diff --git a/docs/developer_guide/materials_construction_guide.md b/docs/developer_guide/materials_construction_guide.md
new file mode 100644
index 00000000..a19fa05c
--- /dev/null
+++ b/docs/developer_guide/materials_construction_guide.md
@@ -0,0 +1,405 @@
+# 物料构建指南
+
+## 概述
+
+在UniLab-OS系统中，任何工作站中所需要用到的物料主要包括四个核心组件：
+
+1. **桌子（Deck）** - 工作台面，定义整个工作空间的布局
+2. **堆栈（Warehouse）** - 存储区域，用于放置载具和物料
+3. **载具（Carriers）** - 承载瓶子等物料的容器架
+4. **瓶子（Bottles）** - 实际的物料容器
+
+本文档以BioYond工作站为例，详细说明如何构建这些物料组件。
+
+## 文件结构
+
+物料定义文件位于 `unilabos/resources/` 文件夹中：
+
+```
+unilabos/resources/bioyond/
+├── decks.py # 桌子定义
+├── YB_warehouses.py # 堆栈定义
+├── YB_bottle_carriers.py # 载具定义
+└── YB_bottles.py # 瓶子定义
+```
+
+对应的注册表文件位于 `unilabos/registry/resources/bioyond/` 文件夹中：
+
+```
+unilabos/registry/resources/bioyond/
+├── deck.yaml # 桌子注册表
+├── YB_bottle_carriers.yaml # 载具注册表
+└── YB_bottle.yaml # 瓶子注册表
+```
+
+## 1. 桌子（Deck）构建
+
+桌子是整个工作站的基础，定义了工作空间的尺寸和各个组件的位置。
+
+### 代码示例 (decks.py)
+
+```python
+from pylabrobot.resources import Coordinate, Deck
+from unilabos.resources.bioyond.YB_warehouses import (
+ bioyond_warehouse_2x2x1,
+ bioyond_warehouse_3x5x1,
+ bioyond_warehouse_20x1x1,
+ bioyond_warehouse_3x3x1,
+ bioyond_warehouse_10x1x1
+)
+
+class BIOYOND_YB_Deck(Deck):
+ def __init__(
+ self,
+ name: str = "YB_Deck",
+ size_x: float = 4150, # 桌子X方向尺寸 (mm)
+ size_y: float = 1400.0, # 桌子Y方向尺寸 (mm)
+ size_z: float = 2670.0, # 桌子Z方向尺寸 (mm)
+ category: str = "deck",
+ setup: bool = False
+ ) -> None:
+ super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
+ if setup:
+ self.setup() # 当在工作站配置中setup为True时，自动创建并放置所有预定义的堆栈
+
+ def setup(self) -> None:
+ # 定义桌子上的各个仓库区域
+ self.warehouses = {
+ "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"),
+ "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),
+ "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"),
+ "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"),
+ "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"),
+ "配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"),
+ "试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"),
+ }
+
+ # 定义各个仓库在桌子上的坐标位置
+ self.warehouse_locations = {
+ "自动堆栈-左": Coordinate(-100.3, 171.5, 0.0),
+ "自动堆栈-右": Coordinate(3960.1, 155.9, 0.0),
+ "手动堆栈-左": Coordinate(-213.3, 804.4, 0.0),
+ "手动堆栈-右": Coordinate(3960.1, 807.6, 0.0),
+ "粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0),
+ "配液站内试剂仓库": Coordinate(2162.0, 437.0, 0.0),
+ "试剂替换仓库": Coordinate(1173.0, 802.0, 0.0),
+ }
+
+ # 将仓库分配到桌子的指定位置
+ for warehouse_name, warehouse in self.warehouses.items():
+ self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+```
+
+### 在工作站配置中的使用
+
+当在工作站配置文件中定义桌子时，可以通过`setup`参数控制是否自动建立所有堆栈：
+
+```json
+{
+ "id": "YB_Bioyond_Deck",
+ "name": "YB_Bioyond_Deck",
+ "children": [],
+ "parent": "bioyond_cell_workstation",
+ "type": "deck",
+ "class": "BIOYOND_YB_Deck",
+ "config": {
+ "type": "BIOYOND_YB_Deck",
+ "setup": true
+ },
+ "data": {}
+}
+```
+
+**重要说明**：
+- 当 `"setup": true` 时，系统会自动调用桌子的 `setup()` 方法
+- 这将创建并放置所有预定义的堆栈到桌子上的指定位置
+- 如果 `"setup": false` 或省略该参数，则只创建空桌子，需要手动添加堆栈
+
+### 关键要点注释
+
+- `size_x`, `size_y`, `size_z`: 定义桌子的物理尺寸
+- `warehouses`: 字典类型，包含桌子上所有的仓库区域
+- `warehouse_locations`: 定义每个仓库在桌子坐标系中的位置
+- `assign_child_resource()`: 将仓库资源分配到桌子的指定位置
+- `setup()`: 可选的自动设置方法，初始化时可调用
+
+## 2. 堆栈（Warehouse）构建
+
+堆栈定义了存储区域的规格和布局，用于放置载具。
+
+### 代码示例 (YB_warehouses.py)
+
+```python
+from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory
+
+def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
+ """创建BioYond 1x4x4仓库
+
+ Args:
+ name: 仓库名称
+
+ Returns:
+ WareHouse: 仓库对象
+ """
+ return YB_warehouse_factory(
+ name=name,
+ num_items_x=1, # X方向位置数量
+ num_items_y=4, # Y方向位置数量
+ num_items_z=4, # Z方向位置数量（层数）
+ dx=10.0, # X方向起始偏移
+ dy=10.0, # Y方向起始偏移
+ dz=10.0, # Z方向起始偏移
+ item_dx=137.0, # X方向间距
+ item_dy=96.0, # Y方向间距
+ item_dz=120.0, # Z方向间距（层高）
+ category="warehouse",
+ )
+
+def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
+ """创建BioYond 2x2x1仓库（自动堆栈）"""
+ return YB_warehouse_factory(
+ name=name,
+ num_items_x=2,
+ num_items_y=2,
+ num_items_z=1, # 单层
+ dx=10.0,
+ dy=10.0,
+ dz=10.0,
+ item_dx=137.0,
+ item_dy=96.0,
+ item_dz=120.0,
+ category="YB_warehouse",
+ )
+```
+
+### 关键要点注释
+
+- `num_items_x/y/z`: 定义仓库在各个方向的位置数量
+- `dx/dy/dz`: 第一个位置的起始偏移坐标
+- `item_dx/dy/dz`: 相邻位置之间的间距
+- `category`: 仓库类别，用于分类管理
+- `YB_warehouse_factory`: 统一的仓库创建工厂函数
+
+## 3. 载具（Carriers）构建
+
+载具是承载瓶子的容器架，定义了瓶子的排列方式和位置。
+
+### 代码示例 (YB_bottle_carriers.py)
+
+```python
+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
+
+def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
+ """配液瓶(小)板 - 4x2布局，8个位置
+
+ Args:
+ name: 载具名称
+
+ Returns:
+ BottleCarrier: 载具对象，包含8个配液瓶位置
+ """
+
+ # 载具物理尺寸 (mm)
+ carrier_size_x = 127.8
+ carrier_size_y = 85.5
+ carrier_size_z = 65.0
+
+ # 瓶位参数
+ bottle_diameter = 35.0 # 瓶子直径
+ bottle_spacing_x = 42.0 # X方向瓶子间距
+ bottle_spacing_y = 35.0 # Y方向瓶子间距
+
+ # 计算起始位置 (居中排列)
+ start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
+ start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
+
+ # 创建瓶位布局：4列x2行
+ sites = create_ordered_items_2d(
+ klass=ResourceHolder,
+ num_items_x=4, # 4列
+ num_items_y=2, # 2行
+ dx=start_x,
+ dy=start_y,
+ dz=5.0, # 瓶子底部高度
+ item_dx=bottle_spacing_x,
+ item_dy=bottle_spacing_y,
+ size_x=bottle_diameter,
+ size_y=bottle_diameter,
+ size_z=carrier_size_z,
+ )
+
+ # 为每个瓶位设置名称
+ for k, v in sites.items():
+ v.name = f"{name}_{v.name}"
+
+ # 创建载具对象
+ carrier = BottleCarrier(
+ name=name,
+ size_x=carrier_size_x,
+ size_y=carrier_size_y,
+ size_z=carrier_size_z,
+ sites=sites,
+ model="YB_peiyepingxiaoban",
+ )
+
+ # 设置载具布局参数
+ carrier.num_items_x = 4
+ carrier.num_items_y = 2
+ carrier.num_items_z = 1
+
+ # 定义瓶子排列顺序
+ ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
+
+ # 为每个位置创建瓶子实例
+ for i in range(8):
+ carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}")
+
+ return carrier
+```
+
+### 关键要点注释
+
+- `carrier_size_x/y/z`: 载具的物理尺寸
+- `bottle_diameter`: 瓶子的直径，用于计算瓶位大小
+- `bottle_spacing_x/y`: 瓶子之间的间距
+- `create_ordered_items_2d`: 创建二维排列的瓶位
+- `sites`: 瓶位字典，存储所有瓶子位置信息
+- `ordering`: 定义瓶位的命名规则（如A1, A2, B1等）
+
+## 4. 瓶子（Bottles）构建
+
+瓶子是最终的物料容器，定义了容器的物理属性。
+
+### 代码示例 (YB_bottles.py)
+
+```python
+from unilabos.resources.itemized_carrier import Bottle
+
+def YB_pei_ye_xiao_Bottle(
+ name: str,
+ diameter: float = 35.0, # 瓶子直径 (mm)
+ height: float = 60.0, # 瓶子高度 (mm)
+ max_volume: float = 30000.0, # 最大容量 (μL) - 30mL
+ barcode: str = None, # 条码
+) -> Bottle:
+ """创建配液瓶(小)
+
+ Args:
+ name: 瓶子名称
+ diameter: 瓶子直径
+ height: 瓶子高度
+ max_volume: 最大容量（微升）
+ barcode: 条码标识
+
+ Returns:
+ Bottle: 瓶子对象
+ """
+ return Bottle(
+ name=name,
+ diameter=diameter,
+ height=height,
+ max_volume=max_volume,
+ barcode=barcode,
+ model="YB_pei_ye_xiao_Bottle",
+ )
+
+def YB_ye_Bottle(
+ name: str,
+ diameter: float = 40.0,
+ height: float = 70.0,
+ max_volume: float = 50000.0, # 最大容量
+ barcode: str = None,
+) -> Bottle:
+ """创建液体瓶"""
+ return Bottle(
+ name=name,
+ diameter=diameter,
+ height=height,
+ max_volume=max_volume,
+ barcode=barcode,
+ model="YB_ye_Bottle",
+ )
+```
+
+### 关键要点注释
+
+- `diameter`: 瓶子直径，影响瓶位大小计算
+- `height`: 瓶子高度，用于碰撞检测和移液计算
+- `max_volume`: 最大容量，单位为微升（μL）
+- `barcode`: 条码标识，用于瓶子追踪
+- `model`: 型号标识，用于区分不同类型的瓶子
+
+## 5. 注册表配置
+
+创建完物料定义后，需要在注册表中注册这些物料，使系统能够识别和使用它们。
+
+在 `unilabos/registry/resources/bioyond/` 目录下创建：
+
+- `deck.yaml` - 桌子注册表
+- `YB_bottle_carriers.yaml` - 载具注册表
+- `YB_bottle.yaml` - 瓶子注册表
+
+### 5.1 桌子注册表 (deck.yaml)
+
+```yaml
+BIOYOND_YB_Deck:
+ category:
+ - deck # 前端显示的分类存放
+ class:
+ module: unilabos.resources.bioyond.decks:BIOYOND_YB_Deck # 定义桌子的类的路径
+ type: pylabrobot
+ description: BIOYOND_YB_Deck # 描述信息
+ handles: []
+ icon: 配液站.webp # 图标文件
+ init_param_schema: {}
+ registry_type: resource # 注册类型
+ version: 1.0.0 # 版本号
+```
+
+### 5.2 载具注册表 (YB_bottle_carriers.yaml)
+
+```yaml
+YB_peiyepingxiaoban:
+ category:
+ - yb3
+ - YB_bottle_carriers
+ class:
+ module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
+ type: pylabrobot
+ description: YB_peiyepingxiaoban
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ registry_type: resource
+ version: 1.0.0
+```
+
+### 5.3 瓶子注册表 (YB_bottle.yaml)
+
+```yaml
+YB_pei_ye_xiao_Bottle:
+ category:
+ - yb3
+ - YB_bottle
+ class:
+ module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
+ type: pylabrobot
+ description: YB_pei_ye_xiao_Bottle
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ registry_type: resource
+ version: 1.0.0
+```
+
+### 注册表关键要点注释
+
+- `category`: 物料分类，用于在云端（网页界面）中的分类中显示
+- `module`: Python模块路径，格式为 `模块路径:类名`
+- `type`: 框架类型，通常为 `pylabrobot`（默认即可）
+- `description`: 描述信息，显示在用户界面中
+- `icon`: （名称唯一自动匹配后端上传的图标文件名，显示在云端）
+- `registry_type`: 固定为 `resource`
+- `version`: 版本号，用于版本管理
diff --git a/tests/devices/liquid_handling/__init__.py b/tests/devices/liquid_handling/__init__.py
deleted file mode 100644
index b16b30e2..00000000
--- a/tests/devices/liquid_handling/__init__.py
+++ /dev/null
@@ -1,5 +0,0 @@
-"""
-液体处理设备相关测试。
-"""
-
-
diff --git a/tests/devices/liquid_handling/test_transfer_liquid.py b/tests/devices/liquid_handling/test_transfer_liquid.py
deleted file mode 100644
index 9896aac5..00000000
--- a/tests/devices/liquid_handling/test_transfer_liquid.py
+++ /dev/null
@@ -1,505 +0,0 @@
-import asyncio
-from dataclasses import dataclass
-from typing import Any, Iterable, List, Optional, Sequence, Tuple
-
-import pytest
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-
-
-@dataclass(frozen=True)
-class DummyContainer:
- name: str
-
- def __repr__(self) -> str: # pragma: no cover
- return f"DummyContainer({self.name})"
-
-
-@dataclass(frozen=True)
-class DummyTipSpot:
- name: str
-
- def __repr__(self) -> str: # pragma: no cover
- return f"DummyTipSpot({self.name})"
-
-
-def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
- """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
- for i in range(n):
- yield [DummyTipSpot(f"tip_{i}")]
-
-
-class FakeLiquidHandler(LiquidHandlerAbstract):
- """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
-
- def __init__(self, channel_num: int = 8):
- # 不调用 super().__init__，避免真实硬件/后端依赖
- self.channel_num = channel_num
- self.support_touch_tip = True
- self.current_tip = iter(make_tip_iter())
- self.calls: List[Tuple[str, Any]] = []
-
- async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
- self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
-
- async def aspirate(
- self,
- resources: Sequence[Any],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Any = None,
- liquid_height: Any = None,
- blow_out_air_volume: Any = None,
- spread: str = "wide",
- **backend_kwargs,
- ):
- self.calls.append(
- (
- "aspirate",
- {
- "resources": list(resources),
- "vols": list(vols),
- "use_channels": list(use_channels) if use_channels is not None else None,
- "flow_rates": list(flow_rates) if flow_rates is not None else None,
- "offsets": list(offsets) if offsets is not None else None,
- "liquid_height": list(liquid_height) if liquid_height is not None else None,
- "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
- },
- )
- )
-
- async def dispense(
- self,
- resources: Sequence[Any],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Any = None,
- liquid_height: Any = None,
- blow_out_air_volume: Any = None,
- spread: str = "wide",
- **backend_kwargs,
- ):
- self.calls.append(
- (
- "dispense",
- {
- "resources": list(resources),
- "vols": list(vols),
- "use_channels": list(use_channels) if use_channels is not None else None,
- "flow_rates": list(flow_rates) if flow_rates is not None else None,
- "offsets": list(offsets) if offsets is not None else None,
- "liquid_height": list(liquid_height) if liquid_height is not None else None,
- "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
- },
- )
- )
-
- async def discard_tips(self, use_channels=None, *args, **kwargs):
- # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
- self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
-
- async def custom_delay(self, seconds=0, msg=None):
- self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
-
- async def touch_tip(self, targets):
- # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
- self.calls.append(("touch_tip", {"targets": targets}))
-
- async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
- self.calls.append(
- (
- "mix",
- {
- "targets": targets,
- "mix_time": mix_time,
- "mix_vol": mix_vol,
- },
- )
- )
-
-
-def run(coro):
- return asyncio.run(coro)
-
-
-def test_one_to_one_single_channel_basic_calls():
- lh = FakeLiquidHandler(channel_num=1)
- lh.current_tip = iter(make_tip_iter(64))
-
- sources = [DummyContainer(f"S{i}") for i in range(3)]
- targets = [DummyContainer(f"T{i}") for i in range(3)]
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=targets,
- tip_racks=[],
- use_channels=[0],
- asp_vols=[1, 2, 3],
- dis_vols=[4, 5, 6],
- mix_times=None, # 应该仍能执行（不 mix）
- )
- )
-
- assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
