity: 0.0 - WH4_x5_y2_z1_10_materialName: '' - WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 组合函数:先启动调度,然后执行自动化上料 - properties: - feedback: {} - goal: - properties: - WH3_x1_y1_z3_1_materialId: - default: '' - type: string - WH3_x1_y1_z3_1_materialType: - default: '' - type: string - WH3_x1_y1_z3_1_quantity: - default: 0 - type: number - WH3_x1_y2_z3_4_materialId: - default: '' - type: string - WH3_x1_y2_z3_4_materialType: - default: '' - type: string - WH3_x1_y2_z3_4_quantity: - default: 0 - type: number - WH3_x1_y3_z3_7_materialId: - default: '' - type: string - WH3_x1_y3_z3_7_materialType: - default: '' - type: string - WH3_x1_y3_z3_7_quantity: - default: 0 - type: number - WH3_x1_y4_z3_10_materialId: - default: '' - type: string - WH3_x1_y4_z3_10_materialType: - default: '' - type: string - WH3_x1_y4_z3_10_quantity: - default: 0 - type: number - WH3_x1_y5_z3_13_materialId: - 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WH4_x1_y1_z1_1_quantity: - default: 0.0 - type: number - WH4_x1_y1_z2_1_materialName: - default: '' - type: string - WH4_x1_y1_z2_1_materialType: - default: '' - type: string - WH4_x1_y1_z2_1_quantity: - default: 0.0 - type: number - WH4_x1_y1_z2_1_targetWH: - default: '' - type: string - WH4_x1_y2_z1_6_materialName: - default: '' - type: string - WH4_x1_y2_z1_6_quantity: - default: 0.0 - type: number - WH4_x1_y2_z2_4_materialName: - default: '' - type: string - WH4_x1_y2_z2_4_materialType: - default: '' - type: string - WH4_x1_y2_z2_4_quantity: - default: 0.0 - type: number - WH4_x1_y2_z2_4_targetWH: - default: '' - type: string - WH4_x1_y3_z1_11_materialName: - default: '' - type: string - WH4_x1_y3_z1_11_quantity: - default: 0.0 - type: number - WH4_x1_y3_z2_7_materialName: - default: '' - type: string - WH4_x1_y3_z2_7_materialType: - default: '' - type: string - WH4_x1_y3_z2_7_quantity: - default: 0.0 - type: number - WH4_x1_y3_z2_7_targetWH: - default: '' - type: string - WH4_x2_y1_z1_2_materialName: - default: '' - type: string - WH4_x2_y1_z1_2_quantity: - default: 0.0 - type: number - WH4_x2_y1_z2_2_materialName: - default: '' - type: string - WH4_x2_y1_z2_2_materialType: - default: '' - type: string - WH4_x2_y1_z2_2_quantity: - default: 0.0 - type: number - WH4_x2_y1_z2_2_targetWH: - default: '' - type: string - WH4_x2_y2_z1_7_materialName: - default: '' - type: string - WH4_x2_y2_z1_7_quantity: - default: 0.0 - type: number - WH4_x2_y2_z2_5_materialName: - default: '' - type: string - WH4_x2_y2_z2_5_materialType: - default: '' - type: string - WH4_x2_y2_z2_5_quantity: - default: 0.0 - type: number - WH4_x2_y2_z2_5_targetWH: - default: '' - type: string - WH4_x2_y3_z1_12_materialName: - default: '' - type: string - WH4_x2_y3_z1_12_quantity: - default: 0.0 - type: number - WH4_x2_y3_z2_8_materialName: - default: '' - type: string - WH4_x2_y3_z2_8_materialType: - default: '' - type: string - WH4_x2_y3_z2_8_quantity: - default: 0.0 - type: number - WH4_x2_y3_z2_8_targetWH: - default: '' - type: string - WH4_x3_y1_z1_3_materialName: - default: '' - type: string - WH4_x3_y1_z1_3_quantity: - default: 0.0 - type: number - WH4_x3_y1_z2_3_materialName: - default: '' - type: string - WH4_x3_y1_z2_3_materialType: - default: '' - type: string - WH4_x3_y1_z2_3_quantity: - default: 0.0 - type: number - WH4_x3_y1_z2_3_targetWH: - default: '' - type: string - WH4_x3_y2_z1_8_materialName: - default: '' - type: string - WH4_x3_y2_z1_8_quantity: - default: 0.0 - type: number - WH4_x3_y2_z2_6_materialName: - default: '' - type: string - WH4_x3_y2_z2_6_materialType: - default: '' - type: string - WH4_x3_y2_z2_6_quantity: - default: 0.0 - type: number - WH4_x3_y2_z2_6_targetWH: - default: '' - type: string - WH4_x3_y3_z2_9_materialName: - default: '' - type: string - WH4_x3_y3_z2_9_materialType: - default: '' - type: string - WH4_x3_y3_z2_9_quantity: - default: 0.0 - type: number - WH4_x3_y3_z2_9_targetWH: - default: '' - type: string - WH4_x4_y1_z1_4_materialName: - default: '' - type: string - WH4_x4_y1_z1_4_quantity: - default: 0.0 - type: number - WH4_x4_y2_z1_9_materialName: - default: '' - type: string - WH4_x4_y2_z1_9_quantity: - default: 0.0 - type: number - WH4_x5_y1_z1_5_materialName: - default: '' + goal: + properties: + report_request: type: string - WH4_x5_y1_z1_5_quantity: - default: 0.0 - type: number - WH4_x5_y2_z1_10_materialName: - default: '' + required: + - report_request + type: object + result: {} + required: + - goal + title: process_sample_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_step_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: type: string - WH4_x5_y2_z1_10_quantity: - default: 0.0 - type: number + required: + - report_request + type: object + result: {} + required: + - goal + title: process_step_finish_report参数 + type: object + type: UniLabJsonCommand + auto-report_material_change: + feedback: {} + goal: {} + goal_default: + material_obj: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_obj: + type: object + required: + - material_obj + type: object + result: {} + required: + - goal + title: report_material_change参数 + type: object + type: UniLabJsonCommand + auto-resource_tree_transfer: + feedback: {} + goal: {} + goal_default: + old_parent: null + parent_resource: null + plr_resource: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + old_parent: + type: object + parent_resource: + type: object + plr_resource: + type: object + required: + - old_parent + - plr_resource + - parent_resource + type: object + result: {} + required: + - goal + title: resource_tree_transfer参数 + type: object + type: UniLabJsonCommand + auto-scheduler_continue: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_continue参数 + type: object + type: UniLabJsonCommand + auto-scheduler_reset: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_reset参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start_and_auto_feeding: + feedback: {} + goal: {} + goal_default: + xlsx_path: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 组合函数:先启动调度,然后执行自动化上料 + properties: + feedback: {} + goal: + properties: xlsx_path: default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx type: string required: [] type: object - result: - type: object + result: {} required: - goal - title: scheduler_start_and_auto_feeding_v2参数 + title: scheduler_start_and_auto_feeding参数 type: object type: UniLabJsonCommand auto-scheduler_stop: @@ -1848,8 +642,7 @@ bioyond_cell: properties: {} required: [] type: object - result: - type: object + result: {} required: - goal title: scheduler_stop参数 @@ -1871,15 +664,12 @@ bioyond_cell: properties: items: items: - additionalProperties: - type: string type: object type: array required: - items type: object - result: - type: object + result: {} required: - goal title: storage_batch_inbound参数 @@ -1908,8 +698,7 @@ bioyond_cell: - material_id - location_id type: object - result: - type: object + result: {} required: - goal title: storage_inbound参数 @@ -1930,8 +719,7 @@ bioyond_cell: properties: {} required: [] type: object - result: - type: object + result: {} required: - goal title: transfer_1_to_2参数 @@ -1972,14 +760,14 @@ bioyond_cell: type: integer required: [] type: object - result: - type: object + result: {} required: - goal title: transfer_3_to_2参数 type: object type: UniLabJsonCommand auto-transfer_3_to_2_to_1: + always_free: true feedback: {} goal: {} goal_default: @@ -2010,11 +798,130 @@ bioyond_cell: type: integer required: [] type: object + result: {} + required: + - goal + title: transfer_3_to_2_to_1参数 + type: object + type: UniLabJsonCommand + auto-transfer_3_to_2_to_1_auto: + feedback: {} + goal: {} + goal_default: + target_device: BatteryStation + target_location: bottle_rack_6x2 + vial_plates: null + handles: + input: + - data_key: '@this@@@vial_plates' + data_source: handle + data_type: array + handler_key: vial_plates_input + label: 分液瓶板列表 + output: + - data_key: total + data_source: executor + data_type: integer + handler_key: transfer_total + label: 转运总数 + - data_key: success + data_source: executor + data_type: integer + handler_key: transfer_success + label: 成功数量 + - data_key: failed + data_source: executor + data_type: integer + handler_key: transfer_failed + label: 失败数量 + placeholder_keys: {} + result: + properties: + failed: + type: integer + results: + items: + properties: + error: + type: string + index: + type: integer + materialId: + type: string + orderCode: + type: string + result: + type: object + status: + type: string + type: object + type: array + success: + type: integer + total: + type: integer + type: object + schema: + description: 自动批量转运分液瓶板（从配液站到扣电站） + properties: + feedback: {} + goal: + properties: + target_device: + default: coin_cell_assembly + description: 目标设备ID + type: string + target_location: + default: bottle_rack_6x2 + description: 目标资源名称 + type: string + vial_plates: + description: 分液瓶板列表（从create_orders的vial_plates获取） + items: + properties: + locationId: + type: string + materialId: + type: string + orderCode: + type: string + required: + - locationId + - materialId + type: object + type: array + required: + - vial_plates + type: object result: + properties: + failed: + type: integer + results: + items: + properties: + error: + type: string + index: + type: integer + materialId: + type: string + orderCode: + type: string + result: + type: object + status: + type: string + type: object + type: array + success: + type: integer + total: + type: integer type: object required: - goal - title: transfer_3_to_2_to_1参数 + title: transfer_3_to_2_to_1_auto参数 type: object type: UniLabJsonCommand auto-update_push_ip: @@ -2035,11 +942,10 @@ bioyond_cell: ip: type: string port: - type: integer + type: string required: [] type: object - result: - type: object + result: {} required: - goal title: update_push_ip参数 @@ -2068,8 +974,7 @@ bioyond_cell: required: - order_code type: object - result: - type: object + result: {} required: - goal title: wait_for_order_finish参数 @@ -2102,8 +1007,7 @@ bioyond_cell: required: - order_code type: object - result: - type: object + result: {} required: - goal title: wait_for_order_finish_polling参数 @@ -2135,8 +1039,7 @@ bioyond_cell: type: integer required: [] type: object - result: - type: boolean + result: {} required: - goal title: wait_for_transfer_task参数 @@ -2144,7 +1047,7 @@ bioyond_cell: type: UniLabJsonCommand module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation status_types: - device_id: '' + device_id: String type: python config_info: [] description: '' @@ -2168,4 +1071,5 @@ bioyond_cell: required: - device_id type: object + registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index df5a35085..2817372be 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -64,59 +64,12 @@ coincellassemblyworkstation_device: properties: {} required: [] type: object - result: - type: boolean + result: {} required: - goal title: fun_wuliao_test参数 type: object type: UniLabJsonCommand - auto-func_allpack_cmd: - feedback: {} - goal: {} - goal_default: - assembly_pressure: 4200 - assembly_type: 7 - elec_num: null - elec_use_num: null - elec_vol: 50 - file_path: /Users/sml/work - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - assembly_pressure: - default: 4200 - type: integer - assembly_type: - default: 7 - type: integer - elec_num: - type: string - elec_use_num: - type: string - elec_vol: - default: 50 - type: integer - file_path: - default: /Users/sml/work - type: string - required: - - elec_num - - elec_use_num - type: object - result: - type: object - required: - - goal - title: func_allpack_cmd参数 - type: object - type: UniLabJsonCommand auto-func_allpack_cmd_simp: feedback: {} goal: {} @@ -149,7 +102,7 @@ coincellassemblyworkstation_device: goal: properties: assembly_pressure: - default: 4200 + default: 3200 description: 电池压制力(N) type: integer assembly_type: @@ -165,7 +118,7 @@ coincellassemblyworkstation_device: description: 是否启用压力模式 type: boolean dual_drop_first_volume: - default: 25 + default: 0 description: 二次滴液第一次排液体积(μL) type: integer dual_drop_mode: @@ -184,6 +137,7 @@ coincellassemblyworkstation_device: description: 电解液瓶数 type: string elec_use_num: + default: 5 description: 每瓶电解液组装电池数 type: string elec_vol: @@ -191,7 +145,7 @@ coincellassemblyworkstation_device: description: 电解液吸液量(μL) type: integer file_path: - default: /Users/sml/work + default: D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly description: 实验记录保存路径 type: string fujipian_juzhendianwei: @@ -222,8 +176,7 @@ coincellassemblyworkstation_device: - elec_num - elec_use_num type: object - result: - type: object + result: {} required: - goal title: func_allpack_cmd_simp参数 @@ -312,8 +265,7 @@ coincellassemblyworkstation_device: type: boolean required: [] type: object - result: - type: boolean + result: {} required: - goal title: func_pack_device_init_auto_start_combined参数 @@ -355,8 +307,7 @@ coincellassemblyworkstation_device: properties: {} required: [] type: object - result: - type: boolean + result: {} required: - goal title: func_pack_device_stop参数 @@ -381,8 +332,7 @@ coincellassemblyworkstation_device: type: string required: [] type: object - result: - type: boolean + result: {} required: - goal title: func_pack_get_msg_cmd参数 @@ -396,12 +346,10 @@ coincellassemblyworkstation_device: handles: input: - data_key: bottle_num - data_source: workflow + data_source: handle data_type: integer handler_key: bottle_count - io_type: source label: 配液瓶数 - required: true placeholder_keys: {} result: {} schema: @@ -436,8 +384,7 @@ coincellassemblyworkstation_device: properties: {} required: [] type: object - result: - type: boolean + result: {} required: - goal title: func_pack_send_finished_cmd参数 @@ -474,8 +421,7 @@ coincellassemblyworkstation_device: - assembly_type - assembly_pressure type: object - result: - type: boolean + result: {} required: - goal title: func_pack_send_msg_cmd参数 @@ -531,12 +477,21 @@ coincellassemblyworkstation_device: handles: input: - data_key: elec_num - data_source: workflow + data_source: handle data_type: integer handler_key: bottle_count - io_type: source label: 配液瓶数 - required: true + - data_key: formulations + data_source: handle + data_type: array + handler_key: formulations_input + label: 配方信息列表 + output: + - data_key: assembly_data + data_source: executor + data_type: array + handler_key: assembly_data_output + label: 扣电组装数据列表 placeholder_keys: {} result: {} schema: @@ -619,8 +574,7 @@ coincellassemblyworkstation_device: - elec_num - elec_use_num type: object - result: - type: object + result: {} required: - goal title: func_sendbottle_allpack_multi参数 @@ -672,6 +626,31 @@ coincellassemblyworkstation_device: title: modify_deck_name参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-qiming_coin_cell_code: feedback: {} goal: {} @@ -719,8 +698,7 @@ coincellassemblyworkstation_device: required: - fujipian_panshu type: object - result: - type: boolean + result: {} required: - goal title: qiming_coin_cell_code参数 @@ -728,6 +706,10 @@ coincellassemblyworkstation_device: type: UniLabJsonCommand module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation status_types: + data_10mm_positive_plate_remaining: float + data_12mm_positive_plate_remaining: float + data_16mm_positive_plate_remaining: float + data_aluminum_foil_remaining: float data_assembly_coin_cell_num: int data_assembly_pressure: int data_assembly_time: float @@ -735,14 +717,22 @@ coincellassemblyworkstation_device: data_axis_y_pos: float data_axis_z_pos: float data_coin_cell_code: str - data_coin_num: int + data_coin_type: int + data_current_assembling_count: int + data_current_completed_count: int data_electrolyte_code: str data_electrolyte_volume: int + data_finished_battery_ng_remaining_capacity: float + data_finished_battery_remaining_capacity: float + data_flat_washer_remaining: float data_glove_box_o2_content: float data_glove_box_pressure: float data_glove_box_water_content: float + data_negative_shell_remaining: float data_open_circuit_voltage: float data_pole_weight: float + data_positive_shell_remaining: float + data_spring_washer_remaining: float request_rec_msg_status: bool request_send_msg_status: bool sys_mode: str @@ -772,6 +762,14 @@ coincellassemblyworkstation_device: type: object data: properties: + data_10mm_positive_plate_remaining: + type: number + data_12mm_positive_plate_remaining: + type: number + data_16mm_positive_plate_remaining: + type: number + data_aluminum_foil_remaining: + type: number data_assembly_coin_cell_num: type: integer data_assembly_pressure: @@ -786,22 +784,38 @@ coincellassemblyworkstation_device: type: number data_coin_cell_code: type: string - data_coin_num: + data_coin_type: + type: integer + data_current_assembling_count: + type: integer + data_current_completed_count: type: integer data_electrolyte_code: type: string data_electrolyte_volume: type: integer + data_finished_battery_ng_remaining_capacity: + type: number + data_finished_battery_remaining_capacity: + type: number + data_flat_washer_remaining: + type: number data_glove_box_o2_content: type: number data_glove_box_pressure: type: number data_glove_box_water_content: type: number + data_negative_shell_remaining: + type: number data_open_circuit_voltage: type: number data_pole_weight: type: number + data_positive_shell_remaining: + type: number + data_spring_washer_remaining: + type: number request_rec_msg_status: type: boolean request_send_msg_status: @@ -811,24 +825,36 @@ coincellassemblyworkstation_device: sys_status: type: string required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status - data_assembly_coin_cell_num - - data_assembly_pressure - - data_assembly_time + - data_open_circuit_voltage - data_axis_x_pos - data_axis_y_pos - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_type + - data_current_assembling_count + - data_current_completed_count - data_coin_cell_code - - data_coin_num - data_electrolyte_code - - data_electrolyte_volume - - data_glove_box_o2_content - data_glove_box_pressure + - data_glove_box_o2_content - data_glove_box_water_content - - data_open_circuit_voltage - - data_pole_weight - - request_rec_msg_status - - request_send_msg_status - - sys_mode - - sys_status + - data_10mm_positive_plate_remaining + - data_12mm_positive_plate_remaining + - data_16mm_positive_plate_remaining + - data_aluminum_foil_remaining + - data_positive_shell_remaining + - data_flat_washer_remaining + - data_negative_shell_remaining + - data_spring_washer_remaining + - data_finished_battery_remaining_capacity + - data_finished_battery_ng_remaining_capacity type: object + registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/hotel.yaml b/unilabos/registry/devices/hotel.yaml index fdcc89dd0..15d962865 100644 --- a/unilabos/registry/devices/hotel.yaml +++ b/unilabos/registry/devices/hotel.yaml @@ -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 diff --git a/unilabos/registry/devices/neware_battery_test_system.yaml b/unilabos/registry/devices/neware_battery_test_system.yaml index 4f3b972ad..b234100a7 100644 --- a/unilabos/registry/devices/neware_battery_test_system.yaml +++ b/unilabos/registry/devices/neware_battery_test_system.yaml @@ -219,7 +219,7 @@ neware_battery_test_system: title: StrSingleInput type: object type: StrSingleInput - submit_from_csv: + submit_from_csv_export_ndax: feedback: {} goal: csv_path: string @@ -231,7 +231,7 @@ neware_battery_test_system: placeholder_keys: {} result: {} schema: - description: 从CSV文件批量提交Neware测试任务 + description: 从CSV文件批量提交Neware测试任务（备份格式为NDA） properties: feedback: {} goal: @@ -250,7 +250,41 @@ neware_battery_test_system: type: object required: - goal - title: submit_from_csv参数 + title: submit_from_csv_export_ndax参数 + type: object + type: UniLabJsonCommand + submit_from_csv_export_excel: + feedback: {} + goal: + csv_path: string + output_dir: string + goal_default: + csv_path: null + output_dir: . + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 从CSV文件批量提交Neware测试任务（备份格式为Excel） + properties: + feedback: {} + goal: + properties: + csv_path: + description: 输入CSV文件的绝对路径 + type: string + output_dir: + default: . + description: 输出目录（用于存储XML和备份文件），默认当前目录 + type: string + required: + - csv_path + type: object + result: + type: object + required: + - goal + title: submit_from_csv_export_excel参数 type: object type: UniLabJsonCommand test_connection_action: @@ -302,7 +336,7 @@ neware_battery_test_system: goal: properties: backup_dir: - description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir） + description: 备份目录路径（默认使用最近一次提交任务的backup_dir） type: string file_pattern: default: '*' @@ -320,11 +354,987 @@ neware_battery_test_system: title: upload_backup_to_oss参数 type: object type: UniLabJsonCommand + mock_assembly_data: + type: UniLabJsonCommand + goal: {} + feedback: {} + result: + assembly_data: assembly_data + success: success + return_info: return_info + schema: + title: mock_assembly_data参数 + description: 模拟扣电组装站 auto-func_sendbottle_allpack_multi 输出固定的 assembly_data（用于测试 neware 完整链路） + type: object + properties: + goal: + type: object + properties: + unilabos_device_id: + type: string + default: '' + description: UniLabOS设备ID，用于指定执行动作的具体设备实例 + required: [] + feedback: {} + result: + type: object + required: + - goal + goal_default: {} + handles: + input: [] + output: + - handler_key: assembly_data_output + data_type: array + label: 扣电组装数据列表（模拟） + data_key: assembly_data + data_source: executor + placeholder_keys: {} + manual_confirm: + type: UniLabJsonCommand + goal: + resource: resource + target_device: target_device + mount_resource: mount_resource + collector_mass: collector_mass + active_material: active_material + capacity: capacity + battery_system: battery_system + formulations: formulations + assembly_data: assembly_data + csv_export_dir: csv_export_dir + timeout_seconds: timeout_seconds + assignee_user_ids: assignee_user_ids + feedback: {} + result: + resource: resource + coin_cell_code: coin_cell_code + target_device: target_device + mount_resource: mount_resource + collector_mass: collector_mass + active_material: active_material + capacity: capacity + battery_system: battery_system + pole_weight: pole_weight + schema: + title: manual_confirm参数 + description: manual_confirm的参数schema + type: object + properties: + goal: + type: object + properties: + unilabos_device_id: + type: string + default: '' + description: UniLabOS设备ID，用于指定执行动作的具体设备实例 + 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 + collector_mass: + type: array + items: + type: number + active_material: + type: array + items: + type: number + capacity: + type: array + items: + type: number + battery_system: + type: array + items: + type: string + formulations: + type: array + description: 配方信息列表（来自 bioyond create_orders_formulation 的 mass_ratios 输出） + items: + type: object + additionalProperties: false + properties: + orderCode: + type: string + orderName: + type: string + real_mass_ratio: + type: object + target_mass_ratio: + type: object + prep_bottle_barcode: + type: string + vial_bottle_barcodes: + type: string + error: + type: string + assembly_data: + type: array + description: 扣电组装数据列表（每颗电池一个对象，含 Time/open_circuit_voltage/pole_weight 等 9 字段） + items: + type: object + additionalProperties: false + properties: + Time: + type: string + open_circuit_voltage: + type: number + pole_weight: + type: number + assembly_time: + type: number + assembly_pressure: + type: number + electrolyte_volume: + type: number + data_coin_type: + type: integer + electrolyte_code: + type: string + coin_cell_code: + type: string + csv_export_dir: + type: string + default: 'D:\2604Agentic_test' + description: 整合 CSV 导出根目录（按日期子目录分组） + timeout_seconds: + type: integer + assignee_user_ids: + type: array + items: + type: string + required: + - 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 + feedback: {} + result: + type: object + required: + - goal + goal_default: + resource: [] + target_device: '' + mount_resource: [] + collector_mass: [] + active_material: [] + capacity: [] + battery_system: [] + formulations: [] + assembly_data: [] + csv_export_dir: 'D:\2604Agentic_test' + timeout_seconds: 3600 + assignee_user_ids: [] + handles: + input: + - handler_key: formulations + data_type: array + label: 配方信息列表 + data_key: formulations + data_source: handle + io_type: source + - handler_key: assembly_data + data_type: array + label: 扣电组装数据列表 + data_key: assembly_data + data_source: handle + io_type: source + output: + - handler_key: target_device + data_type: device_id + label: 目标设备 + data_key: target_device + data_source: executor + - handler_key: resource + data_type: resource + label: 待转移资源 + data_key: resource.@flatten + data_source: executor + - handler_key: mount_resource + data_type: resource + label: 目标孔位 + data_key: mount_resource.@flatten + data_source: executor + - handler_key: collector_mass + data_type: collector_mass + label: 极流体质量 + data_key: collector_mass + data_source: executor + - handler_key: active_material + data_type: active_material + label: 活性物质含量 + data_key: active_material + data_source: executor + - handler_key: capacity + data_type: capacity + label: 克容量 + data_key: capacity + data_source: executor + - handler_key: battery_system + data_type: battery_system + label: xml工步 + data_key: battery_system + data_source: executor + - handler_key: pole_weight + data_type: array + label: 极片质量 + data_key: pole_weight + data_source: executor + - handler_key: coin_cell_code + data_type: array + label: 电池条码列表 + data_key: coin_cell_code + data_source: executor + - handler_key: electrolyte_code + data_type: array + label: 电解液二维码列表 + data_key: electrolyte_code + data_source: executor + placeholder_keys: + resource: unilabos_resources + target_device: unilabos_devices + mount_resource: unilabos_resources + assignee_user_ids: unilabos_manual_confirm + always_free: true + feedback_interval: 300 + node_type: manual_confirm + submit_auto_export_excel: + type: UniLabJsonCommandAsync + goal: + resource: resource + mount_resource: mount_resource + collector_mass: collector_mass + active_material: active_material + capacity: capacity + battery_system: battery_system + pole_weight: pole_weight + coin_cell_code: coin_cell_code + electrolyte_code: electrolyte_code + output_dir: output_dir + feedback: {} + result: + return_info: return_info + success: success + submitted_count: submitted_count + total_count: total_count + results: results + schema: + title: submit_auto_export_excel参数 + description: submit_auto_export_excel的参数schema + type: object + properties: + goal: + type: object + properties: + unilabos_device_id: + type: string + default: '' + description: UniLabOS设备ID，用于指定执行动作的具体设备实例 + 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 + 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 + collector_mass: + type: array + items: + type: number + active_material: + type: array + items: + type: number + capacity: + type: array + items: + type: number + battery_system: + type: array + items: + type: string + pole_weight: + type: array + items: + type: number + coin_cell_code: + type: array + items: + type: string + electrolyte_code: + type: array + items: + type: string + output_dir: + type: string + default: 'D:\2604Agentic_test' + description: 备份输出根目录，子目录 xml_dir/backup_dir 将自动创建 + required: + - mount_resource + - collector_mass + - active_material + - capacity + - battery_system + _unilabos_placeholder_info: + resource: unilabos_resources + mount_resource: unilabos_resources + feedback: {} + result: {} + required: + - goal + goal_default: + resource: [] + mount_resource: [] + collector_mass: [] + active_material: [] + capacity: [] + battery_system: [] + pole_weight: [] + coin_cell_code: [] + electrolyte_code: [] + output_dir: 'D:\2604Agentic_test' + handles: + input: + - handler_key: resource + data_type: resource + label: 待转移资源 + data_key: resource + data_source: handle + io_type: source + - handler_key: mount_resource + data_type: resource + label: 目标孔位 + data_key: mount_resource + data_source: handle + io_type: source + - handler_key: collector_mass + data_type: collector_mass + label: 极流体质量 + data_key: collector_mass + data_source: handle + io_type: source + - handler_key: active_material + data_type: active_material + label: 活性物质含量 + data_key: active_material + data_source: handle + io_type: source + - handler_key: capacity + data_type: capacity + label: 克容量 + data_key: capacity + data_source: handle + io_type: source + - handler_key: battery_system + data_type: battery_system + label: xml工步 + data_key: battery_system + data_source: handle + io_type: source + - handler_key: pole_weight + data_type: array + label: 极片质量 + data_key: pole_weight + data_source: handle + io_type: source + - handler_key: coin_cell_code + data_type: array + label: 电池条码列表 + data_key: coin_cell_code + data_source: handle + io_type: source + - handler_key: electrolyte_code + data_type: array + label: 电解液二维码列表 + data_key: electrolyte_code + data_source: handle + io_type: source + output: [] + placeholder_keys: + resource: unilabos_resources + mount_resource: unilabos_resources + feedback_interval: 1.0 + battery_transfer_confirm: + type: UniLabJsonCommandAsync + goal: + resource: resource + target_device: target_device + mount_resource: mount_resource + timeout_seconds: timeout_seconds + assignee_user_ids: assignee_user_ids + feedback: {} + result: {} + schema: + title: battery_transfer_confirm参数 + description: battery_transfer_confirm的参数schema + type: object + properties: + goal: + type: object + properties: + unilabos_device_id: + type: string + default: '' + description: UniLabOS设备ID，用于指定执行动作的具体设备实例 + 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 + feedback: {} + result: {} + required: + - goal + goal_default: + resource: [] + target_device: '' + mount_resource: [] + timeout_seconds: 3600 + assignee_user_ids: [] + handles: + input: + - handler_key: target_device + data_type: device_id + label: 目标设备 + data_key: target_device + data_source: handle + io_type: source + - handler_key: resource + data_type: resource + label: 待转移资源 + data_key: resource + data_source: handle + io_type: source + - handler_key: mount_resource + data_type: resource + label: 目标孔位 + data_key: mount_resource + data_source: handle + io_type: source + - handler_key: coin_cell_code + data_type: array + label: 电池条码列表 + data_key: coin_cell_code + data_source: handle + io_type: source + output: [] + placeholder_keys: + resource: unilabos_resources + target_device: unilabos_devices + mount_resource: unilabos_resources + assignee_user_ids: unilabos_manual_confirm + always_free: true + feedback_interval: 300 + node_type: manual_confirm module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem status_types: channel_status: Dict[int, Dict] connection_info: Dict[str, str] - device_summary: dict + device_summary: str status: str total_channels: int type: python @@ -339,9 +1349,18 @@ neware_battery_test_system: type: string ip: type: string - machine_id: - default: 1 - type: integer + machine_ids: + default: + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 86 + items: + type: integer + type: array oss_prefix: default: neware_backup type: string @@ -374,7 +1393,7 @@ neware_battery_test_system: type: string type: object device_summary: - type: object + type: string status: type: string total_channels: diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml index ff357ad4a..d48746772 100644 --- a/unilabos/registry/devices/robot_arm.yaml +++ b/unilabos/registry/devices/robot_arm.yaml @@ -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: diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 15b1b537b..aa3db9b2f 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -238,6 +238,7 @@ def _setup_host_node(self): "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 @@ def _build_json_command_entry(method_name, method_info, action_args=None): 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 @@ def _build_json_command_entry(method_name, method_info, action_args=None): } 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 @@ def _build_json_command_entry(method_name, method_info, action_args=None): "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 diff --git a/unilabos/registry/resources/battery/bottle_carriers.yaml b/unilabos/registry/resources/battery/bottle_carriers.yaml new file mode 100644 index 000000000..d004ee8ba --- /dev/null +++ b/unilabos/registry/resources/battery/bottle_carriers.yaml @@ -0,0 +1,12 @@ +YIHUA_Electrolyte_12VialCarrier: + category: + - battery_bottle_carriers + class: + module: unilabos.resources.battery.bottle_carriers:YIHUA_Electrolyte_12VialCarrier + type: pylabrobot + description: YIHUA 12-vial electrolyte carrier for coin cell assembly workstation + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml index 199173723..ff43031a3 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -1,84 +1,140 @@ -YB_20ml_fenyeping: +YB_Vial_20mL: category: - - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping + module: unilabos.resources.bioyond.YB_bottles:YB_Vial_20mL type: pylabrobot - description: YB_20ml_fenyeping + description: YB_Vial_20mL handles: [] icon: '' init_param_schema: {} version: 1.0.0 -YB_5ml_fenyeping: +YB_Vial_5mL: category: - - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping + module: unilabos.resources.bioyond.YB_bottles:YB_Vial_5mL type: pylabrobot - description: YB_5ml_fenyeping + description: YB_Vial_5mL handles: [] icon: '' init_param_schema: {} version: 1.0.0 -YB_jia_yang_tou_da: +YB_DosingHead_L: category: - - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + module: unilabos.resources.bioyond.YB_bottles:YB_DosingHead_L type: pylabrobot - description: YB_jia_yang_tou_da + description: YB_DosingHead_L handles: [] icon: '' init_param_schema: {} version: 1.0.0 -YB_pei_ye_da_Bottle: +YB_PrepBottle_60mL: category: - - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle + module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_60mL type: pylabrobot - description: YB_pei_ye_da_Bottle + description: YB_PrepBottle_60mL handles: [] icon: '' init_param_schema: {} version: 1.0.0 -YB_pei_ye_xiao_Bottle: +YB_PrepBottle_15mL: category: - - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle + module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_15mL type: pylabrobot - description: YB_pei_ye_xiao_Bottle + description: YB_PrepBottle_15mL handles: [] icon: '' init_param_schema: {} version: 1.0.0 -YB_qiang_tou: +YB_Tip_5000uL: category: - - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou + module: unilabos.resources.bioyond.YB_bottles:YB_Tip_5000uL type: pylabrobot - description: YB_qiang_tou + description: YB_Tip_5000uL handles: [] icon: '' init_param_schema: {} version: 1.0.0 -YB_ye_Bottle: +YB_Tip_1000uL: + category: + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_Tip_1000uL + type: pylabrobot + description: YB_Tip_1000uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_Tip_50uL: + category: + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_Tip_50uL + type: pylabrobot + description: YB_Tip_50uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_NormalLiq_250mL_Bottle: + category: + - YB_bottle_carriers + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_250mL_Bottle + type: pylabrobot + description: YB_NormalLiq_250mL_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_NormalLiq_100mL_Bottle: + category: + - YB_bottle_carriers + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_100mL_Bottle + type: pylabrobot + description: YB_NormalLiq_100mL_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_HighVis_250mL_Bottle: + category: + - YB_bottle_carriers + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_250mL_Bottle + type: pylabrobot + description: YB_HighVis_250mL_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_HighVis_100mL_Bottle: category: - - yb3 - YB_bottle_carriers - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_100mL_Bottle type: pylabrobot - description: YB_ye_Bottle + description: YB_HighVis_100mL_Bottle handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index 76b6b9387..c352d0f2e 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -1,168 +1,180 @@ -YB_100ml_yeti: +YB_Vial_20mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_20mL_Carrier type: pylabrobot - description: YB_100ml_yeti + description: YB_Vial_20mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_20ml_fenyepingban: +YB_Vial_5mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_5mL_Carrier type: pylabrobot - description: YB_20ml_fenyepingban + description: YB_Vial_5mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_5ml_fenyepingban: +YB_6StockCarrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier type: pylabrobot - description: YB_5ml_fenyepingban + description: YB_6StockCarrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_6StockCarrier: +YB_6VialCarrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier type: pylabrobot - description: YB_6StockCarrier + description: YB_6VialCarrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_6VialCarrier: +YB_DosingHead_L_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_DosingHead_L_Carrier type: pylabrobot - description: YB_6VialCarrier + description: YB_DosingHead_L_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_gao_nian_ye_Bottle: +YB_PrepBottle_60mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_60mL_Carrier type: pylabrobot - description: YB_gao_nian_ye_Bottle + description: YB_PrepBottle_60mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_gaonianye: +YB_PrepBottle_15mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_15mL_Carrier type: pylabrobot - description: YB_gaonianye + description: YB_PrepBottle_15mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_jia_yang_tou_da_Carrier: +YB_TipRack_Mixed: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_Mixed type: pylabrobot - description: YB_jia_yang_tou_da_Carrier + description: YB_TipRack_Mixed handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_peiyepingdaban: +YB_TipRack_5000uL: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_5000uL type: pylabrobot - description: YB_peiyepingdaban + description: YB_TipRack_5000uL handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_peiyepingxiaoban: +YB_TipRack_50uL: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_50uL type: pylabrobot - description: YB_peiyepingxiaoban + description: YB_TipRack_50uL handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_qiang_tou_he: +YB_Adapter_60mL: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Adapter_60mL type: pylabrobot - description: YB_qiang_tou_he + description: YB_Adapter_60mL handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_shi_pei_qi_kuai: +YB_NormalLiq_250mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_250mL_Carrier type: pylabrobot - description: YB_shi_pei_qi_kuai + description: YB_NormalLiq_250mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_ye: +YB_NormalLiq_100mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_100mL_Carrier type: pylabrobot - description: YB_ye_Bottle_Carrier + description: YB_NormalLiq_100mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 -YB_ye_100ml_Bottle: +YB_HighVis_250mL_Carrier: category: - - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_250mL_Carrier type: pylabrobot - description: YB_ye_100ml_Bottle + description: YB_HighVis_250mL_Carrier handles: [] icon: '' init_param_schema: {} + registry_type: resource version: 1.0.0 +YB_HighVis_100mL_Carrier: + category: + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_100mL_Carrier + type: pylabrobot + description: YB_HighVis_100mL_Carrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 \ No newline at end of file diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index 5770a2d12..244e812ba 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -20,22 +20,22 @@ BIOYOND_PolymerReactionStation_Deck: icon: 反应站.webp init_param_schema: {} version: 1.0.0 -BIOYOND_YB_Deck: +BioyondElectrolyteDeck: category: - deck class: - module: unilabos.resources.bioyond.decks:YB_Deck + module: unilabos.resources.bioyond.decks:bioyond_electrolyte_deck type: pylabrobot description: BIOYOND ElectrolyteFormulationStation Deck handles: [] icon: 配液站.webp init_param_schema: {} version: 1.0.0 -CoincellDeck: +YihuaCoinCellDeck: category: - deck class: - module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck + module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:yihua_coin_cell_deck type: pylabrobot description: YIHUA CoinCellAssembly Deck handles: [] diff --git a/unilabos/registry/resources/common/resource_container.yaml b/unilabos/registry/resources/common/resource_container.yaml index 3f0aa9d2a..751f1aa5e 100644 --- a/unilabos/registry/resources/common/resource_container.yaml +++ b/unilabos/registry/resources/common/resource_container.yaml @@ -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 diff --git a/unilabos/registry/resources/laiyu/container.yaml b/unilabos/registry/resources/laiyu/container.yaml index 586e3cfeb..400bc9312 100644 --- a/unilabos/registry/resources/laiyu/container.yaml +++ b/unilabos/registry/resources/laiyu/container.yaml @@ -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 diff --git a/unilabos/registry/resources/laiyu/deck.yaml b/unilabos/registry/resources/laiyu/deck.yaml index 85da0ca7c..89973dded 100644 --- a/unilabos/registry/resources/laiyu/deck.yaml +++ b/unilabos/registry/resources/laiyu/deck.yaml @@ -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 diff --git a/unilabos/registry/resources/opentrons/deck.yaml b/unilabos/registry/resources/opentrons/deck.yaml index 10e91cef3..0e35e7b1c 100644 --- a/unilabos/registry/resources/opentrons/deck.yaml +++ b/unilabos/registry/resources/opentrons/deck.yaml @@ -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 diff --git a/unilabos/registry/resources/opentrons/plates.yaml b/unilabos/registry/resources/opentrons/plates.yaml index 20a71995a..883bf147b 100644 --- a/unilabos/registry/resources/opentrons/plates.yaml +++ b/unilabos/registry/resources/opentrons/plates.yaml @@ -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: diff --git a/unilabos/registry/resources/opentrons/tip_racks.yaml b/unilabos/registry/resources/opentrons/tip_racks.yaml index d1682b2af..ec8380185 100644 --- a/unilabos/registry/resources/opentrons/tip_racks.yaml +++ b/unilabos/registry/resources/opentrons/tip_racks.yaml @@ -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: diff --git a/unilabos/resources/battery/bottle_carriers.py b/unilabos/resources/battery/bottle_carriers.py index 9d9827cdd..4003ae73b 100644 --- a/unilabos/resources/battery/bottle_carriers.py +++ b/unilabos/resources/battery/bottle_carriers.py @@ -1,9 +1,6 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -from unilabos.resources.bioyond.YB_bottles import ( - YB_pei_ye_xiao_Bottle, -) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -51,6 +48,5 @@ def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 2 carrier.num_items_y = 6 carrier.num_items_z = 1 - for i in range(12): - carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}") + # 载架初始化为空，瓶子由实际转运操作填入，避免反序列化时重复 assign return carrier diff --git a/unilabos/resources/battery/electrode_sheet.py b/unilabos/resources/battery/electrode_sheet.py index 22f98affa..080046073 100644 --- a/unilabos/resources/battery/electrode_sheet.py +++ b/unilabos/resources/battery/electrode_sheet.py @@ -135,6 +135,7 @@ class BatteryState(TypedDict): open_circuit_voltage: float assembly_pressure: float electrolyte_volume: float + pole_weight: float # 极片称重 (mg) info: Optional[str] # 附加信息 @@ -179,6 +180,7 @@ def __init__( open_circuit_voltage=0.0, assembly_pressure=0.0, electrolyte_volume=0.0, + pole_weight=0.0, info=None ) diff --git a/unilabos/resources/battery/magazine.py b/unilabos/resources/battery/magazine.py index 04328a407..aeddea7b4 100644 --- a/unilabos/resources/battery/magazine.py +++ b/unilabos/resources/battery/magazine.py @@ -53,13 +53,28 @@ def size_z(self) -> float: return self.get_size_z() def serialize(self) -> dict: - return { - **super().serialize(), + data = super().serialize() + # 物料余量由寄存器接管，不再持久化极片子节点， + # 防止旧数据写回数据库后下次启动时再次引发重复 UUID。 + data["children"] = [] + data.update({ "size_x": self.size_x or 10.0, "size_y": self.size_y or 10.0, "size_z": self.size_z or 10.0, "max_sheets": self.max_sheets, - } + }) + return data + + @classmethod + def deserialize(cls, data: dict, allow_marshal: bool = False): + """反序列化时丢弃极片子节点（ElectrodeSheet 等）。 + + 物料余量已由寄存器接管，不再在资源树中追踪每个极片实体。 + 清空 children 可防止数据库中的旧极片记录被重新加载，避免重复 UUID 报错。 + """ + data = dict(data) + data["children"] = [] + return super().deserialize(data, allow_marshal=allow_marshal) class MagazineHolder(ItemizedResource): @@ -220,7 +235,7 @@ def MagazineHolder_6_Cathode( size_y=size_y, size_z=size_z, locations=locations, - klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan], + klasses=None, hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, @@ -258,7 +273,7 @@ def MagazineHolder_6_Anode( size_y=size_y, size_z=size_z, locations=locations, - klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan], + klasses=None, hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, @@ -335,7 +350,7 @@ def MagazineHolder_4_Cathode( size_y=size_y, size_z=size_z, locations=locations, - klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode], + klasses=None, hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index 29a532427..3add4f797 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -2,15 +2,18 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier from unilabos.resources.bioyond.YB_bottles import ( - YB_jia_yang_tou_da, - YB_ye_Bottle, - YB_ye_100ml_Bottle, - YB_gao_nian_ye_Bottle, - YB_5ml_fenyeping, - YB_20ml_fenyeping, - YB_pei_ye_xiao_Bottle, - YB_pei_ye_da_Bottle, - YB_qiang_tou, + YB_DosingHead_L, + YB_NormalLiq_250mL_Bottle, + YB_NormalLiq_100mL_Bottle, + YB_HighVis_250mL_Bottle, + YB_HighVis_100mL_Bottle, + YB_Vial_5mL, + YB_Vial_20mL, + YB_PrepBottle_15mL, + YB_PrepBottle_60mL, + YB_Tip_5000uL, + YB_Tip_1000uL, + YB_Tip_50uL, ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -206,7 +209,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier: return carrier # 1瓶载架 - 单个中央位置 -def YB_ye(name: str) -> BottleCarrier: +def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -233,17 +236,17 @@ def YB_ye(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="YB_ye", + model="YB_NormalLiq_250mL_Carrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_ye_Bottle(f"{name}_flask_1") + carrier[0] = YB_NormalLiq_250mL_Bottle(f"{name}_flask_1") return carrier # 高粘液瓶载架 - 单个中央位置 -def YB_gaonianye(name: str) -> BottleCarrier: +def YB_HighVis_250mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -270,17 +273,17 @@ def YB_gaonianye(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="YB_gaonianye", + model="YB_HighVis_250mL_Carrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1") + carrier[0] = YB_HighVis_250mL_Bottle(f"{name}_flask_1") return carrier -# 100ml液体瓶载架 - 单个中央位置 -def YB_100ml_yeti(name: str) -> BottleCarrier: +# 100mL普通液瓶载架 - 单个中央位置 +def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -307,16 +310,52 @@ def YB_100ml_yeti(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="YB_100ml_yeti", + model="YB_NormalLiq_100mL_Carrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1") + carrier[0] = YB_NormalLiq_100mL_Bottle(f"{name}_flask_1") return carrier -# 5ml分液瓶板 - 4x2布局，8个位置 -def YB_5ml_fenyepingban(name: str) -> BottleCarrier: +# 100mL高粘液瓶载架 - 单个中央位置 +def YB_HighVis_100mL_Carrier(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + beaker_diameter = 60.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="YB_HighVis_100mL_Carrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_HighVis_100mL_Bottle(f"{name}_flask_1") + return carrier + +# 5mL分液瓶板 - 4x2布局，8个位置 +def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -355,18 +394,18 @@ def YB_5ml_fenyepingban(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_5ml_fenyepingban", + model="YB_Vial_5mL_Carrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_Vial_5mL(f"{name}_vial_{ordering[i]}") return carrier -# 20ml分液瓶板 - 4x2布局，8个位置 -def YB_20ml_fenyepingban(name: str) -> BottleCarrier: +# 20mL分液瓶板 - 4x2布局，8个位置 +def YB_Vial_20mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -405,18 +444,18 @@ def YB_20ml_fenyepingban(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_20ml_fenyepingban", + model="YB_Vial_20mL_Carrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_Vial_20mL(f"{name}_vial_{ordering[i]}") return carrier # 配液瓶(小)板 - 4x2布局，8个位置 -def YB_peiyepingxiaoban(name: str) -> BottleCarrier: +def YB_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -455,19 +494,19 @@ def YB_peiyepingxiaoban(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_peiyepingxiaoban", + model="YB_PrepBottle_15mL_Carrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_PrepBottle_15mL(f"{name}_bottle_{ordering[i]}") return carrier # 配液瓶(大)板 - 2x2布局，4个位置 -def YB_peiyepingdaban(name: str) -> BottleCarrier: +def YB_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -505,18 +544,18 @@ def YB_peiyepingdaban(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_peiyepingdaban", + model="YB_PrepBottle_60mL_Carrier", ) carrier.num_items_x = 2 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "B1", "B2"] for i in range(4): - carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_PrepBottle_60mL(f"{name}_bottle_{ordering[i]}") return carrier # 加样头(大)板 - 1x1布局，1个位置 -def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier: +def YB_DosingHead_L_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -554,16 +593,16 @@ def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_jia_yang_tou_da_Carrier", + model="YB_DosingHead_L_Carrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1") + carrier[0] = YB_DosingHead_L(f"{name}_head_1") return carrier -def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier: +def YB_Adapter_60mL(name: str) -> BottleCarrier: """适配器块 - 单个中央位置""" # 载架尺寸 (mm) @@ -591,7 +630,7 @@ def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier: resource_size_y=adapter_diameter, name_prefix=name, ), - model="YB_shi_pei_qi_kuai", + model="YB_Adapter_60mL", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -600,7 +639,7 @@ def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier: return carrier -def YB_qiang_tou_he(name: str) -> BottleCarrier: +def YB_TipRack_50uL(name: str) -> BottleCarrier: """枪头盒 - 8x12布局，96个位置""" # 载架尺寸 (mm) @@ -609,9 +648,9 @@ def YB_qiang_tou_he(name: str) -> BottleCarrier: carrier_size_z = 55.0 # 枪头尺寸 - tip_diameter = 10.0 - tip_spacing_x = 9.0 # X方向间距 - tip_spacing_y = 9.0 # Y方向间距 + tip_diameter = 7.0 + tip_spacing_x = 7.5 # X方向间距 + tip_spacing_y = 7.5 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 @@ -639,7 +678,7 @@ def YB_qiang_tou_he(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_qiang_tou_he", + model="YB_TipRack_50uL", ) carrier.num_items_x = 12 carrier.num_items_y = 8 @@ -648,6 +687,182 @@ def YB_qiang_tou_he(name: str) -> BottleCarrier: for i in range(96): row = chr(65 + i // 12) # A-H col = (i % 12) + 1 # 1-12 - carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}") + carrier[i] = YB_Tip_50uL(f"{name}_tip_{row}{col}") + return carrier + + +def YB_TipRack_5000uL(name: str) -> BottleCarrier: + """枪头盒 - 4x6布局，24个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 枪头尺寸 + tip_diameter = 16.0 + tip_spacing_x = 16.5 # X方向间距 + tip_spacing_y = 16.5 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (6 - 1) * tip_spacing_x - tip_diameter) / 2 + start_y = (carrier_size_y - (4 - 1) * tip_spacing_y - tip_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=6, + num_items_y=4, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=tip_spacing_x, + item_dy=tip_spacing_y, + size_x=tip_diameter, + size_y=tip_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_TipRack_5000uL", + ) + carrier.num_items_x = 6 + carrier.num_items_y = 4 + carrier.num_items_z = 1 + # 创建24个枪头 + for i in range(24): + row = chr(65 + i // 6) # A-D + col = (i % 6) + 1 # 1-6 + carrier[i] = YB_Tip_5000uL(f"{name}_tip_{row}{col}") + return carrier + + + +def YB_TipRack_Mixed(name: str) -> BottleCarrier: + """混合枪头盒 - 复杂布局 + 上层: 2x8空位（原50uL枪头位置，现空余） + 中层: 4x4布局，放5000uL枪头 + 下层: 2x8布局，放1000uL枪头 + """ + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 各类枪头的尺寸参数 + tip_5000_diameter = 16.0 + tip_5000_spacing_x = 16.5 + tip_5000_spacing_y = 16.5 + + tip_1000_diameter = 7.0 + tip_1000_spacing_x = 7.5 + tip_1000_spacing_y = 7.5 + + # 空位尺寸（上层2x8，原50uL位置） + empty_diameter = 7.0 + empty_spacing_x = 7.5 + empty_spacing_y = 7.5 + + # 计算各层的起始位置 + # 上层空位 (2x8) + empty_top_start_x = (carrier_size_x - (8 - 1) * empty_spacing_x - empty_diameter) / 2 + empty_top_start_y = 5.0 + + # 中层5000uL (4x4) + tip_5000_start_x = (carrier_size_x - (4 - 1) * tip_5000_spacing_x - tip_5000_diameter) / 2 + tip_5000_start_y = empty_top_start_y + 2 * empty_spacing_y + 5.0 + + # 下层1000uL (2x8) + tip_1000_start_x = (carrier_size_x - (8 - 1) * tip_1000_spacing_x - tip_1000_diameter) / 2 + tip_1000_start_y = tip_5000_start_y + 4 * tip_5000_spacing_y + 5.0 + + sites = {} + + # 创建上层空位 (2x8) - 不创建实际的枪头对象 + empty_top_sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=8, + num_items_y=2, + dx=empty_top_start_x, + dy=empty_top_start_y, + dz=5.0, + item_dx=empty_spacing_x, + item_dy=empty_spacing_y, + size_x=empty_diameter, + size_y=empty_diameter, + size_z=carrier_size_z, + ) + # 添加空位，索引 0-15 + for k, v in empty_top_sites.items(): + v.name = f"{name}_empty_top_{v.name}" + sites[k] = v + + # 创建中层5000uL枪头位 (4x4)，索引 16-31 + tip_5000_sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=4, + num_items_y=4, + dx=tip_5000_start_x, + dy=tip_5000_start_y, + dz=15.0, + item_dx=tip_5000_spacing_x, + item_dy=tip_5000_spacing_y, + size_x=tip_5000_diameter, + size_y=tip_5000_diameter, + size_z=carrier_size_z, + ) + for i, (k, v) in enumerate(tip_5000_sites.items()): + v.name = f"{name}_5000_{v.name}" + sites[16 + i] = v + + # 创建下层1000uL枪头位 (2x8)，索引 32-47 + tip_1000_sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=8, + num_items_y=2, + dx=tip_1000_start_x, + dy=tip_1000_start_y, + dz=25.0, + item_dx=tip_1000_spacing_x, + item_dy=tip_1000_spacing_y, + size_x=tip_1000_diameter, + size_y=tip_1000_diameter, + size_z=carrier_size_z, + ) + for i, (k, v) in enumerate(tip_1000_sites.items()): + v.name = f"{name}_1000_{v.name}" + sites[32 + i] = v + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_TipRack_Mixed", + ) + carrier.num_items_x = 8 # 最大宽度 + carrier.num_items_y = 8 # 总行数 (2+4+2) + carrier.num_items_z = 1 + + # 