- assert [c[0] for c in lh.calls].count("aspirate") == 3
- assert [c[0] for c in lh.calls].count("dispense") == 3
- assert [c[0] for c in lh.calls].count("discard_tips") == 3
-
- # 每次 aspirate/dispense 都是单孔列表
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- assert aspirates[0]["resources"] == [sources[0]]
- assert aspirates[0]["vols"] == [1.0]
-
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert dispenses[2]["resources"] == [targets[2]]
- assert dispenses[2]["vols"] == [6.0]
-
-
-def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
- lh = FakeLiquidHandler(channel_num=1)
- lh.current_tip = iter(make_tip_iter(16))
-
- source = DummyContainer("S0")
- target = DummyContainer("T0")
-
- run(
- lh.transfer_liquid(
- sources=[source],
- targets=[target],
- tip_racks=[],
- use_channels=[0],
- asp_vols=[5],
- dis_vols=[5],
- mix_stage="before",
- mix_times=1,
- mix_vol=3,
- )
- )
-
- names = [name for name, _ in lh.calls]
- assert names.count("mix") == 1
- assert names.index("mix") < names.index("aspirate")
-
-
-def test_one_to_one_eight_channel_groups_by_8():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(256))
-
- sources = [DummyContainer(f"S{i}") for i in range(16)]
- targets = [DummyContainer(f"T{i}") for i in range(16)]
- asp_vols = list(range(1, 17))
- dis_vols = list(range(101, 117))
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=targets,
- tip_racks=[],
- use_channels=list(range(8)),
- asp_vols=asp_vols,
- dis_vols=dis_vols,
- mix_times=0, # 触发逻辑但不 mix
- )
- )
-
- # 16 个任务 -> 2 组，每组 8 通道一起做
- assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert len(aspirates) == 2
- assert len(dispenses) == 2
-
- assert aspirates[0]["resources"] == sources[0:8]
- assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
- assert dispenses[1]["resources"] == targets[8:16]
- assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
-
-
-def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(64))
-
- sources = [DummyContainer(f"S{i}") for i in range(9)]
- targets = [DummyContainer(f"T{i}") for i in range(9)]
-
- with pytest.raises(ValueError, match="multiple of 8"):
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=targets,
- tip_racks=[],
- use_channels=list(range(8)),
- asp_vols=[1] * 9,
- dis_vols=[1] * 9,
- mix_times=0,
- )
- )
-
-
-def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(512))
-
- sources = [DummyContainer(f"S{i}") for i in range(16)]
- targets = [DummyContainer(f"T{i}") for i in range(16)]
- asp_vols = [i + 1 for i in range(16)]
- dis_vols = [200 + i for i in range(16)]
- asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
- dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
- offsets = [f"offset_{i}" for i in range(16)]
- liquid_heights = [i * 0.5 for i in range(16)]
- blow_out_air_volume = [i + 0.05 for i in range(16)]
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=targets,
- tip_racks=[],
- use_channels=list(range(8)),
- asp_vols=asp_vols,
- dis_vols=dis_vols,
- asp_flow_rates=asp_flow_rates,
- dis_flow_rates=dis_flow_rates,
- offsets=offsets,
- liquid_height=liquid_heights,
- blow_out_air_volume=blow_out_air_volume,
- mix_times=0,
- )
- )
-
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert len(aspirates) == len(dispenses) == 2
-
- for batch_idx in range(2):
- start = batch_idx * 8
- end = start + 8
- asp_call = aspirates[batch_idx]
- dis_call = dispenses[batch_idx]
- assert asp_call["resources"] == sources[start:end]
- assert asp_call["flow_rates"] == asp_flow_rates[start:end]
- assert asp_call["offsets"] == offsets[start:end]
- assert asp_call["liquid_height"] == liquid_heights[start:end]
- assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
- assert dis_call["flow_rates"] == dis_flow_rates[start:end]
- assert dis_call["offsets"] == offsets[start:end]
- assert dis_call["liquid_height"] == liquid_heights[start:end]
- assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-
-
-def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(1024))
-
- sources = [DummyContainer(f"S{i}") for i in range(32)]
- targets = [DummyContainer(f"T{i}") for i in range(32)]
- asp_vols = [i + 1 for i in range(32)]
- dis_vols = [300 + i for i in range(32)]
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=targets,
- tip_racks=[],
- use_channels=list(range(8)),
- asp_vols=asp_vols,
- dis_vols=dis_vols,
- mix_times=0,
- )
- )
-
- pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert len(pick_calls) == 4
- assert len(aspirates) == len(dispenses) == 4
- assert aspirates[0]["resources"] == sources[0:8]
- assert aspirates[-1]["resources"] == sources[24:32]
- assert dispenses[0]["resources"] == targets[0:8]
- assert dispenses[-1]["resources"] == targets[24:32]
-
-
-def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
- lh = FakeLiquidHandler(channel_num=1)
- lh.current_tip = iter(make_tip_iter(64))
-
- source = DummyContainer("SRC")
- targets = [DummyContainer(f"T{i}") for i in range(3)]
- dis_vols = [10, 20, 30] # sum=60
-
- run(
- lh.transfer_liquid(
- sources=[source],
- targets=targets,
- tip_racks=[],
- use_channels=[0],
- asp_vols=10, # 小于 sum(dis_vols) -> 应吸 60
- dis_vols=dis_vols,
- mix_times=0,
- )
- )
-
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- assert len(aspirates) == 1
- assert aspirates[0]["resources"] == [source]
- assert aspirates[0]["vols"] == [60.0]
- assert aspirates[0]["use_channels"] == [0]
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
-
-
-def test_one_to_many_eight_channel_basic():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(128))
-
- source = DummyContainer("SRC")
- targets = [DummyContainer(f"T{i}") for i in range(8)]
- dis_vols = [i + 1 for i in range(8)]
-
- run(
- lh.transfer_liquid(
- sources=[source],
- targets=targets,
- tip_racks=[],
- use_channels=list(range(8)),
- asp_vols=999, # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
- dis_vols=dis_vols,
- mix_times=0,
- )
- )
-
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- assert aspirates[0]["resources"] == [source] * 8
- assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert dispenses[0]["resources"] == targets
- assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
- lh = FakeLiquidHandler(channel_num=1)
- lh.current_tip = iter(make_tip_iter(128))
-
- sources = [DummyContainer(f"S{i}") for i in range(3)]
- target = DummyContainer("T")
- asp_vols = [5, 6, 7]
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=[target],
- tip_racks=[],
- use_channels=[0],
- asp_vols=asp_vols,
- dis_vols=1, # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
- mix_times=0,
- )
- )
-
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
- assert all(d["resources"] == [target] for d in dispenses)
-
-
-def test_many_to_one_single_channel_before_stage_mixes_target_once():
- lh = FakeLiquidHandler(channel_num=1)
- lh.current_tip = iter(make_tip_iter(128))
-
- sources = [DummyContainer("S0"), DummyContainer("S1")]
- target = DummyContainer("T")
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=[target],
- tip_racks=[],
- use_channels=[0],
- asp_vols=[5, 6],
- dis_vols=1,
- mix_stage="before",
- mix_times=2,
- mix_vol=4,
- )
- )
-
- names = [name for name, _ in lh.calls]
- assert names[0] == "mix"
- assert names.count("mix") == 1
-
-
-def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
- lh = FakeLiquidHandler(channel_num=1)
- lh.current_tip = iter(make_tip_iter(128))
-
- sources = [DummyContainer(f"S{i}") for i in range(3)]
- target = DummyContainer("T")
- asp_vols = [5, 6, 7]
- dis_vols = [1, 2, 3]
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=[target],
- tip_racks=[],
- use_channels=[0],
- asp_vols=asp_vols,
- dis_vols=dis_vols, # 比例模式
- mix_times=0,
- )
- )
-
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_eight_channel_basic():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(256))
-
- sources = [DummyContainer(f"S{i}") for i in range(8)]
- target = DummyContainer("T")
- asp_vols = [10 + i for i in range(8)]
-
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=[target],
- tip_racks=[],
- use_channels=list(range(8)),
- asp_vols=asp_vols,
- dis_vols=999, # 非比例模式下每通道分液=对应 asp_vol
- mix_times=0,
- )
- )
-
- aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
- dispenses = [payload for name, payload in lh.calls if name == "dispense"]
- assert aspirates[0]["resources"] == sources
- assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
- assert dispenses[0]["resources"] == [target] * 8
- assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
-
-
-def test_transfer_liquid_mode_detection_unsupported_shape_raises():
- lh = FakeLiquidHandler(channel_num=8)
- lh.current_tip = iter(make_tip_iter(64))
-
- sources = [DummyContainer("S0"), DummyContainer("S1")]
- targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
-
- with pytest.raises(ValueError, match="Unsupported transfer mode"):
- run(
- lh.transfer_liquid(
- sources=sources,
- targets=targets,
- tip_racks=[],
- use_channels=[0],
- asp_vols=[1, 1],
- dis_vols=[1, 1, 1],
- mix_times=0,
- )
- )
-
diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py
index 23f139d2..4da65dad 100644
--- a/unilabos/app/ws_client.py
+++ b/unilabos/app/ws_client.py
@@ -488,7 +488,9 @@ async def _message_handler(self):
async for message in self.websocket:
try:
data = json.loads(message)
+ # print("===========preprocessed_data", data)
await self._process_message(data)
+
except json.JSONDecodeError:
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
except Exception as e:
diff --git a/unilabos/devices/Qone_nmr/QOne_NMR_User_Guide.md b/unilabos/devices/Qone_nmr/QOne_NMR_User_Guide.md
deleted file mode 100644
index c09785c9..00000000
--- a/unilabos/devices/Qone_nmr/QOne_NMR_User_Guide.md
+++ /dev/null
@@ -1,200 +0,0 @@
-# QOne NMR 用户指南
-
-## 概述
-
-Qone NMR 设备支持多字符串数据处理功能。该设备可以接收包含多个字符串的输入数据，并将每个字符串转换为独立的 TXT 文件，支持灵活的数据格式化和输出。
-
-## 核心功能
-
-- **多字符串处理**: 支持逗号分隔或换行分隔的多个字符串输入
-- **自动文件生成**: 每个输入字符串生成一个对应的 TXT 文件
-- **文件夹监督**: 自动监督指定目录，检测新内容生成
-- **错误处理**: 完善的输入验证和错误处理机制
-
-## 参数说明
-
-### 输入参数
-
-- **string** (str): 包含多个字符串的输入数据，支持格式：
- - **逗号分隔**: `"字符串1, 字符串2, 字符串3"`
-
-### 输出参数
-
-- **return_info** (str): 处理结果信息，包含监督功能的执行结果
-- **success** (bool): 处理是否成功
-- **files_generated** (int): 生成的 TXT 文件数量
-
-## 输入数据格式
-
-### 支持的输入格式
-
-1. **逗号分隔格式**:
- ```
- "A 1 B 1 C 1 D 1 E 1 F 1 G 1 H 1 END, A 2 B 2 C 2 D 2 E 2 F 2 G 2 H 2 END"
- ```
-
- ```
-
-### 数据项格式
-
-每个字符串内的数据项应该用空格分隔，例如：
-- `A 1 B 2 C 3 D 4 E 5 F 6 G 7 H 8 END`
-- `Sample 001 Method A Volume 10.5 Temp 25.0`
-
-## 输出文件说明
-
-### 文件命名
-
-生成的 TXT 文件将按照row_字符串顺序命名，例如：
-- `row_1.txt`
-- `row_2.txt`
-
-### 文件格式
-
-每个 TXT 文件包含对应字符串的格式化数据，格式为：
-```
-A 1
-B 2
-C 3
-D 4
-E 5
-F 6
-G 7
-H 8
-END
-```
-
-### 输出目录
-
-默认输出目录为 `D:/setup/txt`，可以在 `device.json` 中配置 `output_dir` 参数。
-
-## 文件夹监督功能
-
-### 监督机制
-
-设备在完成字符串到TXT文件的转换后，会自动启动文件夹监督功能：
-
-- **监督目录**: 默认监督 `D:/Data/MyPC/Automation` 目录
-- **检查间隔**: 每60秒检查一次新生成的.nmr文件
-- **检测内容**: 新文件生成或现有文件大小变化
-- **停止条件**: 连续三次文件大小没有变化，则检测完成
-
-## 文件夹监督功能详细说明
-
-Oxford NMR设备驱动集成了智能文件夹监督功能，用于监测.nmr结果文件的生成完成状态。该功能通过监测文件大小变化来判断文件是否已完成写入。
-
-### 工作机制
-
-1. **文件大小监测**: 监督功能专门监测指定目录中新生成的.nmr文件的大小变化
-2. **稳定性检测**: 当文件大小在连续多次检查中保持不变时，认为文件已完成写入
-3. **批量处理支持**: 根据输入的.txt文件数量，自动确定需要监测的.nmr文件数量
-4. **实时反馈**: 提供详细的监测进度和文件状态信息
-5. **自动停止**: 当所有期望的.nmr文件都达到稳定状态时，监督功能自动停止，start函数执行完毕
-
-### 配置参数
-
-可以通过`device.json`配置文件调整监督功能的行为：
-
-```json
-{
- "config": {
- "output_dir": "D:/setup/txt",
- "monitor_dir": "D:\\Data\\MyPC\\Automation",
- "stability_checks": 3,
- "check_interval": 60
- }
-}
-```
-
-- `monitor_dir`: 监督的目录路径，默认为`D:\Data\MyPC\Automation`
-- `stability_checks`: 文件大小稳定性检查次数，默认为3次（连续2次检查大小不变则认为文件完成）
-- `check_interval`: 检查间隔时间（秒），默认为60秒
-
-### 监测逻辑
-
-1. **初始状态记录**: 记录监督开始时目录中已存在的.nmr文件及其大小
-2. **新文件检测**: 持续检测新生成的.nmr文件
-3. **大小变化跟踪**: 为每个新文件维护大小变化历史记录
-4. **稳定性判断**: 当文件大小在连续`stability_checks`次检查中保持不变且大小大于0时，认为文件完成
-5. **完成条件**: 当达到期望数量的.nmr文件都完成时，监督功能结束
-
-### 配置监督目录
-
-可以在 `device.json` 中配置 `monitor_dir` 参数来指定监督目录：
-
-```json
-{
- "config": {
- "output_dir": "D:/setup/txt",
- "monitor_dir": "D:/Data/MyPC/Automation"
- }
-}
-```
-
-## 使用示例
-
-### 示例 1: 基本多字符串处理
-
-```python
-from unilabos.devices.Qone_nmr.Qone_nmr import Qone_nmr
-
-# 创建设备实例
-device = Qone_nmr(output_directory="D:/setup/txt")
-
-# 输入多个字符串（逗号分隔）
-input_data = "A 1 B 1 C 1 D 1 E 1 F 1 G 1 H 1 END, A 2 B 2 C 2 D 2 E 2 F 2 G 2 H 2 END"
-
-# 处理数据
-result = device.start(string=input_data)
-
-print(f"处理结果: {result}")
-# 输出: {'return_info': 'Oxford NMR处理完成: 已生成 3 个 txt 文件，保存在: ./output | 监督完成: 成功检测到 3 个.nmr文件已完成生成', 'success': True, 'files_generated': 3}
-
-### 输出示例
-
-当设备成功处理输入并完成文件监督后，会返回如下格式的结果：
-
-```json
-{
- "return_info": "Oxford NMR处理完成: 已生成 3 个 txt 文件，保存在: D:/setup/txt | 监督完成: 成功检测到 3 个.nmr文件已完成生成，start函数执行完毕",
- "success": true,
- "files_generated": 3
-}
-```
-
-监督过程中的日志输出示例：
-```
-[INFO] 开始监督目录: D:/Data/MyPC/Automation，检查间隔: 30秒，期望.nmr文件数量: 3，稳定性检查: 2次
-[INFO] 初始状态: 0 个.nmr文件
-[INFO] 检测到 3 个新.nmr文件，还需要 0 个...