为5000uL枪头创建实例 (16个)，对应索引 16-31 + for i in range(16): + row = chr(65 + i // 4) # A-D + col = (i % 4) + 1 # 1-4 + carrier[16 + i] = YB_Tip_5000uL(f"{name}_tip5000_{row}{col}") + + # 为1000uL枪头创建实例 (16个)，对应索引 32-47 + for i in range(16): + row = chr(65 + i // 8) # A-B + col = (i % 8) + 1 # 1-8 + carrier[32 + i] = YB_Tip_1000uL(f"{name}_tip1000_{row}{col}") + return carrier diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index acbbf35b3..601638812 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -1,7 +1,7 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier # 工厂函数 """加样头（大）""" -def YB_jia_yang_tou_da( +def YB_DosingHead_L( name: str, diameter: float = 20.0, height: float = 100.0, @@ -15,11 +15,11 @@ def YB_jia_yang_tou_da( height=height, max_volume=max_volume, barcode=barcode, - model="YB_jia_yang_tou_da", + model="YB_DosingHead_L", ) -"""液1x1""" -def YB_ye_Bottle( +"""250mL普通液""" +def YB_NormalLiq_250mL_Bottle( name: str, diameter: float = 40.0, height: float = 70.0, @@ -33,87 +33,105 @@ def YB_ye_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="YB_ye_Bottle", + model="YB_NormalLiq_250mL_Bottle", ) -"""100ml液体""" -def YB_ye_100ml_Bottle( +"""100mL普通液""" +def YB_NormalLiq_100mL_Bottle( name: str, diameter: float = 50.0, height: float = 90.0, max_volume: float = 100000.0, # 100mL barcode: str = None, ) -> Bottle: - """创建100ml液体瓶""" + """创建100mL普通液瓶""" return Bottle( name=name, diameter=diameter, height=height, max_volume=max_volume, barcode=barcode, - model="YB_100ml_yeti", + model="YB_NormalLiq_100mL_Bottle", ) -"""高粘液""" -def YB_gao_nian_ye_Bottle( +"""100mL高粘液""" +def YB_HighVis_100mL_Bottle( + name: str, + diameter: float = 50.0, + height: float = 90.0, + max_volume: float = 100000.0, # 100mL + barcode: str = None, +) -> Bottle: + """创建100mL高粘液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_HighVis_100mL_Bottle", + ) + +"""250mL高粘液""" +def YB_HighVis_250mL_Bottle( name: str, diameter: float = 40.0, height: float = 70.0, max_volume: float = 50000.0, # 50mL barcode: str = None, ) -> Bottle: - """创建高粘液瓶""" + """创建250mL高粘液瓶""" return Bottle( name=name, diameter=diameter, height=height, max_volume=max_volume, barcode=barcode, - model="High_Viscosity_Liquid", + model="YB_HighVis_250mL_Bottle", ) -"""5ml分液瓶""" -def YB_5ml_fenyeping( +"""5mL分液瓶""" +def YB_Vial_5mL( name: str, diameter: float = 20.0, height: float = 50.0, max_volume: float = 5000.0, # 5mL barcode: str = None, ) -> Bottle: - """创建5ml分液瓶""" + """创建5mL分液瓶""" return Bottle( name=name, diameter=diameter, height=height, max_volume=max_volume, barcode=barcode, - model="YB_5ml_fenyeping", + model="YB_Vial_5mL", ) -"""20ml分液瓶""" -def YB_20ml_fenyeping( +"""20mL分液瓶""" +def YB_Vial_20mL( name: str, diameter: float = 30.0, height: float = 65.0, max_volume: float = 20000.0, # 20mL barcode: str = None, ) -> Bottle: - """创建20ml分液瓶""" + """创建20mL分液瓶""" return Bottle( name=name, diameter=diameter, height=height, max_volume=max_volume, barcode=barcode, - model="YB_20ml_fenyeping", + model="YB_Vial_20mL", ) """配液瓶(小)""" -def YB_pei_ye_xiao_Bottle( +def YB_PrepBottle_15mL( name: str, diameter: float = 35.0, height: float = 60.0, - max_volume: float = 30000.0, # 30mL + max_volume: float = 15000.0, # 15mL barcode: str = None, ) -> Bottle: """创建配液瓶(小)""" @@ -123,15 +141,15 @@ def YB_pei_ye_xiao_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="YB_pei_ye_xiao_Bottle", + model="YB_PrepBottle_15mL", ) """配液瓶(大)""" -def YB_pei_ye_da_Bottle( +def YB_PrepBottle_60mL( name: str, diameter: float = 55.0, height: float = 100.0, - max_volume: float = 150000.0, # 150mL + max_volume: float = 60000.0, # 60mL barcode: str = None, ) -> Bottle: """创建配液瓶(大)""" @@ -141,11 +159,29 @@ def YB_pei_ye_da_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="YB_pei_ye_da_Bottle", + model="YB_PrepBottle_60mL", ) -"""枪头""" -def YB_qiang_tou( +"""5000uL枪头""" +def YB_Tip_5000uL( + name: str, + diameter: float = 10.0, + height: float = 50.0, + max_volume: float = 5000.0, # 5mL + barcode: str = None, +) -> Bottle: + """创建枪头""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_Tip_5000uL", + ) + +"""1000uL枪头""" +def YB_Tip_1000uL( name: str, diameter: float = 10.0, height: float = 50.0, @@ -159,5 +195,23 @@ def YB_qiang_tou( height=height, max_volume=max_volume, barcode=barcode, - model="YB_qiang_tou", + model="YB_Tip_1000uL", ) + +"""50uL枪头""" +def YB_Tip_50uL( + name: str, + diameter: float = 10.0, + height: float = 50.0, + max_volume: float = 50.0, # 50uL + barcode: str = None, +) -> Bottle: + """创建枪头""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_Tip_50uL", + ) \ No newline at end of file diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index 5f3b2c4ec..f711b1d14 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,4 +1,3 @@ -from os import name from pylabrobot.resources import Deck, Coordinate, Rotation from unilabos.resources.bioyond.YB_warehouses import ( @@ -34,11 +33,8 @@ def __init__( size_y: float = 1080.0, size_z: float = 1500.0, category: str = "deck", - setup: bool = False ) -> None: super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0) - if setup: - self.setup() def setup(self) -> None: # 添加仓库 @@ -66,6 +62,7 @@ def setup(self) -> None: for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + class BIOYOND_PolymerPreparationStation_Deck(Deck): def __init__( self, @@ -74,11 +71,8 @@ def __init__( size_y: float = 1080.0, size_z: float = 1500.0, category: str = "deck", - setup: bool = False ) -> None: super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0) - if setup: - self.setup() def setup(self) -> None: # 添加仓库 - 配液站的3个堆栈，使用Bioyond系统中的实际名称 @@ -101,7 +95,8 @@ def setup(self) -> None: for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) -class BIOYOND_YB_Deck(Deck): + +class BioyondElectrolyteDeck(Deck): def __init__( self, name: str = "YB_Deck", @@ -109,7 +104,7 @@ def __init__( size_y: float = 1400.0, size_z: float = 2670.0, category: str = "deck", - setup: bool = False + setup: bool = False, ) -> None: super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0) if setup: @@ -118,8 +113,8 @@ def __init__( def setup(self) -> None: # 添加仓库 self.warehouses = { - "321窗口": bioyond_warehouse_2x2x1("321窗口"), # 2行×2列 - "43窗口": bioyond_warehouse_2x2x1("43窗口"), # 2行×2列 + "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"), # 2行×2列 + "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), # 2行×2列 "手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), # A01-E03 "手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5), # F01-J03 "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), @@ -133,29 +128,34 @@ def setup(self) -> None: } # warehouse 的位置 self.warehouse_locations = { - "321窗口": Coordinate(-150.0, 158.0, 0.0), - "43窗口": Coordinate(4160.0, 158.0, 0.0), - "手动传递窗左": Coordinate(-150.0, 877.0, 0.0), - "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), - "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0), - "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0), - - "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0), - "母液加样右": Coordinate(2152.0, 333.0, 0.0), - "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), - "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), - "2号手套箱内部堆栈": Coordinate(-800, -500.0, 0.0), # 新增：位置需根据实际硬件调整 + "自动堆栈-左": Coordinate(-150.0, 1142.0, 0.0), + "自动堆栈-右": Coordinate(4160.0, 1142.0, 0.0), + "手动传递窗左": Coordinate(-150.0, 423.0, 0.0), + "手动传递窗右": Coordinate(4160.0, 423.0, 0.0), + "加样头堆栈左": Coordinate(385.0, 0, 0.0), + "加样头堆栈右": Coordinate(2187.0, 0, 0.0), + + "15ml配液堆栈左": Coordinate(749.0, 945.0, 0.0), + "母液加样右": Coordinate(2152.0, 967.0, 0.0), + "大瓶母液堆栈左": Coordinate(1164.0, 624.0, 0.0), + "大瓶母液堆栈右": Coordinate(2717.0, 624.0, 0.0), + "2号手套箱内部堆栈": Coordinate(-800, 800.0, 0.0), # 新增：位置需根据实际硬件调整 } for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) -def YB_Deck(name: str) -> Deck: - by=BIOYOND_YB_Deck(name=name) - by.setup() - return by +# 向后兼容别名，日后废弃 +BIOYOND_YB_Deck = BioyondElectrolyteDeck +def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck: + deck = BioyondElectrolyteDeck(name=name) + deck.setup() + return deck +# 向后兼容别名，日后废弃 +def YB_Deck(name: str) -> BioyondElectrolyteDeck: + return bioyond_electrolyte_deck(name) diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index c8f1cc2cd..6dc07f084 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -797,9 +797,10 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st bottle = plr_material[number] = initialize_resource( {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR ) - bottle.tracker.liquids = [ - (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0) - ] + if hasattr(bottle, 'tracker') and bottle.tracker is not None: + bottle.tracker.liquids = [ + (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0) + ] bottle.code = detail.get("code", "") logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})") else: @@ -808,9 +809,10 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st # 只对有 capacity 属性的容器（液体容器）处理液体追踪 if hasattr(plr_material, 'capacity'): bottle = plr_material[0] if plr_material.capacity > 0 else plr_material - bottle.tracker.liquids = [ - (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0) - ] + if hasattr(bottle, 'tracker') and bottle.tracker is not None: + bottle.tracker.liquids = [ + (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0) + ] plr_materials.append(plr_material) @@ -1033,7 +1035,7 @@ 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 +1053,7 @@ 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 +1126,7 @@ 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） } diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py index fe55c39e5..04875fa4f 100644 --- a/unilabos/resources/itemized_carrier.py +++ b/unilabos/resources/itemized_carrier.py @@ -179,6 +179,35 @@ def assign_child_resource( idx = i break + if idx is None and location is not None: + # 精确坐标匹配失败（常见原因：DB 存储的 z=0，而槽位定义 z=dz>0）。 + # 降级为仅按 XY 坐标进行近似匹配，找到后使用槽位自身的正确坐标写回， + # 避免因 Z 偏移导致反序列化中断。 + _XY_TOLERANCE = 2.0 # mm，覆盖浮点误差和 z 偏移 + min_dist = float("inf") + nearest_idx = None + for _i, _loc in enumerate(self.child_locations.values()): + _d = (((_loc.x - location.x) ** 2) + ((_loc.y - location.y) ** 2)) ** 0.5 + if _d < min_dist: + min_dist = _d + nearest_idx = _i + if nearest_idx is not None and min_dist <= _XY_TOLERANCE: + from unilabos.utils.log import logger as _logger + _slot_label = list(self.child_locations.keys())[nearest_idx] + _logger.warning( + f"[ItemizedCarrier '{self.name}'] 资源 '{resource.name}' 坐标 {location} 与槽位 " + f"'{_slot_label}' {list(self.child_locations.values())[nearest_idx]} 的 XY 吻合" + f"（XY 偏差={min_dist:.2f}mm），按 XY 近似匹配成功，z 偏移已被修正。" + ) + idx = nearest_idx + + if idx is None: + raise ValueError( + f"[ItemizedCarrier '{self.name}'] 无法为资源 '{resource.name}' 找到匹配的槽位。