-[DEBUG] 文件大小监测中: D:/Data/MyPC/Automation/sample1.nmr (当前: 1024 字节, 检查次数: 1/3)
-[DEBUG] 文件大小监测中: D:/Data/MyPC/Automation/sample2.nmr (当前: 2048 字节, 检查次数: 1/3)
-[DEBUG] 文件大小监测中: D:/Data/MyPC/Automation/sample3.nmr (当前: 1536 字节, 检查次数: 1/3)
-[INFO] 文件大小已稳定: D:/Data/MyPC/Automation/sample1.nmr (大小: 1024 字节)
-[INFO] 文件大小已稳定: D:/Data/MyPC/Automation/sample2.nmr (大小: 2048 字节)
-[INFO] 文件大小已稳定: D:/Data/MyPC/Automation/sample3.nmr (大小: 1536 字节)
-[INFO] 所有期望的.nmr文件都已完成生成! 完成文件数: 3/3
-[INFO] 完成的.nmr文件: D:/Data/MyPC/Automation/sample1.nmr (最终大小: 1024 字节)
-[INFO] 完成的.nmr文件: D:/Data/MyPC/Automation/sample2.nmr (最终大小: 2048 字节)
-[INFO] 完成的.nmr文件: D:/Data/MyPC/Automation/sample3.nmr (最终大小: 1536 字节)
-[INFO] 停止文件夹监测，所有文件已完成
-```
-```
-
-## 错误处理
-
-设备具有完善的错误处理机制：
-
-- **空输入**: 如果输入为空或 None，返回错误信息
-- **无效格式**: 如果输入格式不正确，返回相应错误
-- **文件系统错误**: 如果输出目录不存在或无权限，返回错误信息
-
-## 注意事项
-
-1. **目录权限**: 确保监督目录具有读取权限，以便设备能够检测文件变化
-2. **文件大小监测**: 监督功能现在基于文件大小变化来判断.nmr文件是否完成，而不是简单的文件存在性检查
-3. **稳定性检查**: 文件大小需要在连续多次检查中保持不变才被认为完成，默认为3次检查
-4. **自动停止**: 监督功能会在检测到期望数量的.nmr文件都达到稳定状态后自动停止，避免无限循环
-5. **配置灵活性**: 可以通过`device.json`调整稳定性检查次数和检查间隔，以适应不同的使用场景
-6. **文件类型**: 监督功能专门针对.nmr文件，忽略其他类型的文件变化
-7. **批量处理**: 支持同时监测多个.nmr文件的完成状态，适合批量处理场景
\ No newline at end of file
diff --git a/unilabos/devices/Qone_nmr/Qone_nmr.py b/unilabos/devices/Qone_nmr/Qone_nmr.py
deleted file mode 100644
index 1633a8d6..00000000
--- a/unilabos/devices/Qone_nmr/Qone_nmr.py
+++ /dev/null
@@ -1,382 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-Oxford NMR Device Driver for Uni-Lab OS
-
-支持Oxford NMR设备的CSV字符串到TXT文件转换功能。
-通过ROS2动作接口接收CSV字符串，批量生成TXT文件到指定目录。
-"""
-
-import csv
-import io
-import logging
-import os
-import re
-import time
-from pathlib import Path
-from typing import Dict, Any
-
-class UniversalDriver:
- """Fallback UniversalDriver for standalone testing"""
- def __init__(self):
- self.success = False
-
-class Qone_nmr(UniversalDriver):
- """Oxford NMR Device Driver
-
- 支持CSV字符串到TXT文件的批量转换功能。
- """
-
- def __init__(self, **kwargs):
- """Initialize the Oxford NMR driver
-
- Args:
- **kwargs: Device-specific configuration parameters
- - config: Configuration dictionary containing output_dir
- """
- super().__init__()
-
- # Device configuration
- self.config = kwargs
- config_dict = kwargs.get('config', {})
-
- # 设置输出目录，优先使用配置中的output_dir，否则使用默认值
- self.output_directory = "D:\\setup\\txt" # 默认输出目录
- if config_dict and 'output_dir' in config_dict:
- self.output_directory = config_dict['output_dir']
-
- # 设置监督目录，优先使用配置中的monitor_dir，否则使用默认值
- self.monitor_directory = "D:/Data/MyPC/Automation" # 默认监督目录
- if config_dict and 'monitor_dir' in config_dict:
- self.monitor_directory = config_dict['monitor_dir']
-
- # 设置文件大小稳定性检查参数
- self.stability_checks = 3 # 默认稳定性检查次数
- if config_dict and 'stability_checks' in config_dict:
- self.stability_checks = config_dict['stability_checks']
-
- # 设置检查间隔时间
- self.check_interval = 60 # 默认检查间隔（秒）
- if config_dict and 'check_interval' in config_dict:
- self.check_interval = config_dict['check_interval']
-
- # 确保输出目录存在
- os.makedirs(self.output_directory, exist_ok=True)
-
- # ROS节点引用，由框架设置
- self._ros_node = None
-
- # ROS2 action result properties
- self.success = False
- self.return_info = ""
-
- # Setup logging
- self.logger = logging.getLogger(f"Qone_nmr-{kwargs.get('id', 'unknown')}")
- self.logger.info(f"Oxford NMR driver initialized with output directory: {self.output_directory}")
- self.logger.info(f"Monitor directory set to: {self.monitor_directory}")
- self.logger.info(f"Stability checks: {self.stability_checks}, Check interval: {self.check_interval}s")
-
- def post_init(self, ros_node):
- """ROS节点初始化后的回调方法
-
- Args:
- ros_node: ROS节点实例
- """
- self._ros_node = ros_node
- ros_node.lab_logger().info(f"Oxford NMR设备初始化完成，输出目录: {self.output_directory}")
-
- def get_status(self) -> str:
- """获取设备状态
-
- Returns:
- str: 设备状态 (Idle|Offline|Error|Busy|Unknown)
- """
- return "Idle" # NMR设备始终处于空闲状态，等待处理请求
-
- def strings_to_txt(self, string_list, output_dir=None, txt_encoding="utf-8"):
- """
- 将字符串列表写入多个 txt 文件
- string_list: ["A 1 B 1 C 1 D 1 E 1 F 1 G 1 H 1 END", ...]
-
- Args:
- string_list: 字符串列表
- output_dir: 输出目录（如果未指定，使用self.output_directory）
- txt_encoding: 文件编码
-
- Returns:
- int: 生成的文件数量
- """
- # 使用指定的输出目录或默认目录
- target_dir = output_dir if output_dir else self.output_directory
-
- # 确保输出目录存在
- os.makedirs(target_dir, exist_ok=True)
-
- self.logger.info(f"开始生成文件到目录: {target_dir}")
-
- for i, s in enumerate(string_list, start=1):
- try:
- # 去掉开头结尾的引号（如果有）
- s = s.strip('"').strip("'")
-
- # 拆分字符串
- parts = s.split()
-
- # 按两两一组重新排版为多行
- txt_lines = []
- for j in range(0, len(parts) - 1, 2):
- txt_lines.append("{} {}".format(parts[j], parts[j+1]))
- txt_lines.append("END")
-
- txt_content = "\n".join(txt_lines)
-
- # 生成文件名（row_1.txt, row_2.txt, ...）
- file_name = "row_{}.txt".format(i)
- out_path = os.path.join(target_dir, file_name)
-
- with open(out_path, "w", encoding=txt_encoding) as f:
- f.write(txt_content)
-
- self.logger.info(f"成功生成文件: {file_name}")
-
- except Exception as e:
- self.logger.error(f"处理第{i}个字符串时出错: {str(e)}")
- raise
-
- return len(string_list) # 返回生成文件数量
-
- def monitor_folder_for_new_content(self, monitor_dir=None, check_interval=60, expected_count=1, stability_checks=3):
- """监督指定文件夹中.nmr文件的大小变化，当文件大小稳定时认为文件完成
-
- Args:
- monitor_dir (str): 要监督的目录路径，如果未指定则使用self.monitor_directory
- check_interval (int): 检查间隔时间（秒），默认60秒
- expected_count (int): 期望生成的.nmr文件数量，默认1个
- stability_checks (int): 文件大小稳定性检查次数，默认3次
-
- Returns:
- bool: 如果检测到期望数量的.nmr文件且大小稳定返回True，否则返回False
- """
- target_dir = monitor_dir if monitor_dir else self.monitor_directory
-
- # 确保监督目录存在
- if not os.path.exists(target_dir):
- self.logger.warning(f"监督目录不存在: {target_dir}")
- return False
-
- self.logger.info(f"开始监督目录: {target_dir}，检查间隔: {check_interval}秒，期望.nmr文件数量: {expected_count}，稳定性检查: {stability_checks}次")
-
- # 记录初始的.nmr文件及其大小
- initial_nmr_files = {}
-
- try:
- for root, dirs, files in os.walk(target_dir):
- for file in files:
- if file.lower().endswith('.nmr'):
- file_path = os.path.join(root, file)
- try:
- file_size = os.path.getsize(file_path)
- initial_nmr_files[file_path] = file_size
- except OSError:
- pass # 忽略无法访问的文件
- except Exception as e:
- self.logger.error(f"读取初始目录状态失败: {str(e)}")
- return False
-
- self.logger.info(f"初始状态: {len(initial_nmr_files)} 个.nmr文件")
-
- # 跟踪新文件的大小变化历史
- new_files_size_history = {}
- completed_files = set()
-
- # 开始监督循环
- while True:
- time.sleep(check_interval)
-
- current_nmr_files = {}
-
- try:
- for root, dirs, files in os.walk(target_dir):
- for file in files:
- if file.lower().endswith('.nmr'):
- file_path = os.path.join(root, file)
- try:
- file_size = os.path.getsize(file_path)
- current_nmr_files[file_path] = file_size
- except OSError:
- pass
-
- # 找出新生成的.nmr文件
- new_nmr_files = set(current_nmr_files.keys()) - set(initial_nmr_files.keys())
-
- if len(new_nmr_files) < expected_count:
- self.logger.info(f"检测到 {len(new_nmr_files)} 个新.nmr文件，还需要 {expected_count - len(new_nmr_files)} 个...")
- continue
-
- # 检查新文件的大小稳定性
- for file_path in new_nmr_files:
- if file_path in completed_files:
- continue
-
- current_size = current_nmr_files.get(file_path, 0)
-
- # 初始化文件大小历史记录
- if file_path not in new_files_size_history:
- new_files_size_history[file_path] = []
-
- # 记录当前大小
- new_files_size_history[file_path].append(current_size)
-
- # 保持历史记录长度不超过稳定性检查次数
- if len(new_files_size_history[file_path]) > stability_checks:
- new_files_size_history[file_path] = new_files_size_history[file_path][-stability_checks:]
-
- # 检查大小是否稳定
- size_history = new_files_size_history[file_path]
- if len(size_history) >= stability_checks:
- # 检查最近几次的大小是否相同且不为0
- if len(set(size_history[-stability_checks:])) == 1 and size_history[-1] > 0:
- self.logger.info(f"文件大小已稳定: {file_path} (大小: {current_size} 字节)")
- completed_files.add(file_path)
- else:
- self.logger.debug(f"文件大小仍在变化: {file_path} (当前: {current_size} 字节, 历史: {size_history[-3:]})")
- else:
- self.logger.debug(f"文件大小监测中: {file_path} (当前: {current_size} 字节, 检查次数: {len(size_history)}/{stability_checks})")
-
- # 检查是否所有期望的文件都已完成
- if len(completed_files) >= expected_count:
- self.logger.info(f"所有期望的.nmr文件都已完成生成! 完成文件数: {len(completed_files)}/{expected_count}")
- for completed_file in list(completed_files)[:expected_count]:
- final_size = current_nmr_files.get(completed_file, 0)
- self.logger.info(f"完成的.nmr文件: {completed_file} (最终大小: {final_size} 字节)")
- self.logger.info("停止文件夹监测，所有文件已完成")
- return True
- else:
- self.logger.info(f"已完成 {len(completed_files)} 个文件，还需要 {expected_count - len(completed_files)} 个文件完成...")
-
- except Exception as e:
- self.logger.error(f"监督过程中出错: {str(e)}")
- return False
-
- def start(self, string: str = None) -> dict:
- """使用字符串列表启动TXT文件生成（支持ROS2动作调用）
-
- Args:
- string (str): 包含多个字符串的输入数据，支持两种格式：
- 1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
- 2. 换行分隔：如 "A 1 B 2 C 3\nX 10 Y 20 Z 30"
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool, "files_generated": int}
- """
- try:
- if string is None or string.strip() == "":
- error_msg = "未提供字符串参数或参数为空"
- self.logger.error(error_msg)
- return {"return_info": error_msg, "success": False, "files_generated": 0}
-
- self.logger.info(f"开始处理字符串数据，长度: {len(string)} 字符")
-
- # 支持两种分隔方式：逗号分隔或换行分隔
- string_list = []
-
- # 首先尝试逗号分隔
- if ',' in string:
- string_list = [item.strip() for item in string.split(',') if item.strip()]
- else:
- # 如果没有逗号，则按换行分隔
- string_list = [line.strip() for line in string.strip().split('\n') if line.strip()]
-
- if not string_list:
- error_msg = "输入字符串解析后为空"
- self.logger.error(error_msg)
- return {"return_info": error_msg, "success": False, "files_generated": 0}
-
- # 确保输出目录存在
- os.makedirs(self.output_directory, exist_ok=True)
-
- # 使用strings_to_txt函数生成TXT文件
- file_count = self.strings_to_txt(
- string_list=string_list,
- output_dir=self.output_directory,
- txt_encoding='utf-8'
- )
-
- success_msg = f"Oxford NMR处理完成: 已生成 {file_count} 个 txt 文件，保存在: {self.output_directory}"
- self.logger.info(success_msg)
-
- # 在string转txt完成后，启动文件夹监督功能
- self.logger.info(f"开始启动文件夹监督功能，期望生成 {file_count} 个.nmr文件...")
- monitor_result = self.monitor_folder_for_new_content(
- expected_count=file_count,
- check_interval=self.check_interval,
- stability_checks=self.stability_checks
- )
-
- if monitor_result:
- success_msg += f" | 监督完成: 成功检测到 {file_count} 个.nmr文件已完成生成，start函数执行完毕"
- else:
- success_msg += f" | 监督结束: 监督过程中断或失败，start函数执行完毕"
-
- return {"return_info": success_msg, "success": True, "files_generated": file_count}
-
- except Exception as e:
- error_msg = f"字符串处理失败: {str(e)}"
- self.logger.error(error_msg)
- return {"return_info": error_msg, "success": False, "files_generated": 0}
-
-
-
-def test_qone_nmr():
- """测试Qone_nmr设备的字符串处理功能"""
- try:
- # 配置日志输出
- logging.basicConfig(
- level=logging.INFO,
- format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
- )
- logger = logging.getLogger("Qone_nmr_test")
-
- logger.info("开始测试Qone_nmr设备...")
-
- # 创建设备实例，使用正确的配置格式
- device = Qone_nmr(config={'output_dir': "D:\\setup\\txt"})
- logger.info(f"设备初始化完成，输出目录: {device.output_directory}")
-
- # 测试数据：多个字符串，逗号分隔
- test_strings = "A 1 B 1 C 1 D 1 E 1 F 1 G 1 H 1 END, A 2 B 2 C 2 D 2 E 2 F 2 G 2 H 2 END"
- logger.info(f"测试输入: {test_strings}")
-
- # 确保输出目录存在
- if not os.path.exists(device.output_directory):
- os.makedirs(device.output_directory, exist_ok=True)
- logger.info(f"创建输出目录: {device.output_directory}")
-
- # 调用start方法
- result = device.start(string=test_strings)
- logger.info(f"处理结果: {result}")
-
- # 显示生成的文件内容
- if result.get('success', False):
- output_dir = device.output_directory
- if os.path.exists(output_dir):
- txt_files = [f for f in os.listdir(output_dir) if f.endswith('.txt')]
- logger.info(f"生成的文件数量: {len(txt_files)}")
- for i, filename in enumerate(txt_files[:2]): # 只显示前2个文件
- filepath = os.path.join(output_dir, filename)
- logger.info(f"文件 {i+1}: {filename}")
- with open(filepath, 'r', encoding='utf-8') as f:
- content = f.read()
- logger.info(f"内容:\n{content}")
-
- logger.info("测试完成!")
- return result
- except Exception as e:
- logger.error(f"测试过程中出现错误: {str(e)}")
- import traceback
- traceback.print_exc()
- return {"return_info": f"测试失败: {str(e)}", "success": False, "files_generated": 0}
-
-
-if __name__ == "__main__":
- test_qone_nmr()
\ No newline at end of file
diff --git a/unilabos/devices/Qone_nmr/device.json b/unilabos/devices/Qone_nmr/device.json
deleted file mode 100644
index 7160f3a4..00000000
--- a/unilabos/devices/Qone_nmr/device.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "nodes": [
- {
- "id": "Qone_nmr_device",
- "name": "Qone_NMR_Device",
- "parent": null,
- "type": "device",
- "class": "Qone_nmr",
- "position": {
- "x": 620.6111111111111,
- "y": 171,
- "z": 0
- },
- "config": {
- "output_dir": "D:\\setup\\txt",
- "monitor_dir": "D:\\Data\\MyPC\\Automation",
- "stability_checks": 3,
- "check_interval": 60
- },
- "data": {},
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/Qone_nmr/samples.csv b/unilabos/devices/Qone_nmr/samples.csv
deleted file mode 100644
index 672343ac..00000000
--- a/unilabos/devices/Qone_nmr/samples.csv
+++ /dev/null
@@ -1,4 +0,0 @@
-USERNAME,SLOT,EXPNAME,FILE,SOLVENT,TEMPLATE,TITLE
-User,SLOT,Name,No.,SOLVENT,Experiment,TITLE
-用户名,进样器孔位,实验任务的名字,保存文件的名字,溶剂（按照实验的要求）,模板（按照实验的要求，指定测试的元素）,标题
-admin,18,11LiDFOB,LiDFOB-11B,DMSO,B11,11LiDFOB_400MHz
diff --git a/unilabos/devices/UV_test/fuxiang2.py b/unilabos/devices/UV_test/fuxiang2.py
deleted file mode 100644
index c6f21ef5..00000000
--- a/unilabos/devices/UV_test/fuxiang2.py
+++ /dev/null
@@ -1,333 +0,0 @@
-import tkinter as tk
-from tkinter import ttk # 使用 ttk 替换 tk 控件
-from tkinter import messagebox
-from tkinter.font import Font
-from threading import Thread
-from ttkthemes import ThemedTk
-import time
-import matplotlib.pyplot as plt
-from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
-import clr # pythonnet library
-import sys
-import threading
-import datetime
-
-jifenshijian = 10 #积分时间
-shuaxinshijian = 0.01 #刷新时间
-zihaodaxiao = 16 #字号大小
-ymax = 70000
-ymin = -2000
-
-# 加载DLL
-dll_path = "C:\\auto\\UV_spec\\idea-sdk 3.0.9\\idea-sdk.UPI\\IdeaOptics.dll"
-clr.AddReference(dll_path)
-from IdeaOptics import Wrapper
-
-# 初始化Wrapper对象和光谱仪
-wrapper = Wrapper()
-number_of_spectrometers = wrapper.OpenAllSpectrometers()
-if number_of_spectrometers > 0:
- spectrometer_index = 0 # 假设使用第一个光谱仪
- integration_time = jifenshijian # 设置积分时间
- wrapper.setIntegrationTime(spectrometer_index, integration_time)
-
-class App:
- def __init__(self, root):
- self.root = root
- self.root.title("光谱测试")
- self.is_continuous = False
- self.root.protocol("WM_DELETE_WINDOW", self.on_closing)
- self.stop_event = threading.Event() # 使用Event代替布尔标志
- self.continuous_thread = None # 在这里初始化
- self.background_spectrum = None
- self.correct_background = False
- self.test_count = 0
- self.background_count = 0
-
- self.source_spectrum = None # 初始化光源强度变量
- self.transmission_mode = False # 初始化透射模式标志
-
- self.data_ready = False
-
- # 使用 grid 布局
- self.root.columnconfigure(0, weight=1)
- self.root.rowconfigure(0, weight=1)
- self.root.rowconfigure(1, weight=1)
- self.root.rowconfigure(2, weight=1)
- self.root.rowconfigure(3, weight=1)
-
- self.current_ylim = [-100, 1000] # 初始化y轴范围
-
- # 创建一个 Style 对象
- style = ttk.Style()
-
- # 定义一个新的样式
- style.configure('Custom.TButton', font=('Helvetica', zihaodaxiao, 'bold'), foreground='white')
-
- # 创建滑动条和按钮的容器 Frame
- control_frame = ttk.Frame(self.root)
- control_frame.grid(row=0, column=0, sticky="ew")
-
- # 创建一个滑动条来选择平滑次数
- self.boxcar_width_slider = tk.Scale(control_frame, from_=0, to=10, orient=tk.HORIZONTAL, length=300, label="平滑次数", font=("Helvetica", zihaodaxiao, 'bold'))
- self.boxcar_width_slider.grid(row=0, column=0, padx=10, pady=10)
-
- # 创建一个滑动条来选择平均次数
- self.scans_to_average_slider = tk.Scale(control_frame, from_=1, to=10, orient=tk.HORIZONTAL, length=300, label="平均次数", font=("Helvetica", zihaodaxiao, 'bold'))
- self.scans_to_average_slider.grid(row=0, column=1, padx=10, pady=10)
-
- # 调整 Scale 控件的外观
- self.boxcar_width_slider.config(bg='grey', fg='white')
- self.scans_to_average_slider.config(bg='grey', fg='white')
-
- # 字体设置
- entry_font = ('Helvetica', zihaodaxiao, 'bold')
-
- # 添加输入框的容器 Frame
- entry_frame = ttk.Frame(self.root)
- entry_frame.grid(row=1, column=0, sticky="ew")
-
- # 创建并放置"积分时间(ms)"输入框
- ttk.Label(entry_frame, text="积分时间(ms):", font=entry_font).grid(row=0, column=0, padx=10, pady=10)
- self.integration_time_entry = ttk.Entry(entry_frame, font=entry_font)
- self.integration_time_entry.grid(row=0, column=1, padx=10, pady=10)
- self.integration_time_entry.insert(0, "10") # 设置默认值
-
- # 创建并放置"刷新间隔(s)"输入框
- ttk.Label(entry_frame, text="刷新间隔(s):", font=entry_font).grid(row=0, column=2, padx=10, pady=10)
- self.refresh_interval_entry = ttk.Entry(entry_frame, font=entry_font)
- self.refresh_interval_entry.grid(row=0, column=3, padx=10, pady=10)
- self.refresh_interval_entry.insert(0, "0.01") # 设置默认值
-
- # 创建按钮的容器 Frame
- button_frame = ttk.Frame(self.root)
- button_frame.grid(row=2, column=0, sticky="ew")
-
- # 创建并放置按钮
- ttk.Button(button_frame, text="测试一下", style='Custom.TButton', command=self.single_test).grid(row=0, column=0, padx=10, pady=10)
- ttk.Button(button_frame, text="连续测试", style='Custom.TButton', command=self.start_continuous_test).grid(row=0, column=1, padx=10, pady=10)
- ttk.Button(button_frame, text="停止测试", style='Custom.TButton', command=self.stop_continuous_test).grid(row=0, column=2, padx=10, pady=10)
-
- # 创建背景相关按钮的容器 Frame
- background_frame = ttk.Frame(self.root)
- background_frame.grid(row=3, column=0, sticky="ew")
-
- # 创建并放置“采集背景”按钮
- self.collect_background_button = ttk.Button(background_frame, text="采集背景", style='Custom.TButton', command=self.collect_background)
- self.collect_background_button.grid(row=0, column=0, padx=10, pady=10)
-
- # 创建并放置“背景校正”按钮
- self.correct_background_button = ttk.Button(background_frame, text="背景校正", style='Custom.TButton', command=self.toggle_background_correction)
- self.correct_background_button.grid(row=0, column=1, padx=10, pady=10)
-
- # 创建“光源采集”按钮
- ttk.Button(background_frame, text="光源采集", style='Custom.TButton', command=self.collect_source).grid(row=0, column=2, padx=10, pady=10)
-
- # 创建“透射模式”按钮
- self.transmission_button = ttk.Button(background_frame, text="透射模式", style='Custom.TButton', command=self.toggle_transmission_mode)
- self.transmission_button.grid(row=0, column=3, padx=10, pady=10)
-
- # 创建 matplotlib 画布
- plt.style.use('ggplot') # 使用预定义的样式，如 'ggplot'
- self.figure, self.ax = plt.subplots(figsize=(10, 8))
- self.canvas = FigureCanvasTkAgg(self.figure, self.root)
- self.canvas_widget = self.canvas.get_tk_widget()
- self.canvas_widget.grid(row=3, column=0, sticky="ew")
-
- # 使用 grid 布局来放置 matplotlib 画布
- self.canvas_widget = self.canvas.get_tk_widget()
- self.canvas_widget.grid(row=4, column=0, sticky="ew")
-
- # 创建文件名并打开文件
- start_time = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
- self.data_file = open(f"C:\\auto\\UV_spec\\data\\{start_time}.txt", "w")
-
- def get_spectrum_data(self):
- # 获取波长和光谱值
- pixels = wrapper.getNumberOfPixels(spectrometer_index)
- spectrum = wrapper.getSpectrum(spectrometer_index)
- wavelengths = wrapper.getWavelengths(spectrometer_index)
-
- # 转换.NET数组到Python列表
- spectrum_list = [spectrum[i] for i in range(pixels)]
- wavelengths_list = [wavelengths[i] for i in range(pixels)]
-
- self.data_ready = True
- return wavelengths_list, spectrum_list
-
- def collect_source(self):
- # 采集光源强度数据
- wavelengths, self.source_spectrum = self.get_spectrum_data()
- conditions = f"jifenshijian = {jifenshijian} shuaxinshijian = {shuaxinshijian} zihaodaxiao = {zihaodaxiao}"
- self.write_data_to_file("source", 1, conditions, self.source_spectrum)
- self.update_plot(wavelengths, self.source_spectrum)
-
- def toggle_transmission_mode(self):
- # 切换透射模式
- self.transmission_mode = not self.transmission_mode
- self.transmission_button.config(text="正在透射" if self.transmission_mode else "透射模式")
-
- def calculate_transmission(self, spectrum):
- # 计算透射率
- transmission = []
- for s, b, src in zip(spectrum, self.background_spectrum, self.source_spectrum):
- denominator = max(src - b, 0.1)
- trans_value = (s - b) / denominator * 100
- trans_value = max(0, min(trans_value, 100))
- transmission.append(trans_value)
- return transmission
-
- def update_plot(self, wavelengths, spectrum, plot_type='spectrum'):
-
- if not self.data_ready:
- return
-
- self.ax.clear()
-
- if plot_type == 'transmission':
- # 透射率模式的绘图设置
- self.ax.plot(wavelengths, spectrum, label='Transmission (%)')
- self.ax.set_ylim(-10, 110) # 设置y轴范围为0%到100%
- self.ax.set_ylabel('Transmission (%)', fontname='Arial', fontsize=zihaodaxiao)
- else:
- # 普通光谱模式的绘图设置
- self.ax.plot(wavelengths, spectrum)
- self.ax.set_ylim(self.current_ylim) # 使用当前y轴范围
-
- # 计算新的最大值和最小值
- new_min, new_max = min(spectrum), max(spectrum)
-
- # 检查新的最大值或最小值是否超过当前y轴范围
- while new_min < self.current_ylim[0] or new_max > self.current_ylim[1]:
- # 扩大y轴范围
- self.current_ylim = [self.current_ylim[0] * 2, self.current_ylim[1] * 2]
-
- # 确保新的y轴范围不超过最大限制
- if self.current_ylim[0] < ymin:
- self.current_ylim[0] = ymin
- if self.current_ylim[1] > ymax:
- self.current_ylim[1] = ymax
- break
-
- self.ax.set_ylabel('Intensity', fontname='Arial', fontsize=zihaodaxiao)
-
- self.ax.set_xlabel('Wavelength (nm)', fontname='Arial', fontsize=zihaodaxiao)
- self.ax.set_title('Spectrum', fontname='Arial', fontsize=zihaodaxiao)
-
- self.canvas.draw()
-
- self.data_ready = False
-
- def draw_plot(self):
- self.canvas.draw()
-
- def write_data_to_file(self, test_type, test_number, conditions, spectrum):
- data_str = " ".join(map(str, spectrum))
- self.data_file.write(f"{test_type}{test_number}\n{conditions}\n{data_str}\n\n")
- self.data_file.flush()
-
- def collect_background(self):
- # 设置平滑次数
- boxcar_width = self.boxcar_width_slider.get()
- wrapper.setBoxcarWidth(spectrometer_index, boxcar_width)
-
- # 设置平均次数
- scans_to_average = self.scans_to_average_slider.get()
- wrapper.setScansToAverage(spectrometer_index, scans_to_average)
-
- # 采集背景数据
- wavelengths, self.background_spectrum = self.get_spectrum_data()
- conditions = f"jifenshijian = {jifenshijian} shuaxinshijian = {shuaxinshijian} zihaodaxiao = {zihaodaxiao} pinghuacishu = {self.boxcar_width_slider.get()} pingjuncishu = {self.scans_to_average_slider.get()}"
- self.background_count += 1
- self.write_data_to_file("background", self.background_count, conditions, self.background_spectrum)
- self.update_plot(wavelengths, self.background_spectrum)
-
- def toggle_background_correction(self):
- self.correct_background = not self.correct_background
- self.correct_background_button.config(text="正在校正" if self.correct_background else "背景校正")
-
- def apply_background_correction(self, spectrum):
- if self.background_spectrum is not None and self.correct_background:
- return [s - b for s, b in zip(spectrum, self.background_spectrum)]
- return spectrum
-
- def single_test(self):
- # 获取输入框的值
- jifenshijian = float(self.integration_time_entry.get())
- shuaxinshijian = float(self.refresh_interval_entry.get())
-
- # 设置平滑次数
- boxcar_width = self.boxcar_width_slider.get()
- wrapper.setBoxcarWidth(spectrometer_index, boxcar_width)
-
- # 设置平均次数
- scans_to_average = self.scans_to_average_slider.get()
- wrapper.setScansToAverage(spectrometer_index, scans_to_average)
-
- conditions = f"jifenshijian = {jifenshijian} shuaxinshijian = {shuaxinshijian} zihaodaxiao = {zihaodaxiao} pinghuacishu = {self.boxcar_width_slider.get()} pingjuncishu = {self.scans_to_average_slider.get()}"
- self.test_count += 1
-
- wavelengths, spectrum = self.get_spectrum_data()
-
- # 在透射模式下计算透射率，否则应用背景校正
- if self.transmission_mode and self.background_spectrum is not None and self.source_spectrum is not None:
- transmission = self.calculate_transmission(spectrum)
- self.update_plot(wavelengths, transmission, plot_type='transmission')
- else:
- corrected_spectrum = self.apply_background_correction(spectrum)
- self.update_plot(wavelengths, corrected_spectrum, plot_type='spectrum')
-
- def continuous_test(self):
- while not self.stop_event.is_set():
- # 获取输入框的值
- jifenshijian = float(self.integration_time_entry.get())
- shuaxinshijian = float(self.refresh_interval_entry.get())
-
- # 设置平滑次数和平均次数
- boxcar_width = self.boxcar_width_slider.get()
- wrapper.setBoxcarWidth(spectrometer_index, boxcar_width)
- scans_to_average = self.scans_to_average_slider.get()
- wrapper.setScansToAverage(spectrometer_index, scans_to_average)
-
- conditions = f"jifenshijian = {jifenshijian} shuaxinshijian = {shuaxinshijian} zihaodaxiao = {zihaodaxiao} pinghuacishu = {self.boxcar_width_slider.get()} pingjuncishu = {self.scans_to_average_slider.get()}"
- self.test_count += 1
- wavelengths, spectrum = self.get_spectrum_data()
- self.write_data_to_file("test", self.test_count, conditions, spectrum)
-
- # 根据当前模式计算并更新图表
- if self.transmission_mode and self.background_spectrum is not None and self.source_spectrum is not None:
- transmission = self.calculate_transmission(spectrum)
- self.update_plot(wavelengths, transmission, plot_type='transmission')
- else:
- corrected_spectrum = self.apply_background_correction(spectrum)
- self.update_plot(wavelengths, corrected_spectrum)
-
- time.sleep(shuaxinshijian)
-
- def start_continuous_test(self):
- self.stop_event.clear() # 重置事件
- self.continuous_thread = Thread(target=self.continuous_test)
- self.continuous_thread.start()
-
- def stop_continuous_test(self):
- self.stop_event.set() # 设置事件通知线程停止
- self.continuous_thread = None
-
- def on_closing(self):
- if self.data_file:
- self.data_file.close()
- if messagebox.askyesno("退出", "实验g了？"):
- self.stop_continuous_test()
- self.root.destroy()
- sys.exit()
-
-if __name__ == "__main__":
- # 使用 ThemedTk 而不是普通的 Tk
- root = ThemedTk(theme="equilux") # 使用 'arc' 主题
-
- # 由于我们已经使用了 ttkthemes 来设置主题，下面这些行可以省略
- # style = ttk.Style()
- # style.theme_use('arc')
-
- app = App(root)
- root.mainloop()
diff --git a/unilabos/devices/agv/__init__.py b/unilabos/devices/agv/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/agv/agv_navigator.py b/unilabos/devices/agv/agv_navigator.py
deleted file mode 100644
index 4039b796..00000000
--- a/unilabos/devices/agv/agv_navigator.py
+++ /dev/null
@@ -1,101 +0,0 @@
-import socket
-import json
-import time
-from pydantic import BaseModel
-
-
-class AgvNavigator:
- def __init__(self, host):
- self.control_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- self.receive_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- self.control_socket.connect((host, 19206))
- self.receive_socket.connect((host, 19204))
- self.rec_cmd_code = {
- "pose" : "03EC",
- "status" : "03FC",
- "nav" : "0BEB"
- }
- self.status_list = ['NONE', 'WAITING', 'RUNNING', 'SUSPENDED', 'COMPLETED', 'FAILED', 'CANCELED']
- self._pose = []
- self._status = 'NONE'
- self.success = False
-
- @property
- def pose(self) -> list:
- data = self.send('pose')
-
- try:
- self._pose = [data['x'], data['y'], data['angle']]
- except:
- print(data)
-
- return self._pose
-
- @property
- def status(self) -> str:
- data = self.send('status')
- self._status = self.status_list[data['task_status']]
- return self._status
-
- def send(self, cmd, ex_data = '', obj = 'receive_socket'):
- data = bytearray.fromhex(f"5A 01 00 01 00 00 00 00 {self.rec_cmd_code[cmd]} 00 00 00 00 00 00")
- if ex_data:
- data_ = ex_data
- data[7] = len(data_)
- data= data + bytearray(data_,"utf-8")
-
- cmd_obj = getattr(self, obj)
- cmd_obj.sendall(data)
- response_data = b""
- while True:
- part = cmd_obj.recv(4096) # 每次接收 4096 字节
- response_data += part
- if len(part) < 4096: # 当接收到的数据少于缓冲区大小时，表示接收完毕
- break
-
- response_str = response_data.hex()
- json_start = response_str.find('7b') # 找到JSON的开始位置
- if json_start == -1:
- raise "Error: No JSON data found in response."