\n" + f" 已知槽位: {list(self.child_locations.keys())}\n" + f" 传入坐标: {location}\n" + f" 提示: XY 近似匹配也失败，请检查资源坐标或 Carrier 槽位定义是否正确。" + ) if not reassign and self.sites[idx] is not None: raise ValueError(f"a site with index {idx} already exists") location = list(self.child_locations.values())[idx] diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 3fb945b64..78acb0615 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -612,6 +612,31 @@ def node_to_plr_dict(node: ResourceDictInstance, has_model: bool): d["model"] = res.config.get("model", None) return d + def _deduplicate_plr_dict(d: dict, _seen: set = None) -> dict: + """递归去除 children 中同名重复节点（全树范围、保留首次出现）。 + + 根本原因：同一槽位被 sync_from_external（Bioyond 同步）重复写入， + 导致数据库中同一 WareHouse 下存在多条同名 BottleCarrier 记录（不同 UUID）。 + PLR 的 _check_naming_conflicts 在全树范围检查名称唯一性， + 重复名称会在 deserialize 时抛出 ValueError，导致节点启动失败。 + 此函数在 sub_cls.deserialize 前预先清理，保证名称唯一。 + """ + if _seen is None: + _seen = set() + children = d.get("children", []) + deduped = [] + for child in children: + child = _deduplicate_plr_dict(child, _seen) + cname = child.get("name") + if cname not in _seen: + _seen.add(cname) + deduped.append(child) + else: + logger.warning( + f"[资源树去重] 发现重复资源名称 '{cname}'，跳过重复项（历史脏数据）" + ) + return {**d, "children": deduped} + plr_resources = [] tracker = DeviceNodeResourceTracker() @@ -622,6 +647,8 @@ def node_to_plr_dict(node: ResourceDictInstance, has_model: bool): collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra) has_model = tree.root_node.res_content.type != "deck" plr_dict = node_to_plr_dict(tree.root_node, has_model) + plr_dict = _deduplicate_plr_dict(plr_dict) + try: sub_cls = find_subclass(plr_dict["type"], PLRResource) if skip_devices and plr_dict["type"] == "device": @@ -640,6 +667,14 @@ def node_to_plr_dict(node: ResourceDictInstance, has_model: bool): location = cast(Coordinate, deserialize(plr_dict["location"])) plr_resource.location = location + + # 预填 Container 类型资源在新版 PLR 中要求必须存在的键， + # 防止旧数据库状态缺失这些键时 load_all_state 抛出 KeyError。 + for state in all_states.values(): + if isinstance(state, dict): + state.setdefault("liquid_history", []) + state.setdefault("pending_liquids", {}) + plr_resource.load_all_state(all_states) # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra tracker.loop_set_uuid(plr_resource, name_to_uuid) diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py index 929a4e4de..865fa65d2 100644 --- a/unilabos/resources/warehouse.py +++ b/unilabos/resources/warehouse.py @@ -41,8 +41,9 @@ def warehouse_factory( # 根据 layout 决定 y 坐标计算 if layout == "row-major": - # 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值 - y = dy + row * item_dy + # 行优先：row=0(A行) 应该显示在上方 + # 前端现在 y 越大越靠上，所以 row=0 对应最大的 y + y = dy + (num_items_y - row - 1) * item_dy elif layout == "vertical-col-major": # 竖向warehouse: row=0 对应顶部（y小），row=n-1 对应底部（y大） # 但标签 01 应该在底部，所以使用反向映射 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index e249bc0ff..466741fd3 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -4,6 +4,8 @@ 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 @@ 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 @@ def __init__( 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 @@ def re_register_device(req, res): 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 @@ async def append_resource(req: SerialCommand_Request, res: SerialCommand_Respons 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 @@ async def append_resource(req: SerialCommand_Request, res: SerialCommand_Respons } ) 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 @@ async def append_resource(req: SerialCommand_Request, res: SerialCommand_Respons 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 @@ async def append_resource(req: SerialCommand_Request, res: SerialCommand_Respons 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 @@ async def append_resource(req: SerialCommand_Request, res: SerialCommand_Respons }, } ) + # _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 @@ async def get_resource_with_dir(self, resource_id: str, with_children: bool = Tr ) # 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 @@ async def transfer_resource_to_another( 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 @@ async def transfer_resource_to_another( 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 @@ def _handle_future_exception(fut: Future): 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() - - self._time_spent = time.time() - time_start - self._time_remaining = time_overall - self._time_spent - - # 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"], + # 低频 feedback timer（10s），不阻塞完成检测 + _feedback_timer = None + + 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) + + 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 @@ def _handle_future_exception(fut: Future): # 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"]: continue @@ -1663,7 +1816,7 @@ def _handle_future_exception(fut: Future): 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 @@ def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: 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 @@ def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: 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) @@ -1816,10 +1971,15 @@ def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: mapped_plr_resources = [] for uuid in uuids_list: + found = None for plr_resource in figured_resources: r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid) - mapped_plr_resources.append(r) - break + if r is not None: + found = r + break + if found is None: + raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源") + mapped_plr_resources.append(found) return mapped_plr_resources @@ -1912,16 +2072,27 @@ async def _execute_driver_command_async(self, string: str): 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] @@ -2169,4 +2340,4 @@ class DeviceInfoType(TypedDict): status_publishers: Dict[str, PropertyPublisher] actions: Dict[str, ActionServer] hardware_interface: Dict[str, Any] - base_node_instance: BaseROS2DeviceNode + base_node_instance: BaseROS2DeviceNode \ No newline at end of file diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index e5e212b1b..26b925bb6 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -4,6 +4,8 @@ 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 @@ async def create_resource( } ) ] - 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 @@ async def _resource_tree_action_add_callback(self, data: dict, response: SerialC 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 @@ async def _resource_tree_action_get_callback(self, data: dict, response: SerialC 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 @@ async def _resource_tree_update_callback(self, request: SerialCommand_Request, r """ 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) diff --git a/unilabos/test/experiments/virtual_bench.json b/unilabos/test/experiments/virtual_bench.json index d37fa6ee4..0cffe842e 100644 --- a/unilabos/test/experiments/virtual_bench.json +++ b/unilabos/test/experiments/virtual_bench.json @@ -22,6 +22,447 @@ "arm_state": "idle", "message": "工作台就绪" } + }, + { + "id": "PRCXI", + "name": "PRCXI", + "type": "device", + "class": "liquid_handler.prcxi", + "parent": "", + "pose": { + "size": { + "width": 562, + "height": 394, + "depth": 0 + } + }, + "config": { + "axis": "Left", + "deck": { + "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck", + "_resource_child_name": "PRCXI_Deck" + }, + "host": "10.20.30.184", + "port": 9999, + "debug": true, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": true, + "channel_num": 2 + }, + "data": { + "reset_ok": true + }, + "schema": {}, + "description": "", + "model": null, + "position": { + "x": 0, + "y": 240, + "z": 0 + } + }, + { + "id": "PRCXI_Deck", + "name": "PRCXI_Deck", + "children": [], + "parent": "PRCXI", + "type": "deck", + "class": "", + "position": { + "x": 10, + "y": 10, + "z": 0 + }, + "config": { + "type": "PRCXI9300Deck", + "size_x": 542, + "size_y": 374, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null, + "preferred_pickup_location": null, + "sites": [ + { + "label": "T1", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "container", + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T2", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T3", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T4", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T5", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T6", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T7", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T8", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T9", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T10", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T11", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T12", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T13", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T14", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T15", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T16", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + } + ] + }, + "data": {} } ], "links": [] diff --git a/unilabos/test/experiments/yibin_electrolyte_config_example.json b/unilabos/test/experiments/yibin_electrolyte_config_example.json index d5efc3578..ba25c0ac9 100644 --- a/unilabos/test/experiments/yibin_electrolyte_config_example.json +++ b/unilabos/test/experiments/yibin_electrolyte_config_example.json @@ -13,7 +13,7 @@ "deck": { "data": { "_resource_child_name": "YB_Bioyond_Deck", - "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck" + "_resource_type": "unilabos.resources.bioyond.decks:BioyondElectrolyteDeck" } }, "protocol_type": [], @@ -103,15 +103,14 @@ "children": [], "parent": "bioyond_cell_workstation", "type": "deck", - "class": "BIOYOND_YB_Deck", + "class": "BioyondElectrolyteDeck", "position": { "x": 0, "y": 0, "z": 0 }, "config": { - "type": "BIOYOND_YB_Deck", - "setup": true, + "type": "BioyondElectrolyteDeck", "rotation": { "x": 0, "y": 0, diff --git a/unilabos/utils/log-origin.py b/unilabos/utils/log-origin.py new file mode 100644 index 000000000..cee3269b2 --- /dev/null +++ b/unilabos/utils/log-origin.py @@ -0,0 +1,385 @@ +import logging +import os +import platform +from datetime import datetime +import ctypes +import atexit +import inspect +from typing import Tuple, cast + +# 添加TRACE级别到logging模块 +TRACE_LEVEL = 5 +logging.addLevelName(TRACE_LEVEL, "TRACE") + + +class CustomRecord: + custom_stack_info: Tuple[str, int, str, str] + + +# Windows颜色支持 +if platform.system() == "Windows": + # 尝试启用Windows终端的ANSI支持 + kernel32 = ctypes.windll.kernel32 + # 获取STD_OUTPUT_HANDLE + STD_OUTPUT_HANDLE = -11 + # 启用ENABLE_VIRTUAL_TERMINAL_PROCESSING + ENABLE_VIRTUAL_TERMINAL_PROCESSING = 0x0004 + # 获取当前控制台模式 + handle = kernel32.GetStdHandle(STD_OUTPUT_HANDLE) + mode = ctypes.c_ulong() + kernel32.GetConsoleMode(handle, ctypes.byref(mode)) + # 启用ANSI处理 + kernel32.SetConsoleMode(handle, mode.value | ENABLE_VIRTUAL_TERMINAL_PROCESSING) + + # 程序退出时恢复控制台设置 + @atexit.register + def reset_console(): + kernel32.SetConsoleMode(handle, mode.value) + + +# 定义不同日志级别的颜色 +class ColoredFormatter(logging.Formatter): + """自定义日志格式化器，支持颜色输出""" + + # ANSI 颜色代码 + COLORS = { + "RESET": "\033[0m", # 重置 + "BOLD": "\033[1m", # 加粗 + "GRAY": "\033[37m", # 灰色 + "WHITE": "\033[97m", # 白色 + "BLACK": "\033[30m", # 黑色 + "TRACE_LEVEL": "\033[1;90m", # 加粗深灰色 + "DEBUG_LEVEL": "\033[1;36m", # 加粗青色 + "INFO_LEVEL": "\033[1;32m", # 加粗绿色 + "WARNING_LEVEL": "\033[1;33m", # 加粗黄色 + "ERROR_LEVEL": "\033[1;31m", # 加粗红色 + "CRITICAL_LEVEL": "\033[1;35m", # 加粗紫色 + "TRACE_TEXT": "\033[90m", # 深灰色 + "DEBUG_TEXT": "\033[37m", # 灰色 + "INFO_TEXT": "\033[97m", # 白色 + "WARNING_TEXT": "\033[33m", # 黄色 + "ERROR_TEXT": "\033[31m", # 红色 + "CRITICAL_TEXT": "\033[35m", # 紫色 + "DATE": "\033[37m", # 日期始终使用灰色 + } + + def __init__(self, use_colors=True): + super().