-
- json_data = bytes.fromhex(response_str[json_start:])
-
- # 尝试解析 JSON 数据
- try:
- parsed_json = json.loads(json_data.decode('utf-8'))
- return parsed_json
-
- except json.JSONDecodeError as e:
- raise f"JSON Decode Error: {e}"
-
-
- def send_nav_task(self, command:str):
- self.success = False
- # source,target = cmd.replace(' ','').split("->")
-
- target = json.loads(command)['target']
- json_data = {}
- # json_data["source_id"] = source
- json_data["id"] = target
- # json_data["use_down_pgv"] = True
- result = self.send('nav', ex_data=json.dumps(json_data), obj="control_socket")
- try:
- if result['ret_code'] == 0:
- # print(result)
- while True:
- if self.status == 'COMPLETED':
- break
- time.sleep(1)
- self.success = True
- except:
- self.success = False
-
-
- def __del__(self):
- self.control_socket.close()
- self.receive_socket.close()
-
-if __name__ == "__main__":
- agv = AgvNavigator("192.168.1.42")
- # print(agv.pose)
- agv.send_nav_task('LM14')
\ No newline at end of file
diff --git a/unilabos/devices/agv/pose.json b/unilabos/devices/agv/pose.json
deleted file mode 100644
index 07d7cca0..00000000
--- a/unilabos/devices/agv/pose.json
+++ /dev/null
@@ -1,54 +0,0 @@
-{
- "pretreatment": [
- [
- "moveL",
- [0.443, -0.0435, 0.40, 1.209, 1.209, 1.209]
- ],
- [
- "moveL",
- [0.543, -0.0435, 0.50, 0, 1.57, 0]
- ],
- [
- "moveL",
- [0.443, -0.0435, 0.60, 0, 1.57, 0]
- ],
- [
- "wait",
- [2]
- ],
- [
- "gripper",
- [255,255,255]
- ],
- [
- "wait",
- [2]
- ],
- [
- "gripper",
- [0,0,0]
- ],
- [
- "set",
- [0.3,0.2]
- ],
- [
- "moveL",
- [0.643, -0.0435, 0.40, 1.209, 1.209, 1.209]
- ]
- ],
- "pose": [
- [
- "moveL",
- [0.243, -0.0435, 0.30, 0.0, 3.12, 0.0]
- ],
- [
- "moveL",
- [0.443, -0.0435, 0.40, 0.0, 3.12, 0.0]
- ],
- [
- "moveL",
- [0.243, -0.0435, 0.50, 0.0, 3.12, 0.0]
- ]
- ]
-}
\ No newline at end of file
diff --git a/unilabos/devices/agv/robotiq_gripper.py b/unilabos/devices/agv/robotiq_gripper.py
deleted file mode 100644
index fd8c491d..00000000
--- a/unilabos/devices/agv/robotiq_gripper.py
+++ /dev/null
@@ -1,298 +0,0 @@
-"""Module to control Robotiq's grippers - tested with HAND-E"""
-
-import socket
-import threading
-import time
-from enum import Enum
-from typing import Union, Tuple, OrderedDict
-
-class RobotiqGripper:
- """
- Communicates with the gripper directly, via socket with string commands, leveraging string names for variables.
- """
- # WRITE VARIABLES (CAN ALSO READ)
- ACT = 'ACT' # act : activate (1 while activated, can be reset to clear fault status)
- GTO = 'GTO' # gto : go to (will perform go to with the actions set in pos, for, spe)
- ATR = 'ATR' # atr : auto-release (emergency slow move)
- ADR = 'ADR' # adr : auto-release direction (open(1) or close(0) during auto-release)
- FOR = 'FOR' # for : force (0-255)
- SPE = 'SPE' # spe : speed (0-255)
- POS = 'POS' # pos : position (0-255), 0 = open
- # READ VARIABLES
- STA = 'STA' # status (0 = is reset, 1 = activating, 3 = active)
- PRE = 'PRE' # position request (echo of last commanded position)
- OBJ = 'OBJ' # object detection (0 = moving, 1 = outer grip, 2 = inner grip, 3 = no object at rest)
- FLT = 'FLT' # fault (0=ok, see manual for errors if not zero)
-
- ENCODING = 'UTF-8' # ASCII and UTF-8 both seem to work
-
- class GripperStatus(Enum):
- """Gripper status reported by the gripper. The integer values have to match what the gripper sends."""
- RESET = 0
- ACTIVATING = 1
- # UNUSED = 2 # This value is currently not used by the gripper firmware
- ACTIVE = 3
-
- class ObjectStatus(Enum):
- """Object status reported by the gripper. The integer values have to match what the gripper sends."""
- MOVING = 0
- STOPPED_OUTER_OBJECT = 1
- STOPPED_INNER_OBJECT = 2
- AT_DEST = 3
-
- def __init__(self ,host):
- """Constructor."""
- self.socket = None
- self.command_lock = threading.Lock()
- self._min_position = 0
- self._max_position = 255
- self._min_speed = 0
- self._max_speed = 255
- self._min_force = 0
- self._max_force = 255
- self.connect(host)
- # self.activate()
-
- def connect(self, hostname: str, port: int = 63352, socket_timeout: float = 2.0) -> None:
- """Connects to a gripper at the given address.
- :param hostname: Hostname or ip.
- :param port: Port.
- :param socket_timeout: Timeout for blocking socket operations.
- """
- self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- self.socket.connect((hostname, port))
- self.socket.settimeout(socket_timeout)
-
- def disconnect(self) -> None:
- """Closes the connection with the gripper."""
- self.socket.close()
-
- def _set_vars(self, var_dict: OrderedDict[str, Union[int, float]]):
- """Sends the appropriate command via socket to set the value of n variables, and waits for its 'ack' response.
- :param var_dict: Dictionary of variables to set (variable_name, value).
- :return: True on successful reception of ack, false if no ack was received, indicating the set may not
- have been effective.
- """
- # construct unique command
- cmd = "SET"
- for variable, value in var_dict.items():
- cmd += f" {variable} {str(value)}"
- cmd += '\n' # new line is required for the command to finish
- # atomic commands send/rcv
- with self.command_lock:
- self.socket.sendall(cmd.encode(self.ENCODING))
- data = self.socket.recv(1024)
- return self._is_ack(data)
-
- def _set_var(self, variable: str, value: Union[int, float]):
- """Sends the appropriate command via socket to set the value of a variable, and waits for its 'ack' response.
- :param variable: Variable to set.
- :param value: Value to set for the variable.
- :return: True on successful reception of ack, false if no ack was received, indicating the set may not
- have been effective.
- """
- return self._set_vars(OrderedDict([(variable, value)]))
-
- def _get_var(self, variable: str):
- """Sends the appropriate command to retrieve the value of a variable from the gripper, blocking until the
- response is received or the socket times out.
- :param variable: Name of the variable to retrieve.
- :return: Value of the variable as integer.
- """
- # atomic commands send/rcv
- with self.command_lock:
- cmd = f"GET {variable}\n"
- self.socket.sendall(cmd.encode(self.ENCODING))
- data = self.socket.recv(1024)
-
- # expect data of the form 'VAR x', where VAR is an echo of the variable name, and X the value
- # note some special variables (like FLT) may send 2 bytes, instead of an integer. We assume integer here
- var_name, value_str = data.decode(self.ENCODING).split()
- if var_name != variable:
- raise ValueError(f"Unexpected response {data} ({data.decode(self.ENCODING)}): does not match '{variable}'")
- value = int(value_str)
- return value
-
- @staticmethod
- def _is_ack(data: str):
- return data == b'ack'
-
- def _reset(self):
- """
- Reset the gripper.
- The following code is executed in the corresponding script function
- def rq_reset(gripper_socket="1"):
- rq_set_var("ACT", 0, gripper_socket)
- rq_set_var("ATR", 0, gripper_socket)
-
- while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0):
- rq_set_var("ACT", 0, gripper_socket)
- rq_set_var("ATR", 0, gripper_socket)
- sync()
- end
-
- sleep(0.5)
- end
- """
- self._set_var(self.ACT, 0)
- self._set_var(self.ATR, 0)
- while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0):
- self._set_var(self.ACT, 0)
- self._set_var(self.ATR, 0)
- time.sleep(0.5)
-
-
- def activate(self, auto_calibrate: bool = True):
- """Resets the activation flag in the gripper, and sets it back to one, clearing previous fault flags.
- :param auto_calibrate: Whether to calibrate the minimum and maximum positions based on actual motion.
- The following code is executed in the corresponding script function
- def rq_activate(gripper_socket="1"):
- if (not rq_is_gripper_activated(gripper_socket)):
- rq_reset(gripper_socket)
-
- while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0):
- rq_reset(gripper_socket)
- sync()
- end
-
- rq_set_var("ACT",1, gripper_socket)
- end
- end
- def rq_activate_and_wait(gripper_socket="1"):
- if (not rq_is_gripper_activated(gripper_socket)):
- rq_activate(gripper_socket)
- sleep(1.0)
-
- while(not rq_get_var("ACT", 1, gripper_socket) == 1 or not rq_get_var("STA", 1, gripper_socket) == 3):
- sleep(0.1)
- end
-
- sleep(0.5)
- end
- end
- """
- if not self.is_active():
- self._reset()
- while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0):
- time.sleep(0.01)
-
- self._set_var(self.ACT, 1)
- time.sleep(1.0)
- while (not self._get_var(self.ACT) == 1 or not self._get_var(self.STA) == 3):
- time.sleep(0.01)
-
- # auto-calibrate position range if desired
- if auto_calibrate:
- self.auto_calibrate()
-
- def is_active(self):
- """Returns whether the gripper is active."""
- status = self._get_var(self.STA)
- return RobotiqGripper.GripperStatus(status) == RobotiqGripper.GripperStatus.ACTIVE
-
- def get_min_position(self) -> int:
- """Returns the minimum position the gripper can reach (open position)."""
- return self._min_position
-
- def get_max_position(self) -> int:
- """Returns the maximum position the gripper can reach (closed position)."""
- return self._max_position
-
- def get_open_position(self) -> int:
- """Returns what is considered the open position for gripper (minimum position value)."""
- return self.get_min_position()
-
- def get_closed_position(self) -> int:
- """Returns what is considered the closed position for gripper (maximum position value)."""
- return self.get_max_position()
-
- def is_open(self):
- """Returns whether the current position is considered as being fully open."""
- return self.get_current_position() <= self.get_open_position()
-
- def is_closed(self):
- """Returns whether the current position is considered as being fully closed."""
- return self.get_current_position() >= self.get_closed_position()
-
- def get_current_position(self) -> int:
- """Returns the current position as returned by the physical hardware."""
- return self._get_var(self.POS)
-
- def auto_calibrate(self, log: bool = True) -> None:
- """Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper.
- :param log: Whether to print the results to log.
- """
- # first try to open in case we are holding an object
- (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1)
- if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
- raise RuntimeError(f"Calibration failed opening to start: {str(status)}")
-
- # try to close as far as possible, and record the number
- (position, status) = self.move_and_wait_for_pos(self.get_closed_position(), 64, 1)
- if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
- raise RuntimeError(f"Calibration failed because of an object: {str(status)}")
- assert position <= self._max_position
- self._max_position = position
-
- # try to open as far as possible, and record the number
- (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1)
- if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST:
- raise RuntimeError(f"Calibration failed because of an object: {str(status)}")
- assert position >= self._min_position
- self._min_position = position
-
- if log:
- print(f"Gripper auto-calibrated to [{self.get_min_position()}, {self.get_max_position()}]")
-
- def move(self, position: int, speed: int, force: int) -> Tuple[bool, int]:
- """Sends commands to start moving towards the given position, with the specified speed and force.
- :param position: Position to move to [min_position, max_position]
- :param speed: Speed to move at [min_speed, max_speed]
- :param force: Force to use [min_force, max_force]
- :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with
- the actual position that was requested, after being adjusted to the min/max calibrated range.
- """
-
- def clip_val(min_val, val, max_val):
- return max(min_val, min(val, max_val))
-
- clip_pos = clip_val(self._min_position, position, self._max_position)
- clip_spe = clip_val(self._min_speed, speed, self._max_speed)
- clip_for = clip_val(self._min_force, force, self._max_force)
-
- # moves to the given position with the given speed and force
- var_dict = OrderedDict([(self.POS, clip_pos), (self.SPE, clip_spe), (self.FOR, clip_for), (self.GTO, 1)])
- return self._set_vars(var_dict), clip_pos
-
- def move_and_wait_for_pos(self, position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]: # noqa
- """Sends commands to start moving towards the given position, with the specified speed and force, and
- then waits for the move to complete.
- :param position: Position to move to [min_position, max_position]
- :param speed: Speed to move at [min_speed, max_speed]
- :param force: Force to use [min_force, max_force]
- :return: A tuple with an integer representing the last position returned by the gripper after it notified
- that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note
- that it is possible that the position was not reached, if an object was detected during motion.
- """
- set_ok, cmd_pos = self.move(position, speed, force)
- if not set_ok:
- raise RuntimeError("Failed to set variables for move.")
-
- # wait until the gripper acknowledges that it will try to go to the requested position
- while self._get_var(self.PRE) != cmd_pos:
- time.sleep(0.001)
-
- # wait until not moving
- cur_obj = self._get_var(self.OBJ)
- while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING:
- cur_obj = self._get_var(self.OBJ)
-
- # report the actual position and the object status
- final_pos = self._get_var(self.POS)
- final_obj = cur_obj
- return final_pos, RobotiqGripper.ObjectStatus(final_obj)
-
-if __name__ == '__main__':
- gripper = RobotiqGripper('192.168.1.178')
- gripper.move(255,0,0)
- print(gripper.move(255,0,0))
\ No newline at end of file
diff --git a/unilabos/devices/agv/ur_arm_task.py b/unilabos/devices/agv/ur_arm_task.py
deleted file mode 100644
index f9d93b04..00000000
--- a/unilabos/devices/agv/ur_arm_task.py
+++ /dev/null
@@ -1,166 +0,0 @@
-try:
- import rtde_control
- import dashboard_client
- import rtde_receive
-except ImportError as ex:
- print("Import Error, Please Install Packages in ur_arm_task.py First!", ex)
-import time
-import json
-from unilabos.devices.agv.robotiq_gripper import RobotiqGripper
-from std_msgs.msg import Float64MultiArray
-from pydantic import BaseModel
-
-class UrArmTask():
- def __init__(self, host, retry=30):
- self.init_flag = False
- self.dash_c = None
- n = 0
- while self.dash_c is None:
- try:
- self.dash_c = dashboard_client.DashboardClient(host)
- if not self.dash_c.isConnected():
- self.dash_c.connect()
-
- self.dash_c.loadURP('camera/250111_put_board.urp')
- self.arm_init()
- self.dash_c.running()
- except Exception as e:
- print(e)
- self.dash_c = None
- time.sleep(1)
- n += 1
- if n > retry:
- raise Exception('Can not connect to the robot dashboard server!')
-
- self.vel = 0.1
- self.acc = 0.1
- self.rtde_c = None
- self.rtde_r = None
-
- self.gripper = None
- self._pose = [0.0,0.0,0.0,0.0,0.0,0.0]
- self._gripper_pose = None
- self._status = 'IDLE'
-
- self._gripper_status = 'AT_DEST'
- self.gripper_s_list = ['MOVING','STOPPED_OUTER_OBJECT','STOPPED_INNER_OBJECT','AT_DEST']
-
- self.dash_c.loadURP('camera/250111_put_board.urp')
-
- self.arm_init()
- self.success = True
- self.init_flag = True
-
-
- n = 0
- while self.gripper is None:
- try:
- self.gripper = RobotiqGripper(host)
- self.gripper.activate()
- # self._gripper_status = self.gripper_s_list[self.gripper._get_var('OBJ')]
- except:
- self.gripper = None
- time.sleep(1)
- n += 1
- if n > retry:
- raise Exception('Can not connect to the robot gripper server!')
-
- n = 0
- while self.rtde_r is None:
- try:
- self.rtde_r = rtde_receive.RTDEReceiveInterface(host)
- if not self.rtde_r.isConnected():
- self.rtde_r.reconnect()
- self._pose = self.rtde_r.getActualTCPPose()
- except Exception as e:
- print(e)
- self.rtde_r = None
- time.sleep(1)
- n += 1
- if n > retry:
- raise Exception('Can not connect to the arm info server!')
-
- self.dash_c.stop()
-
- def arm_init(self):
- self.dash_c.powerOn()
- self.dash_c.brakeRelease()
- self.dash_c.unlockProtectiveStop()
- running = self.dash_c.running()
- while running:
- running = self.dash_c.running()
- time.sleep(1)
-
- # def __del__(self):
- # self.dash_c.disconnect()
- # self.rtde_c.disconnect()
- # self.rtde_r.disconnect()
- # self.gripper.disconnect()
-
- def load_pose_file(self,file):
- self.pose_file = file
- self.reload_pose()
-
- def reload_pose(self):
- self.pose_data = json.load(open(self.pose_file))
-
- def load_pose_data(self,data):
- self.pose_data = json.loads(data)
-
- @property
- def arm_pose(self) -> list:
- try:
- if not self.rtde_r.isConnected():
- self.rtde_r.reconnect()
- print('_'*30,'Reconnect to the arm info server!')
- self._pose = self.rtde_r.getActualTCPPose()
- # print(self._pose)
- except Exception as e:
- self._pose = self._pose
- print('-'*20,'zhixing_arm\n',e)
- return self._pose
-
- @property
- def gripper_pose(self) -> float:
- if self.init_flag:
- try:
- self._gripper_status = self.gripper_s_list[self.gripper._get_var('OBJ')]
- self._gripper_pose = self.gripper.get_current_position()
- except Exception as e:
- self._gripper_status = self._gripper_status
- self._gripper_pose = self._gripper_pose
- print('-'*20,'zhixing_gripper\n',e)
- return self._gripper_pose
-
- @property
- def arm_status(self) -> str:
- return self._status
-
- @property
- def gripper_status(self) -> str:
- if self.init_flag:
- return self._gripper_status
-
- def move_pos_task(self,command):
- self.success = False
- task_name = json.loads(command)['task_name']
-
- self.dash_c.loadURP(task_name)
- self.dash_c.play()
-
- time.sleep(0.5)
- self._status = 'RUNNING'
- while self._status == 'RUNNING':
- running = self.dash_c.running()
- if not running:
- self._status = 'IDLE'
- time.sleep(1)
-
- self.success = True
-
-
-if __name__ == "__main__":
- arm = UrArmTask("192.168.1.178")
- # arm.move_pos_task('t2_y4_transfer3.urp')
- # print(arm.arm_pose())
-
\ No newline at end of file
diff --git a/unilabos/devices/arm/__init__.py b/unilabos/devices/arm/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/arm/elite_robot.py b/unilabos/devices/arm/elite_robot.py
deleted file mode 100644
index 09eef519..00000000
--- a/unilabos/devices/arm/elite_robot.py
+++ /dev/null
@@ -1,195 +0,0 @@
-import socket
-import re
-import time
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-
-
-class EliteRobot:
- def __init__(self,device_id, host, **kwargs):
- self.host = host
- self.node = Node(f"{device_id}")
- self.joint_state_msg = JointState()
- self.joint_state_msg.name = [f"{device_id}_shoulder_pan_joint",
- f"{device_id}_shoulder_lift_joint",
- f"{device_id}_elbow_joint",
- f"{device_id}_wrist_1_joint",
- f"{device_id}_wrist_2_joint",
- f"{device_id}_wrist_3_joint"]
-
- self.job_id = 0
- self.joint_state_pub = self.node.create_publisher(JointState, "/joint_states", 10)
- self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- # 实现一个简单的Modbus TCP/IP协议客户端，端口为502
- self.modbus_port = 502
- self.modbus_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- try:
- self.modbus_sock.connect((self.host, self.modbus_port))
- print(f"已成功连接到Modbus服务器 {self.host}:{self.modbus_port}")
- except Exception as e:
- print(f"连接到Modbus服务器 {self.host}:{self.modbus_port} 失败: {e}")
-
- try:
- self.sock.connect((self.host, 40011))
- print(f"已成功连接到 {self.host}:{40011}")
- except Exception as e:
- print(f"连接到 {self.host}:{40011} 失败: {e}")
-
- def modbus_close(self):
- self.modbus_sock.close()
-
-
- @property
- def arm_pose(self) -> list[float]:
- return self.get_actual_joint_positions()
-
-
- def modbus_write_single_register(self, unit_id, register_addr, value):
- """
- 写入单个Modbus保持寄存器（带符号整数）
- :param unit_id: 从站地址
- :param register_addr: 寄存器地址
- :param value: 要写入的值（-32768~32767，带符号16位整数）
- :return: True表示写入成功，False表示失败
- """
- transaction_id = 0x0001
- protocol_id = 0x0000
- length = 6 # 后续字节数
- function_code = 0x06 # 写单个保持寄存器
- header = transaction_id.to_bytes(2, 'big') + protocol_id.to_bytes(2, 'big') + length.to_bytes(2, 'big')
- # value用带符号16位整数编码
- body = (
- unit_id.to_bytes(1, 'big') +
- function_code.to_bytes(1, 'big') +
- register_addr.to_bytes(2, 'big') +
- value.to_bytes(2, 'big', signed=True)
- )
- request = header + body
- try:
- self.modbus_sock.sendall(request)
- response = self.modbus_sock.recv(1024)
- # 响应应与请求的body部分一致
- if len(response) >= 12 and response[7] == function_code:
- # 响应的寄存器值也要按带符号整数比对
- if response[8:12] == body[2:]:
- return True
- else:
- print("Modbus写入响应内容与请求不一致")
- return False
- else:
- print("Modbus写入响应格式错误或功能码不匹配")
- return False
- except Exception as e:
- print("Modbus写入寄存器时出错:", e)
- return False
-
- def modbus_read_holding_registers(self, unit_id, start_addr, quantity):
- """
- 读取Modbus保持寄存器（带符号整数）
- :param unit_id: 从站地址
- :param start_addr: 起始寄存器地址
- :param quantity: 读取数量
- :return: 读取到的数据（list of int，带符号16位整数），或None
- """
- # 构造Modbus TCP帧
- transaction_id = 0x0001
- protocol_id = 0x0000
- length = 6 # 后续字节数
- function_code = 0x03 # 读保持寄存器
- header = transaction_id.to_bytes(2, 'big') + protocol_id.to_bytes(2, 'big') + length.to_bytes(2, 'big')
- body = (
- unit_id.to_bytes(1, 'big') +
- function_code.to_bytes(1, 'big') +
- start_addr.to_bytes(2, 'big') +
- quantity.to_bytes(2, 'big')
- )
- request = header + body
- try:
- self.modbus_sock.sendall(request)
- response = self.modbus_sock.recv(1024)
- # 简单解析响应
- if len(response) >= 9 and response[7] == function_code:
- byte_count = response[8]
- data_bytes = response[9:9+byte_count]
- # 按带符号16位整数解码
- result = []
- for i in range(0, len(data_bytes), 2):
- val = int.from_bytes(data_bytes[i:i+2], 'big', signed=True)
- result.append(val)
- return result
- else:
- print("Modbus响应格式错误或功能码不匹配")
- return None
- except Exception as e:
- print("Modbus读取寄存器时出错:", e)
- return None
-
- def modbus_task(self, job_id):
- self.modbus_write_single_register(1, 256, job_id)
- self.job_id = job_id
- job = self.modbus_read_holding_registers(1, 257, 1)[0]
- while job != self.job_id:
- time.sleep(0.1)
- job = self.modbus_read_holding_registers(1, 257, 1)[0]
- self.get_actual_joint_positions()
-
-
- def modbus_task_cmd(self, command):
-
- if command == "lh2hplc":
- self.modbus_task(1)
- self.modbus_task(2)
-
- elif command == "hplc2lh":
- self.modbus_task(3)
- self.modbus_task(4)
- self.modbus_task(0)
-
- def send_command(self, command):
- self.sock.sendall(command.encode('utf-8'))
- response = self.sock.recv(1024).decode('utf-8')
- return response
-
- def close(self):
- self.sock.close()
-
- def __del__(self):
- self.close()
-
- def parse_success_response(self, response):
- """
- 解析以[success]开头的返回数据，提取数组
- :param response: 字符串，形如 "[success] : [[3.158915, -1.961981, ...]]"
- :return: 数组（list of float），如果解析失败则返回None
- """
- if response.startswith("[1] [success]"):
- match = re.search(r"\[\[([^\]]+)\]\]", response)
- if match:
- data_str = match.group(1)
- try:
- data_array = [float(x.strip()) for x in data_str.split(',')]
- return data_array
- except Exception as e:
- print("解析数组时出错:", e)
- return None
- return None
-
- def get_actual_joint_positions(self):
- response = self.send_command(f"req 1 get_actual_joint_positions()\n")
- joint_positions = self.parse_success_response(response)
- if joint_positions:
- self.joint_state_msg.position = joint_positions
- self.joint_state_pub.publish(self.joint_state_msg)
- return joint_positions
- return None
-
-
-
-if __name__ == "__main__":
- import rclpy
- rclpy.init()
- client = EliteRobot('aa',"192.168.1.200")
- print(client.parse_success_response(client.send_command("req 1 get_actual_joint_positions()\n")))
- client.modbus_write_single_register(1, 256, 4)
- print(client.modbus_read_holding_registers(1, 257, 1))
- client.close()
diff --git a/unilabos/devices/balance/__init__.py b/unilabos/devices/balance/__init__.py
deleted file mode 100644
index c6271164..00000000
--- a/unilabos/devices/balance/__init__.py
+++ /dev/null
@@ -1,6 +0,0 @@
-# Balance devices module
-
-# Import balance device modules
-from . import mettler_toledo_xpr
-
-__all__ = ['mettler_toledo_xpr']
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template b/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
deleted file mode 100644
index aacf70c0..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template
+++ /dev/null
@@ -1,51 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md b/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
deleted file mode 100644
index 02de76c9..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md
+++ /dev/null
@@ -1,255 +0,0 @@
-# 梅特勒天平 ROS2 使用指南 / Mettler Toledo Balance ROS2 User Guide
-
-## 概述 / Overview
-
-梅特勒托利多XPR/XSR天平驱动支持通过ROS2动作进行操作，包括去皮、清零、读取重量等功能。
-
-The Mettler Toledo XPR/XSR balance driver supports operations through ROS2 actions, including tare, zero, weight reading, and other functions.
-
-## 主要功能 / Main Features
-
-### 1. 去皮操作 / Tare Operation (`tare`)
-
-- **功能 / Function**: 执行天平去皮操作 / Perform balance tare operation
-- **输入 / Input**: `{"immediate": bool}` - 是否立即去皮 / Whether to tare immediately
-- **输出 / Output**: `{"return_info": str, "success": bool}`
-
-### 2. 清零操作 / Zero Operation (`zero`)
-
-- **功能 / Function**: 执行天平清零操作 / Perform balance zero operation
-- **输入 / Input**: `{"immediate": bool}` - 是否立即清零 / Whether to zero immediately
-- **输出 / Output**: `{"return_info": str, "success": bool}`
-
-### 3. 读取重量 / Read Weight (`read` / `get_weight`)
-
-- **功能 / Function**: 读取当前天平重量 / Read current balance weight
-- **输入 / Input**: 无参数 / No parameters
-- **输出 / Output**: `{"return_info": str, "success": bool}` - 包含重量信息 / Contains weight information
-
-
-
-## 使用方法 / Usage Methods
-
-### ROS2命令行使用 / ROS2 Command Line Usage
-
-### 1. 去皮操作 / Tare Operation
-
-```bash
-ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
- command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
-}"
-```
-
-### 2. 清零操作 / Zero Operation
-
-```bash
-ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
- command: '{\"command\": \"zero\", \"params\": {\"immediate\": false}}'
-}"
-```
-
-### 3. 读取重量 / Read Weight
-
-```bash
-ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
- command: '{\"command\": \"read\"}'
-}"
-```
-
-
-### 4. 推荐的去皮读取流程 / Recommended Tare and Read Workflow
-
-**步骤1: 去皮操作 / Step 1: Tare Operation**
-```bash
-# 放置空容器后执行去皮 / Execute tare after placing empty container
-ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
- command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
-}"
-```
-
-**步骤2: 读取净重 / Step 2: Read Net Weight**
-```bash
-# 添加物质后读取净重 / Read net weight after adding substance
-ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
- command: '{\"command\": \"read\"}'
-}"
-```
-
-**优势 / Advantages**:
-- 可以在去皮和读取之间进行确认 / Can confirm between taring and reading
-- 更好的错误处理和调试 / Better error handling and debugging
-- 操作流程更加清晰 / Clearer operation workflow
-
-
-
-## 命令格式说明 / Command Format Description
-
-所有命令都使用JSON格式，包含以下字段 / All commands use JSON format with the following fields：
-
-```json
-{
- "command": "命令名称 / Command name",
- "params": {
- "参数名 / Parameter name": "参数值 / Parameter value"
- }
-}
-```
-
-**注意事项 / Notes：**
-1. JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
-2. 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
-3. 如果命令不需要参数，可以省略`params`字段 / If command doesn't need parameters, `params` field can be omitted
-
-## 返回结果 / Return Results
-
-所有命令都会返回包含以下字段的结果 / All commands return results with the following fields：
-
-- `success`: 布尔值，表示操作是否成功 / Boolean value indicating operation success
-- `return_info`: 字符串，包含操作结果的详细信息 / String containing detailed operation result information
-
-## 成功执行示例 / Successful Execution Example
-
-以下是一个成功执行读取重量命令的示例 / Here is an example of successfully executing a weight reading command：
-
-```bash
-ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
- command: '{\"command\": \"read\"}'
-}"
-```
-
-**成功返回结果 / Successful Return Result：**
-```
-Waiting for an action server to become available...
-Sending goal:
- command: '{"command": "read"}'
-
-Goal accepted :)
-
-Result:
- success: True
- return_info: Weight: 0.24866 Milligram
-
-Goal finished with status: SUCCEEDED
-```
-
-### Python代码使用 / Python Code Usage
-
-```python
-import rclpy
-from rclpy.node import Node
-from rclpy.action import ActionClient
-from unilabos_msgs.action import SendCmd
-import json
-
-class BalanceController(Node):
- """梅特勒天平控制器 / Mettler Balance Controller"""
- def __init__(self):
- super().__init__('balance_controller')
- self._action_client = ActionClient(self, SendCmd, '/devices/BALANCE_STATION/send_cmd')
-
- def send_command(self, command, params=None):
- """发送命令到天平 / Send command to balance"""
- goal_msg = SendCmd.Goal()
-
- cmd_data = {'command': command}
- if params:
- cmd_data['params'] = params
-
- goal_msg.command = json.dumps(cmd_data)
-
- self._action_client.wait_for_server()
- future = self._action_client.send_goal_async(goal_msg)
-
- return future
-
- def tare_balance(self, immediate=False):
- """去皮操作 / Tare operation"""
- return self.send_command('tare', {'immediate': immediate})
-
- def zero_balance(self, immediate=False):
- """清零操作 / Zero operation"""
- return self.send_command('zero', {'immediate': immediate})
-
- def read_weight(self):
- """读取重量 / Read weight"""
- return self.send_command('read')
-
-
-
-
-# 使用示例 / Usage Example
-def main():
- rclpy.init()
- controller = BalanceController()
-
- # 去皮操作 / Tare operation
- future = controller.tare_balance(immediate=False)
- rclpy.spin_until_future_complete(controller, future)
- result = future.result().result
- print(f"去皮结果 / Tare result: {result.success}, 信息 / Info: {result.return_info}")
-
- # 读取重量 / Read weight
- future = controller.read_weight()
- rclpy.spin_until_future_complete(controller, future)
- result = future.result().result
- print(f"读取结果 / Read result: {result.success}, 信息 / Info: {result.return_info}")
-
- controller.destroy_node()
- rclpy.shutdown()
-
-if __name__ == '__main__':
- main()
-```
-
-## 使用注意事项 / Usage Notes
-
-1. **设备连接 / Device Connection**: 确保梅特勒天平设备已连接并可访问 / Ensure Mettler balance device is connected and accessible
-2. **命令格式 / Command Format**: JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
-3. **参数类型 / Parameter Types**: 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
-4. **权限 / Permissions**: 确保有操作天平的权限 / Ensure you have permission to operate the balance
-
-## 故障排除 / Troubleshooting
-
-### 常见问题 / Common Issues
-
-1. **JSON格式错误 / JSON Format Error**: 确保JSON字符串格式正确且引号已转义 / Ensure JSON string format is correct and quotes are escaped
-2. **未知命令名称 / Unknown Command Name**: 检查命令名称是否正确 / Check if command name is correct
-3. **设备连接失败 / Device Connection Failed**: 检查网络连接和设备状态 / Check network connection and device status
-4. **操作超时 / Operation Timeout**: 检查设备是否响应正常 / Check if device is responding normally
-
-### 错误处理 / Error Handling
-
-如果命令执行失败，返回结果中的`success`字段将为`false`，`return_info`字段将包含错误信息。
-
-If command execution fails, the `success` field in the return result will be `false`, and the `return_info` field will contain error information.
-
-### 调试技巧 / Debugging Tips
-
-1. 检查设备节点是否正在运行 / Check if device node is running：
- ```bash
- ros2 node list | grep BALANCE
- ```
-
-2. 查看可用的action / View available actions：
- ```bash
- ros2 action list | grep BALANCE
- ```
-
-3. 检查action接口 / Check action interface：
- ```bash
- ros2 action info /devices/BALANCE_STATION/send_cmd
- ```
-
-4. 查看节点日志 / View node logs：
- ```bash
- ros2 topic echo /rosout
- ```
-
-## 总结 / Summary
-
-梅特勒托利多天平设备现在支持 / Mettler Toledo balance device now supports:
-
-1. 通过ROS2 SendCmd动作进行统一操作 / Unified operations through ROS2 SendCmd actions
-2. 完整的天平功能支持（去皮、清零、读重等）/ Complete balance function support (tare, zero, weight reading, etc.)