__init__() + # 强制启用颜色 + self.use_colors = use_colors + + def format(self, record): + # 检查是否有自定义堆栈信息 + if hasattr(record, "custom_stack_info") and record.custom_stack_info: # type: ignore + r = cast(CustomRecord, record) + frame_info = r.custom_stack_info + record.filename = frame_info[0] + record.lineno = frame_info[1] + record.funcName = frame_info[2] + if len(frame_info) > 3: + record.name = frame_info[3] + if not self.use_colors: + return self._format_basic(record) + + level_color = self.COLORS.get(f"{record.levelname}_LEVEL", self.COLORS["WHITE"]) + text_color = self.COLORS.get(f"{record.levelname}_TEXT", self.COLORS["WHITE"]) + date_color = self.COLORS["DATE"] + reset = self.COLORS["RESET"] + + # 日期格式 + datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]" + + # 模块和函数信息 + filename = record.filename.replace(".py", "").split("\\")[-1] # 提取文件名（不含路径和扩展名） + if "/" in filename: + filename = filename.split("/")[-1] + module_path = f"{record.name}.{filename}" + func_line = f"{record.funcName}:{record.lineno}" + right_info = f" [{func_line}] [{module_path}]" + + # 主要消息 + main_msg = record.getMessage() + + # 构建基本消息格式 + formatted_message = ( + f"{date_color}{datetime_str}{reset} " + f"{level_color}[{record.levelname}]{reset} " + f"{text_color}{main_msg}" + f"{date_color}{right_info}{reset}" + ) + + # 处理异常信息 + if record.exc_info: + exc_text = self.formatException(record.exc_info) + if formatted_message[-1:] != "\n": + formatted_message = formatted_message + "\n" + formatted_message = formatted_message + text_color + exc_text + reset + elif record.stack_info: + if formatted_message[-1:] != "\n": + formatted_message = formatted_message + "\n" + formatted_message = formatted_message + text_color + self.formatStack(record.stack_info) + reset + + return formatted_message + + def _format_basic(self, record): + """基本格式化，不包含颜色""" + datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]" + filename = record.filename.replace(".py", "").split("\\")[-1] # 提取文件名（不含路径和扩展名） + if "/" in filename: + filename = filename.split("/")[-1] + module_path = f"{record.name}.{filename}" + func_line = f"{record.funcName}:{record.lineno}" + right_info = f" [{func_line}] [{module_path}]" + + formatted_message = f"{datetime_str} [{record.levelname}] {record.getMessage()}{right_info}" + + if record.exc_info: + exc_text = self.formatException(record.exc_info) + if formatted_message[-1:] != "\n": + formatted_message = formatted_message + "\n" + formatted_message = formatted_message + exc_text + elif record.stack_info: + if formatted_message[-1:] != "\n": + formatted_message = formatted_message + "\n" + formatted_message = formatted_message + self.formatStack(record.stack_info) + + return formatted_message + + def formatException(self, exc_info): + """重写异常格式化，确保异常信息保持正确的格式和颜色""" + # 获取标准的异常格式化文本 + formatted_exc = super().formatException(exc_info) + return formatted_exc + + +# 配置日志处理器 +def configure_logger(loglevel=None, working_dir=None): + """配置日志记录器 + + Args: + loglevel: 日志级别，可以是字符串（'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'） + 或logging模块的常量（如logging.DEBUG）或TRACE_LEVEL + """ + # 获取根日志记录器 + root_logger = logging.getLogger() + root_logger.setLevel(TRACE_LEVEL) + # 设置日志级别 + numeric_level = logging.DEBUG + if loglevel is not None: + if isinstance(loglevel, str): + # 将字符串转换为logging级别 + if loglevel.upper() == "TRACE": + numeric_level = TRACE_LEVEL + else: + numeric_level = getattr(logging, loglevel.upper(), None) + if not isinstance(numeric_level, int): + print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG") + else: + numeric_level = loglevel + + # 移除已存在的处理器 + for handler in root_logger.handlers[:]: + root_logger.removeHandler(handler) + + # 创建控制台处理器 + console_handler = logging.StreamHandler() + console_handler.setLevel(numeric_level) # 使用与根记录器相同的级别 + + # 使用自定义的颜色格式化器 + color_formatter = ColoredFormatter() + console_handler.setFormatter(color_formatter) + + # 添加处理器到根日志记录器 + root_logger.addHandler(console_handler) + + # 如果指定了工作目录，添加文件处理器 + if working_dir is not None: + logs_dir = os.path.join(working_dir, "logs") + os.makedirs(logs_dir, exist_ok=True) + + # 生成日志文件名：日期 时间.log + log_filename = datetime.now().strftime("%Y-%m-%d %H-%M-%S") + ".log" + log_filepath = os.path.join(logs_dir, log_filename) + + # 创建文件处理器 + file_handler = logging.FileHandler(log_filepath, encoding="utf-8") + file_handler.setLevel(TRACE_LEVEL) + + # 使用不带颜色的格式化器 + file_formatter = ColoredFormatter(use_colors=False) + file_handler.setFormatter(file_formatter) + + root_logger.addHandler(file_handler) + + logging.getLogger("asyncio").setLevel(logging.INFO) + logging.getLogger("urllib3").setLevel(logging.INFO) + + + +# 配置日志系统 +configure_logger() + +# 获取日志记录器 +logger = logging.getLogger(__name__) + + +# 获取调用栈信息的工具函数 +def _get_caller_info(stack_level=0) -> Tuple[str, int, str, str]: + """ + 获取调用者的信息 + + Args: + stack_level: 堆栈回溯的级别，0表示当前函数，1表示调用者，依此类推 + + Returns: + (filename, line_number, function_name, module_name) 元组 + """ + # 堆栈级别需要加3: + # +1 因为这个函数本身占一层 + # +1 因为日志函数(debug, info等)占一层 + # +1 因为下面调用 inspect.stack() 也占一层 + frame = inspect.currentframe() + try: + # 跳过适当的堆栈帧 + for _ in range(stack_level + 3): + if frame and frame.f_back: + frame = frame.f_back + else: + break + + if frame: + filename = frame.f_code.co_filename if frame.f_code else "unknown" + line_number = frame.f_lineno if hasattr(frame, "f_lineno") else 0 + function_name = frame.f_code.co_name if frame.f_code else "unknown" + + # 获取模块名称 + module_name = "unknown" + if frame.f_globals and "__name__" in frame.f_globals: + module_name = frame.f_globals["__name__"].rsplit(".", 1)[0] + + return (filename, line_number, function_name, module_name) + return ("unknown", 0, "unknown", "unknown") + finally: + del frame # 避免循环引用 + + +# 便捷日志记录函数 +def debug(msg, *args, stack_level=0, **kwargs): + """ + 记录DEBUG级别日志 + + Args: + msg: 日志消息 + stack_level: 堆栈回溯级别，用于定位日志的实际调用位置 + *args, **kwargs: 传递给logger.debug的其他参数 + """ + # 获取调用者信息 + if stack_level > 0: + caller_info = _get_caller_info(stack_level) + extra = kwargs.get("extra", {}) + extra["custom_stack_info"] = caller_info + kwargs["extra"] = extra + logger.debug(msg, *args, **kwargs) + + +def info(msg, *args, stack_level=0, **kwargs): + """ + 记录INFO级别日志 + + Args: + msg: 日志消息 + stack_level: 堆栈回溯级别，用于定位日志的实际调用位置 + *args, **kwargs: 传递给logger.info的其他参数 + """ + if stack_level > 0: + caller_info = _get_caller_info(stack_level) + extra = kwargs.get("extra", {}) + extra["custom_stack_info"] = caller_info + kwargs["extra"] = extra + logger.info(msg, *args, **kwargs) + + +def warning(msg, *args, stack_level=0, **kwargs): + """ + 记录WARNING级别日志 + + Args: + msg: 日志消息 + stack_level: 堆栈回溯级别，用于定位日志的实际调用位置 + *args, **kwargs: 传递给logger.warning的其他参数 + """ + if stack_level > 0: + caller_info = _get_caller_info(stack_level) + extra = kwargs.get("extra", {}) + extra["custom_stack_info"] = caller_info + kwargs["extra"] = extra + logger.warning(msg, *args, **kwargs) + + +def error(msg, *args, stack_level=0, **kwargs): + """ + 记录ERROR级别日志 + + Args: + msg: 日志消息 + stack_level: 堆栈回溯级别，用于定位日志的实际调用位置 + *args, **kwargs: 传递给logger.error的其他参数 + """ + if stack_level > 0: + caller_info = _get_caller_info(stack_level) + extra = kwargs.get("extra", {}) + extra["custom_stack_info"] = caller_info + kwargs["extra"] = extra + logger.error(msg, *args, **kwargs) + + +def critical(msg, *args, stack_level=0, **kwargs): + """ + 记录CRITICAL级别日志 + + Args: + msg: 日志消息 + stack_level: 堆栈回溯级别，用于定位日志的实际调用位置 + *args, **kwargs: 传递给logger.critical的其他参数 + """ + if stack_level > 0: + caller_info = _get_caller_info(stack_level) + extra = kwargs.get("extra", {}) + extra["custom_stack_info"] = caller_info + kwargs["extra"] = extra + logger.critical(msg, *args, **kwargs) + + +def trace(msg, *args, stack_level=0, **kwargs): + """ + 记录TRACE级别日志（比DEBUG级别更低） + + Args: + msg: 日志消息 + stack_level: 堆栈回溯级别，用于定位日志的实际调用位置 + *args, **kwargs: 传递给logger.log的其他参数 + """ + if stack_level > 0: + caller_info = _get_caller_info(stack_level) + extra = kwargs.get("extra", {}) + extra["custom_stack_info"] = caller_info + kwargs["extra"] = extra + logger.log(TRACE_LEVEL, msg, *args, **kwargs) + + +logger.trace = trace + +# 测试日志输出（如果直接运行此文件） +if __name__ == "__main__": + print("测试不同日志级别的颜色输出:") + trace("这是一条跟踪日志 (TRACE级别显示为深灰色，其他文本也为深灰色)") + debug("这是一条调试日志 (DEBUG级别显示为蓝色，其他文本为灰色)") + info("这是一条信息日志 (INFO级别显示为绿色，其他文本为白色)") + warning("这是一条警告日志 (WARNING级别显示为黄色，其他文本也为黄色)") + error("这是一条错误日志 (ERROR级别显示为红色，其他文本也为红色)") + critical("这是一条严重错误日志 (CRITICAL级别显示为紫色，其他文本也为紫色)") + # 测试异常输出 + try: + 1 / 0 + except Exception as e: + error(f"发生错误: {e}", exc_info=True) diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index da085f147..837d96c14 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -191,9 +191,23 @@ def configure_logger(loglevel=None, working_dir=None): # 添加处理器到根日志记录器 root_logger.addHandler(console_handler) + + # 降低第三方库的日志级别，避免过多输出 + # pymodbus 库的日志太详细，设置为 WARNING + logging.getLogger('pymodbus').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING) + + # websockets 库的日志输出较多，设置为 WARNING + logging.getLogger('websockets').setLevel(logging.WARNING) + logging.getLogger('websockets.client').setLevel(logging.WARNING) + logging.getLogger('websockets.server').setLevel(logging.WARNING) + + # ROS 节点的状态更新日志过于频繁，设置为 INFO + logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO) # 如果指定了工作目录，添加文件处理器 - log_filepath = None if working_dir is not None: logs_dir = os.path.join(working_dir, "logs") os.makedirs(logs_dir, exist_ok=True) @@ -214,7 +228,6 @@ def configure_logger(loglevel=None, working_dir=None): logging.getLogger("asyncio").setLevel(logging.INFO) logging.getLogger("urllib3").setLevel(logging.INFO) - return log_filepath # 配置日志系统 diff --git a/unilabos/utils/tools.py b/unilabos/utils/tools.py index 3c7b742ed..e67192088 100644 --- a/unilabos/utils/tools.py +++ b/unilabos/utils/tools.py @@ -17,6 +17,14 @@ def fast_dumps_pretty(obj, **kwargs) -> bytes: 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 @@ def fast_dumps(obj, **kwargs) -> bytes: # type: ignore[misc] 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))