-3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
-4. 简化的操作流程和调试方法 / Simplified operation workflow and debugging methods
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/README.md b/unilabos/devices/balance/mettler_toledo_xpr/README.md
deleted file mode 100644
index d46a927d..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/README.md
+++ /dev/null
@@ -1,123 +0,0 @@
-# Mettler Toledo XPR/XSR Balance Driver
-
-## 概述
-
-本驱动程序为梅特勒托利多XPR/XSR系列天平提供标准接口，支持去皮、清零和重量读取等操作。
-
-## ⚠️ 重要说明 - WSDL文件配置
-
-### 问题说明
-
-本驱动程序需要使用梅特勒托利多官方提供的WSDL文件来与天平通信。由于该WSDL文件包含专有信息，不能随开源项目一起分发。
-
-### 配置步骤
-
-1. **获取WSDL文件**
- - 联系梅特勒托利多技术支持
- - 或从您的天平设备Web界面下载
- - 或从梅特勒托利多官方SDK获取
-
-2. **安装WSDL文件**
- ```bash
- # 将获取的WSDL文件复制到驱动目录
- cp /path/to/your/MT.Laboratory.Balance.XprXsr.V03.wsdl \
- unilabos/devices/balance/mettler_toledo_xpr/
- ```
-
-3. **验证安装**
- - 确保文件名为：`MT.Laboratory.Balance.XprXsr.V03.wsdl`
- - 确保文件包含Jinja2模板变量：`{{host}}`、`{{port}}`、`{{api_path}}`
-
-### WSDL文件要求
-
-- 文件必须是有效的WSDL格式
-- 必须包含SessionService和WeighingService的定义
-- 端点地址应使用模板变量以支持动态IP配置：
- ```xml
-
-
- ```
-
-### 文件结构
-
-```
-mettler_toledo_xpr/
-├── MT.Laboratory.Balance.XprXsr.V03.wsdl # 实际WSDL文件（用户提供）
-├── MT.Laboratory.Balance.XprXsr.V03.wsdl.template # 模板文件（仅供参考）
-├── mettler_toledo_xpr.py # 驱动程序
-├── balance.yaml # 设备配置
-├── SendCmd_Usage_Guide.md # 使用指南
-└── README.md # 本文件
-```
-
-## 使用方法
-
-### 基本配置
-
-```python
-from unilabos.devices.balance.mettler_toledo_xpr import MettlerToledoXPR
-
-# 创建天平实例
-balance = MettlerToledoXPR(
- ip="192.168.1.10", # 天平IP地址
- port=81, # 天平端口
- password="123456", # 天平密码
- timeout=10 # 连接超时时间
-)
-
-# 执行操作
-balance.tare() # 去皮
-balance.zero() # 清零
-weight = balance.get_weight() # 读取重量
-```
-
-### ROS2 SendCmd Action
-
-详细的ROS2使用方法请参考 [SendCmd_Usage_Guide.md](SendCmd_Usage_Guide.md)
-
-## 故障排除
-
-### 常见错误
-
-1. **FileNotFoundError: WSDL template not found**
- - 确保WSDL文件已正确放置在驱动目录中
- - 检查文件名是否正确
-
-2. **连接失败**
- - 检查天平IP地址和端口配置
- - 确保天平Web服务已启用
- - 验证网络连接
-
-3. **认证失败**
- - 检查天平密码是否正确
- - 确保天平允许Web服务访问
-
-### 调试模式
-
-```python
-import logging
-logging.basicConfig(level=logging.DEBUG)
-
-# 创建天平实例，将显示详细日志
-balance = MettlerToledoXPR(ip="192.168.1.10")
-```
-
-## 支持的操作
-
-- **去皮 (Tare)**: 将当前重量设为零点
-- **清零 (Zero)**: 重新校准零点
-- **读取重量 (Get Weight)**: 获取当前重量值
-- **带去皮读取**: 先去皮再读取重量
-- **连接管理**: 自动连接和断开
-
-## 技术支持
-
-如果您在配置WSDL文件时遇到问题，请：
-
-1. 查看梅特勒托利多官方文档
-2. 联系梅特勒托利多技术支持
-3. 在项目GitHub页面提交Issue
-
-## 许可证
-
-本驱动程序遵循项目主许可证。WSDL文件的使用需遵循梅特勒托利多的许可条款。
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/__init__.py b/unilabos/devices/balance/mettler_toledo_xpr/__init__.py
deleted file mode 100644
index 80b47f77..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/__init__.py
+++ /dev/null
@@ -1,5 +0,0 @@
-# Mettler Toledo XPR Balance Driver Module
-
-from .mettler_toledo_xpr import MettlerToledoXPR
-
-__all__ = ['MettlerToledoXPR']
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml b/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
deleted file mode 100644
index 19bc241d..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/balance.yaml
+++ /dev/null
@@ -1,256 +0,0 @@
-balance.mettler_toledo_xpr:
- category:
- - balance
- class:
- action_value_mappings:
- disconnect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: []
- result:
- success: success
- schema:
- description: Disconnect from balance
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- success:
- description: Whether disconnect was successful
- type: boolean
- required:
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- get_weight:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: []
- result:
- unit: unit
- weight: weight
- schema:
- description: Get current weight reading
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- unit:
- description: Weight unit (e.g., g, kg)
- type: string
- weight:
- description: Weight value
- type: number
- required:
- - weight
- - unit
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- read_with_tare:
- feedback: {}
- goal:
- immediate_tare: immediate_tare
- goal_default:
- immediate_tare: true
- handles: []
- result:
- unit: unit
- weight: weight
- schema:
- description: Perform tare then read weight (standard read operation)
- properties:
- feedback: {}
- goal:
- properties:
- immediate_tare:
- default: true
- description: Whether to use immediate tare
- type: boolean
- required: []
- type: object
- result:
- properties:
- unit:
- description: Weight unit (e.g., g, kg)
- type: string
- weight:
- description: Weight value after tare
- type: number
- required:
- - weight
- - unit
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- send_cmd:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: []
- result:
- return_info: return_info
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- tare:
- feedback: {}
- goal:
- immediate: immediate
- goal_default:
- immediate: false
- handles: []
- result:
- success: success
- schema:
- description: Tare operation for balance
- properties:
- feedback: {}
- goal:
- properties:
- immediate:
- default: false
- description: Whether to perform immediate tare
- type: boolean
- required: []
- type: object
- result:
- properties:
- success:
- description: Whether tare operation was successful
- type: boolean
- required:
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- zero:
- feedback: {}
- goal:
- immediate: immediate
- goal_default:
- immediate: false
- handles: []
- result:
- success: success
- schema:
- description: Zero operation for balance
- properties:
- feedback: {}
- goal:
- properties:
- immediate:
- default: false
- description: Whether to perform immediate zero
- type: boolean
- required: []
- type: object
- result:
- properties:
- success:
- description: Whether zero operation was successful
- type: boolean
- required:
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.balance.mettler_toledo_xpr.mettler_toledo_xpr:MettlerToledoXPR
- status_types:
- error_message: str
- is_stable: bool
- status: str
- unit: str
- weight: float
- type: python
- config_info: []
- description: Mettler Toledo XPR/XSR Balance Driver
- handles: []
- icon: ''
- init_param_schema:
- description: MettlerToledoXPR __init__ parameters
- properties:
- feedback: {}
- goal:
- description: Initialization parameters for Mettler Toledo XPR balance
- properties:
- ip:
- default: 192.168.1.10
- description: Balance IP address
- type: string
- password:
- default: '123456'
- description: Balance password
- type: string
- port:
- default: 81
- description: Balance port number
- type: integer
- timeout:
- default: 10
- description: Connection timeout in seconds
- type: integer
- required: []
- type: object
- result: {}
- required:
- - goal
- title: __init__ command parameters
- type: object
- version: 1.0.0
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json b/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
deleted file mode 100644
index b5f93dc1..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/balance_test.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
- "nodes": [
- {
- "id": "BALANCE_STATION",
- "name": "METTLER_TOLEDO_XPR",
- "parent": null,
- "type": "device",
- "class": "balance.mettler_toledo_xpr",
- "position": {
- "x": 620.6111111111111,
- "y": 171,
- "z": 0
- },
- "config": {
- "ip": "192.168.1.10",
- "port": 81,
- "password": "123456",
- "timeout": 10
- },
- "data": {},
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py b/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
deleted file mode 100644
index e103c191..00000000
--- a/unilabos/devices/balance/mettler_toledo_xpr/mettler_toledo_xpr.py
+++ /dev/null
@@ -1,571 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-"""
-Mettler Toledo XPR/XSR Balance Driver for Uni-Lab OS
-
-This driver provides standard interface for Mettler Toledo XPR/XSR balance operations
-including tare, zero, and weight reading functions.
-"""
-
-import enum
-import base64
-import hashlib
-import logging
-import time
-from pathlib import Path
-from decimal import Decimal
-from typing import Tuple, Optional
-
-from jinja2 import Template
-from requests import Session
-from zeep import Client
-from zeep.transports import Transport
-import pprp
-
-# Import UniversalDriver - handle import error gracefully
-try:
- from unilabos.device_comms.universal_driver import UniversalDriver
-except ImportError:
- # Fallback for standalone testing
- class UniversalDriver:
- """Fallback UniversalDriver for standalone testing"""
- def __init__(self):
- self.success = False
-
-
-class Outcome(enum.Enum):
- """Balance operation outcome enumeration"""
- SUCCESS = "Success"
- ERROR = "Error"
-
-
-class MettlerToledoXPR(UniversalDriver):
- """Mettler Toledo XPR/XSR Balance Driver
-
- Provides standard interface for balance operations including:
- - Tare (去皮)
- - Zero (清零)
- - Weight reading (读数)
- """
-
- def __init__(self, ip: str = "192.168.1.10", port: int = 81,
- password: str = "123456", timeout: int = 10):
- """Initialize the balance driver
-
- Args:
- ip: Balance IP address
- port: Balance port number
- password: Balance password
- timeout: Connection timeout in seconds
- """
- super().__init__()
-
- self.ip = ip
- self.port = port
- self.password = password
- self.timeout = timeout
- self.api_path = "MT/Laboratory/Balance/XprXsr/V03"
-
- # Status properties
- self._status = "Disconnected"
- self._last_weight = 0.0
- self._last_unit = "g"
- self._is_stable = False
- self._error_message = ""
-
- # ROS2 action result properties
- self.success = False
- self.return_info = ""
-
- # Service objects
- self.client = None
- self.session_svc = None
- self.weighing_svc = None
- self.session_id = None
-
- # WSDL template path
- self.wsdl_template = Path(__file__).parent / "MT.Laboratory.Balance.XprXsr.V03.wsdl"
-
- # Bindings
- self.bindings = {
- "session": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_ISessionService",
- "weigh": "{http://MT/Laboratory/Balance/XprXsr/V03}BasicHttpBinding_IWeighingService",
- }
-
- # Setup logging
- self.logger = logging.getLogger(f"MettlerToledoXPR-{ip}")
-
- # Initialize connection
- self._connect()
-
- @property
- def status(self) -> str:
- """Current device status"""
- return self._status
-
- @property
- def weight(self) -> float:
- """Last measured weight value"""
- return self._last_weight
-
- @property
- def unit(self) -> str:
- """Weight unit (e.g., 'g', 'kg')"""
- return self._last_unit
-
- @property
- def is_stable(self) -> bool:
- """Whether the weight reading is stable"""
- return self._is_stable
-
- @property
- def error_message(self) -> str:
- """Last error message"""
- return self._error_message
-
- def _decrypt_session_id(self, pw: str, enc_sid: str, salt: str) -> str:
- """Decrypt session ID using password and salt"""
- key = hashlib.pbkdf2_hmac("sha1", pw.encode(),
- base64.b64decode(salt), 1000, dklen=32)
- plain = pprp.decrypt_sink(
- pprp.rijndael_decrypt_gen(
- key, pprp.data_source_gen(base64.b64decode(enc_sid))))
- return plain.decode()
-
- def _render_wsdl(self) -> Path:
- """Render WSDL template with current connection parameters"""
- if not self.wsdl_template.exists():
- raise FileNotFoundError(f"WSDL template not found: {self.wsdl_template}")
-
- text = Template(self.wsdl_template.read_text(encoding="utf-8")).render(
- host=self.ip, port=self.port, api_path=self.api_path)
-
- wsdl_path = self.wsdl_template.parent / f"rendered_{self.ip}_{self.port}.wsdl"
- wsdl_path.write_text(text, encoding="utf-8")
-
- return wsdl_path
-
- def _connect(self):
- """Establish connection to the balance"""
- try:
- self._status = "Connecting"
-
- # Render WSDL
- wsdl_path = self._render_wsdl()
- self.logger.info(f"WSDL rendered to {wsdl_path}")
-
- # Create SOAP client
- transport = Transport(session=Session(), timeout=self.timeout)
- self.client = Client(wsdl=str(wsdl_path), transport=transport)
-
- # Create service proxies
- base_url = f"http://{self.ip}:{self.port}/{self.api_path}"
- self.session_svc = self.client.create_service(
- self.bindings["session"], f"{base_url}/SessionService")
- self.weighing_svc = self.client.create_service(
- self.bindings["weigh"], f"{base_url}/WeighingService")
-
- self.logger.info("Zeep service proxies created")
-
- # Open session
- self.logger.info("Opening session...")
- reply = self.session_svc.OpenSession()
- if reply.Outcome != Outcome.SUCCESS.value:
- raise RuntimeError(f"OpenSession failed: {getattr(reply, 'ErrorMessage', '')}")
-
- self.session_id = self._decrypt_session_id(
- self.password, reply.SessionId, reply.Salt)
-
- self.logger.info(f"Session established successfully, SessionId={self.session_id}")
- self._status = "Connected"
- self._error_message = ""
-
- except Exception as e:
- self._status = "Error"
- self._error_message = str(e)
- self.logger.error(f"Connection failed: {e}")
- raise
-
- def _ensure_connected(self):
- """Ensure the device is connected"""
- if self._status != "Connected" or self.session_id is None:
- self._connect()
-
- def tare(self, immediate: bool = False) -> bool:
- """Perform tare operation (去皮)
-
- Args:
- immediate: Whether to perform immediate tare
-
- Returns:
- bool: True if successful, False otherwise
- """
- try:
- self._ensure_connected()
- self._status = "Taring"
-
- self.logger.info(f"Performing tare (immediate={immediate})...")
- reply = self.weighing_svc.Tare(self.session_id, immediate)
-
- if reply.Outcome != Outcome.SUCCESS.value:
- error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
- self.logger.error(f"Tare failed: {error_msg}")
- self._error_message = f"Tare failed: {error_msg}"
- self._status = "Error"
- return False
-
- self.logger.info("Tare completed successfully")
- self._status = "Connected"
- self._error_message = ""
- return True
-
- except Exception as e:
- self.logger.error(f"Tare operation failed: {e}")
- self._error_message = str(e)
- self._status = "Error"
- return False
-
- def zero(self, immediate: bool = False) -> bool:
- """Perform zero operation (清零)
-
- Args:
- immediate: Whether to perform immediate zero
-
- Returns:
- bool: True if successful, False otherwise
- """
- try:
- self._ensure_connected()
- self._status = "Zeroing"
-
- self.logger.info(f"Performing zero (immediate={immediate})...")
- reply = self.weighing_svc.Zero(self.session_id, immediate)
-
- if reply.Outcome != Outcome.SUCCESS.value:
- error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
- self.logger.error(f"Zero failed: {error_msg}")
- self._error_message = f"Zero failed: {error_msg}"
- self._status = "Error"
- return False
-
- self.logger.info("Zero completed successfully")
- self._status = "Connected"
- self._error_message = ""
- return True
-
- except Exception as e:
- self.logger.error(f"Zero operation failed: {e}")
- self._error_message = str(e)
- self._status = "Error"
- return False
-
- def get_weight(self) -> float:
- """Get current weight reading (读数)
-
- Returns:
- float: Weight value
- """
- try:
- self._ensure_connected()
- self._status = "Reading"
-
- self.logger.info("Getting weight...")
- reply = self.weighing_svc.GetWeight(self.session_id)
-
- if reply.Outcome != Outcome.SUCCESS.value:
- error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
- self.logger.error(f"GetWeight failed: {error_msg}")
- self._error_message = f"GetWeight failed: {error_msg}"
- self._status = "Error"
- return 0.0
-
- # Handle different response structures
- if hasattr(reply, 'WeightSample'):
- # Handle WeightSample structure (most common for XPR)
- weight_sample = reply.WeightSample
- if hasattr(weight_sample, 'NetWeight'):
- weight_val = float(Decimal(weight_sample.NetWeight.Value))
- weight_unit = weight_sample.NetWeight.Unit
- elif hasattr(weight_sample, 'GrossWeight'):
- weight_val = float(Decimal(weight_sample.GrossWeight.Value))
- weight_unit = weight_sample.GrossWeight.Unit
- else:
- weight_val = 0.0
- weight_unit = 'g'
- is_stable = getattr(weight_sample, 'Stable', True)
- elif hasattr(reply, 'Weight'):
- weight_val = float(Decimal(reply.Weight.Value))
- weight_unit = reply.Weight.Unit
- is_stable = getattr(reply.Weight, 'IsStable', True)
- elif hasattr(reply, 'Value'):
- weight_val = float(Decimal(reply.Value))
- weight_unit = getattr(reply, 'Unit', 'g')
- is_stable = getattr(reply, 'IsStable', True)
- else:
- # Try to extract from reply attributes
- weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
- weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
- is_stable = getattr(reply, 'IsStable', True)
-
- # Convert to grams for consistent output (ROS2 requirement)
- if weight_unit.lower() in ['milligram', 'mg']:
- weight_val_grams = weight_val / 1000.0
- elif weight_unit.lower() in ['kilogram', 'kg']:
- weight_val_grams = weight_val * 1000.0
- elif weight_unit.lower() in ['gram', 'g']:
- weight_val_grams = weight_val
- else:
- # Default to assuming grams if unit is unknown
- weight_val_grams = weight_val
- self.logger.warning(f"Unknown weight unit: {weight_unit}, assuming grams")
-
- # Update internal state (keep original values for reference)
- self._last_weight = weight_val
- self._last_unit = weight_unit
- self._is_stable = is_stable
-
- self.logger.info(f"Weight: {weight_val_grams} g (original: {weight_val} {weight_unit})")
- self._status = "Connected"
- self._error_message = ""
-
- return weight_val_grams
-
- except Exception as e:
- self.logger.error(f"Get weight failed: {e}")
- self._error_message = str(e)
- self._status = "Error"
- return 0.0
-
- def get_weight_with_unit(self) -> Tuple[float, str]:
- """Get current weight reading with unit (读数含单位)
-
- Returns:
- Tuple[float, str]: Weight value and unit
- """
- try:
- self._ensure_connected()
- self._status = "Reading"
-
- self.logger.info("Getting weight with unit...")
- reply = self.weighing_svc.GetWeight(self.session_id)
-
- if reply.Outcome != Outcome.SUCCESS.value:
- error_msg = getattr(reply, 'ErrorMessage', 'Unknown error')
- self.logger.error(f"GetWeight failed: {error_msg}")
- self._error_message = f"GetWeight failed: {error_msg}"
- self._status = "Error"
- return 0.0, ""
-
- # Handle different response structures
- if hasattr(reply, 'WeightSample'):
- # Handle WeightSample structure (most common for XPR)
- weight_sample = reply.WeightSample
- if hasattr(weight_sample, 'NetWeight'):
- weight_val = float(Decimal(weight_sample.NetWeight.Value))
- weight_unit = weight_sample.NetWeight.Unit
- elif hasattr(weight_sample, 'GrossWeight'):
- weight_val = float(Decimal(weight_sample.GrossWeight.Value))
- weight_unit = weight_sample.GrossWeight.Unit
- else:
- weight_val = 0.0
- weight_unit = 'g'
- is_stable = getattr(weight_sample, 'Stable', True)
- elif hasattr(reply, 'Weight'):
- weight_val = float(Decimal(reply.Weight.Value))
- weight_unit = reply.Weight.Unit
- is_stable = getattr(reply.Weight, 'IsStable', True)
- elif hasattr(reply, 'Value'):
- weight_val = float(Decimal(reply.Value))
- weight_unit = getattr(reply, 'Unit', 'g')
- is_stable = getattr(reply, 'IsStable', True)
- else:
- # Try to extract from reply attributes
- weight_val = float(Decimal(getattr(reply, 'WeightValue', getattr(reply, 'Value', '0'))))
- weight_unit = getattr(reply, 'WeightUnit', getattr(reply, 'Unit', 'g'))
- is_stable = getattr(reply, 'IsStable', True)
-
- # Update internal state
- self._last_weight = weight_val
- self._last_unit = weight_unit
- self._is_stable = is_stable
-
- self.logger.info(f"Weight: {weight_val} {weight_unit}")
- self._status = "Connected"
- self._error_message = ""
-
- return weight_val, weight_unit
-
- except Exception as e:
- self.logger.error(f"Get weight with unit failed: {e}")
- self._error_message = str(e)
- self._status = "Error"
- return 0.0, ""
-
-
-
-
-
- def send_cmd(self, command: str) -> dict:
- """ROS2 SendCmd action handler
-
- Args:
- command: JSON string containing command and parameters
-
- Returns:
- dict: Result containing success status and return_info
- """
- return self.execute_command_from_outer(command)
-
- def execute_command_from_outer(self, command: str) -> dict:
- """Execute command from ROS2 SendCmd action
-
- Args:
- command: JSON string containing command and parameters
-
- Returns:
- dict: Result containing success status and return_info
- """
- try:
- import json
- # Parse JSON command
- cmd_data = json.loads(command.replace("'", '"').replace("False", "false").replace("True", "true"))
-
- # Extract command name and parameters
- cmd_name = cmd_data.get('command', '')
- params = cmd_data.get('params', {})
-
- self.logger.info(f"Executing command: {cmd_name} with params: {params}")
-
- # Execute different commands
- if cmd_name == 'tare':
- immediate = params.get('immediate', False)
- success = self.tare(immediate)
- result = {
- 'success': success,
- 'return_info': f"Tare operation {'successful' if success else 'failed'}"
- }
- # Update instance attributes for ROS2 action system
- self.success = result['success']
- self.return_info = result['return_info']
- return result
-
- elif cmd_name == 'zero':
- immediate = params.get('immediate', False)
- success = self.zero(immediate)
- result = {
- 'success': success,
- 'return_info': f"Zero operation {'successful' if success else 'failed'}"
- }
- # Update instance attributes for ROS2 action system
- self.success = result['success']
- self.return_info = result['return_info']
- return result
-
- elif cmd_name == 'read' or cmd_name == 'get_weight':
- try:
- self.logger.info(f"Executing {cmd_name} command via ROS2...")
- self.logger.info(f"Current status: {self._status}")
-
- # Use get_weight to get weight value (returns float in grams)
- weight_grams = self.get_weight()
- self.logger.info(f"get_weight() returned: {weight_grams} g")
-
- # Get the original weight and unit for display
- original_weight = getattr(self, '_last_weight', weight_grams)
- original_unit = getattr(self, '_last_unit', 'g')
- self.logger.info(f"Original reading: {original_weight} {original_unit}")
-
- result = {
- 'success': True,
- 'return_info': f"Weight: {original_weight} {original_unit}"
- }
- except Exception as e:
- self.logger.error(f"Exception in {cmd_name}: {str(e)}")
- self.logger.error(f"Exception type: {type(e).__name__}")
- import traceback
- self.logger.error(f"Traceback: {traceback.format_exc()}")
- result = {
- 'success': False,
- 'return_info': f"Failed to read weight: {str(e)}"
- }
- # Update instance attributes for ROS2 action system
- self.success = result['success']
- self.return_info = result['return_info']
- return result
-
-
-
- else:
- result = {
- 'success': False,
- 'return_info': f"Unknown command: {cmd_name}. Available commands: tare, zero, read"
- }
- # Update instance attributes for ROS2 action system
- self.success = result['success']
- self.return_info = result['return_info']
- return result
-
- except json.JSONDecodeError as e:
- self.logger.error(f"JSON parsing failed: {e}")
- result = {
- 'success': False,
- 'return_info': f"JSON parsing failed: {str(e)}"
- }
- # Update instance attributes for ROS2 action system
- self.success = result['success']
- self.return_info = result['return_info']
- return result
- except Exception as e:
- self.logger.error(f"Command execution failed: {e}")
- result = {
- 'success': False,
- 'return_info': f"Command execution failed: {str(e)}"
- }
- # Update instance attributes for ROS2 action system
- self.success = result['success']
- self.return_info = result['return_info']
- return result
-
- def __del__(self):
- """Cleanup when object is destroyed"""
- self.disconnect()
-
-
-if __name__ == "__main__":
- # Test the driver
- import argparse
-
- parser = argparse.ArgumentParser(description="Mettler Toledo XPR Balance Driver Test")
- parser.add_argument("--ip", default="192.168.1.10", help="Balance IP address")
- parser.add_argument("--port", type=int, default=81, help="Balance port")
- parser.add_argument("--password", default="123456", help="Balance password")
- parser.add_argument("action", choices=["tare", "zero", "read"],
- nargs="?", default="read", help="Action to perform")
- parser.add_argument("--immediate", action="store_true", help="Use immediate mode")
-
- args = parser.parse_args()
-
- # Setup logging
- logging.basicConfig(level=logging.INFO,
- format="%(asctime)s %(levelname)s: %(message)s")
-
- # Create driver instance
- balance = MettlerToledoXPR(ip=args.ip, port=args.port, password=args.password)
-
- try:
- if args.action == "tare":
- success = balance.tare(args.immediate)
- print(f"Tare {'successful' if success else 'failed'}")
- elif args.action == "zero":
- success = balance.zero(args.immediate)
- print(f"Zero {'successful' if success else 'failed'}")
- else: # read
- # Perform tare first, then read weight
- if balance.tare(args.immediate):
- weight, unit = balance.get_weight_with_unit()
- print(f"Weight: {weight} {unit}")
- else:
- print("Tare operation failed, cannot read weight")
-
- finally:
- balance.disconnect()
\ No newline at end of file
diff --git a/unilabos/devices/battery/battery.json b/unilabos/devices/battery/battery.json
deleted file mode 100644
index 105ba5bd..00000000
--- a/unilabos/devices/battery/battery.json
+++ /dev/null
@@ -1,29 +0,0 @@
-{
- "nodes": [
- {
- "id": "NEWARE_BATTERY_TEST_SYSTEM",
- "name": "Neware Battery Test System",
- "parent": null,
- "type": "device",
- "class": "neware_battery_test_system",
- "position": {
- "x": 620.6111111111111,
- "y": 171,
- "z": 0
- },
- "config": {
- "ip": "127.0.0.1",
- "port": 502,
- "machine_id": 1,
- "devtype": "27",
- "timeout": 20,
- "size_x": 500.0,
- "size_y": 500.0,
- "size_z": 2000.0
- },
- "data": {},
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/battery/neware_battery_test_system.py b/unilabos/devices/battery/neware_battery_test_system.py
deleted file mode 100644
index 317e8fe5..00000000
--- a/unilabos/devices/battery/neware_battery_test_system.py
+++ /dev/null
@@ -1,1042 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-新威电池测试系统设备类
-- 提供TCP通信接口查询电池通道状态
-- 支持720个通道（devid 1-7, 8, 86）
-- 兼容BTSAPI getchlstatus协议
-
-设备特点：
-- TCP连接: 默认127.0.0.1:502
-- 通道映射: devid->subdevid->chlid 三级结构
-- 状态类型: working/stop/finish/protect/pause/false/unknown
-"""
-
-import socket
-import xml.etree.ElementTree as ET
-import json
-import time
-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.ros.nodes.base_device_node import ROS2DeviceNode
-from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-
-
-# ========================
-# 内部数据类和结构
-# ========================
-
-@dataclass(frozen=True)
-class ChannelKey:
- devid: int
- subdevid: int
- chlid: int
-
-
-@dataclass
-class ChannelStatus:
- state: str # working/stop/finish/protect/pause/false/unknown
- color: str # 状态对应颜色
- current_A: float # 电流 (A)
- voltage_V: float # 电压 (V)
- totaltime_s: float # 总时间 (s)
-
-
-class BatteryTestPositionState(TypedDict):
- voltage: float # 电压 (V)
- current: float # 电流 (A)
- time: float # 时间 (s) - 使用totaltime
- capacity: float # 容量 (Ah)
- energy: float # 能量 (Wh)
-
- status: str # 通道状态
- color: str # 状态对应颜色
-
- # 额外的inquire协议字段
- relativetime: float # 相对时间 (s)
- open_or_close: int # 0=关闭, 1=打开
- step_type: str # 步骤类型
- cycle_id: int # 循环ID
- step_id: int # 步骤ID
- log_code: str # 日志代码
-
-
-class BatteryTestPosition(ResourceHolder):
- def __init__(
- self,
- name,
- size_x=60,
- size_y=60,
- size_z=60,
- rotation=None,
- category="resource_holder",
- model=None,
- child_location: Coordinate = Coordinate.zero(),
- ):
- super().__init__(name, size_x, size_y, size_z, rotation, category, model, child_location=child_location)
- self._unilabos_state: Dict[str, Any] = {}
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state)
- return data
-
-
-class NewareBatteryTestSystem:
- """
- 新威电池测试系统设备类
-
- 提供电池测试通道状态查询、控制等功能。
- 支持720个通道的状态监控和数据导出。
- 包含完整的物料管理系统，支持2盘电池的状态映射。
-
- Attributes:
- ip (str): TCP服务器IP地址，默认127.0.0.1
- port (int): TCP端口，默认502
- devtype (str): 设备类型，默认"27"
- timeout (int): 通信超时时间（秒），默认20
- """
-
- # ========================
- # 基本通信与协议参数
- # ========================
- BTS_IP = "127.0.0.1"
- BTS_PORT = 502
- DEVTYPE = "27"
- TIMEOUT = 20 # 秒
- REQ_END = b"#\r\n" # 常见实现以 "#\\r\\n" 作为报文结束
-
- # ========================
- # 状态与颜色映射（前端可直接使用）
- # ========================
- 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
- }
-
- # 字母常量
- ascii_lowercase = 'abcdefghijklmnopqrstuvwxyz'
- ascii_uppercase = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
- LETTERS = ascii_uppercase + ascii_lowercase
-
- def __init__(self,
- ip: str = None,
- port: int = None,
- machine_id: int = 1,
- devtype: str = None,
- timeout: int = None,
-
- size_x: float = 500.0,
- size_y: float = 500.0,
- size_z: float = 2000.0,
- ):
- """
- 初始化新威电池测试系统
-
- Args:
- ip: TCP服务器IP地址
- port: TCP端口
- 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
- """
- self.ip = ip or self.BTS_IP
- self.port = port or self.BTS_PORT
- self.machine_id = machine_id
- self.devtype = devtype or self.DEVTYPE
- self.timeout = timeout or self.TIMEOUT
- self._last_status_update = None
- self._cached_status = {}
- self._ros_node: Optional[ROS2WorkstationNode] = None # ROS节点引用，由框架设置
-
-
- def post_init(self, ros_node):
- """
- ROS节点初始化后的回调方法，用于建立设备连接
-
- Args:
- ros_node: ROS节点实例
- """
- self._ros_node = ros_node
- # 创建2盘电池的物料管理系统
- self._setup_material_management()
- # 初始化通道映射
- self._channels = self._build_channel_map()
- try:
- # 测试设备连接
- if self.test_connection():
- ros_node.lab_logger().info(f"新威电池测试系统连接成功: {self.ip}:{self.port}")
- else:
- ros_node.lab_logger().warning(f"新威电池测试系统连接失败: {self.ip}:{self.port}")
- except Exception as e:
- 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 _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
- deck_main = Deck("ADeckName", 200, 200, 200)
-
- 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=45,
- item_dy=45
- )
- 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
- 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, **{
- "resources": [deck_main]
- })
- 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=100, # Z轴偏移100mm
- item_dx=65,
- item_dy=65
- )
-
- # 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）
- # ========================
-
- @property
- def status(self) -> str:
- """设备状态属性 - 会被自动识别并定时广播"""
- try:
- if self.test_connection():
- return "Connected"
- else:
- return "Disconnected"
- except:
- return "Error"
-
- @property
- def channel_status(self) -> Dict[int, Dict]:
- """
- 获取所有通道状态（按设备ID分组）
-
- 这个属性会执行实际的TCP查询并返回格式化的状态数据。
- 结果按设备ID分组，包含统计信息和详细状态。
-
- Returns:
- Dict[int, Dict]: 按设备ID分组的通道状态统计
- """
- 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, {})
-
- 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
- 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"
- )
-
- # 确保有默认的数据结构
- if not status_current_machine:
- status_current_machine = {
- "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}},
- "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)
-
- 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 P1_A1-P1_E8 (5行8列)
- 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:
- # 计算在5×8网格中的位置
- row_idx = (subdev_id - 1) # 0-4 (对应A-E)
- col_idx = (chl_id - 1) # 0-7 (对应1-8)
- resource_name = f"P1_{self.LETTERS[row_idx]}{col_idx + 1}"
-
- r = self.station_resources.get(resource_name)
- if r:
- status_channel = status_row.get(chl_id, {})
- channel_state = {
- "status": status_channel.get("state", "unknown"),
- "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
- "voltage": status_channel.get("voltage_V", 0.0),
- "current": status_channel.get("current_A", 0.0),
- "time": status_channel.get("totaltime_s", 0.0),
- }
- r.load_state(channel_state)
- except (KeyError, IndexError):
- continue
-
- # 第2盘：subdevid 6-10 映射到 P2_A1-P2_E8 (5行8列)
- 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:
- # 计算在5×8网格中的位置
- row_idx = (subdev_id - 6) # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
- col_idx = (chl_id - 1) # 0-7 (对应1-8)
- resource_name = f"P2_{self.LETTERS[row_idx]}{col_idx + 1}"
-
- r = self.station_resources.get(resource_name)
- if r:
- status_channel = status_row.get(chl_id, {})
- channel_state = {
- "status": status_channel.get("state", "unknown"),
- "color": status_channel.get("color", self.STATUS_COLOR["unknown"]),
- "voltage": status_channel.get("voltage_V", 0.0),
- "current": status_channel.get("current_A", 0.0),
- "time": status_channel.get("totaltime_s", 0.0),
- }
- r.load_state(channel_state)
- except (KeyError, IndexError):
- continue
-
- @property
- def connection_info(self) -> Dict[str, str]:
- """获取连接信息"""
- return {
- "ip": self.ip,
- "port": str(self.port),
- "devtype": self.devtype,
- "timeout": f"{self.timeout}s"
- }
-
- @property
- def total_channels(self) -> int:
- """获取总通道数"""
- return len(self._channels)
-
- # ========================
- # 设备动作方法（Uni-Lab标准）
- # ========================
-
- def export_status_json(self, filepath: str = "bts_status.json") -> dict:
- """
- 导出当前状态到JSON文件（ROS2动作）
-
- Args:
- filepath: 输出文件路径
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- grouped_status = self.channel_status
- payload = {
- "timestamp": time.time(),
- "device_info": {
- "ip": self.ip,
- "port": self.port,
- "devtype": self.devtype,
- "total_channels": self.total_channels
- },
- "data": grouped_status,
- "color_mapping": self.STATUS_COLOR
- }
-
- with open(filepath, "w", encoding="utf-8") as f:
- json.dump(payload, f, ensure_ascii=False, indent=2)
-
- success_msg = f"状态数据已成功导出到: {filepath}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
-
- except Exception as e:
- error_msg = f"导出JSON失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- @property
- def plate_status(self) -> Dict[str, Any]:
- """
- 获取所有盘的状态信息（属性）
-
- Returns:
- 包含所有盘状态信息的字典
- """
- try:
- # 确保先更新所有资源的状态数据
- _ = self.channel_status # 这会触发状态更新并调用load_state
-
- # 手动计算两盘的状态，避免调用需要参数的get_plate_status方法
- plate1_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
- plate1_active = []
-
- for name, resource in self.station_resources_plate1.items():
- state = getattr(resource, '_unilabos_state', {})
- status = state.get('status', 'unknown')
- plate1_stats[status] += 1
-
- if status != 'unknown':
- plate1_active.append({
- 'name': name,
- 'status': status,
- 'color': state.get('color', self.STATUS_COLOR['unknown']),
- 'voltage': state.get('voltage', 0.0),
- 'current': state.get('current', 0.0),
- })
-
- plate2_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
- plate2_active = []
-
- for name, resource in self.station_resources_plate2.items():
- state = getattr(resource, '_unilabos_state', {})
- status = state.get('status', 'unknown')
- plate2_stats[status] += 1
-
- if status != 'unknown':
- plate2_active.append({
- 'name': name,
- 'status': status,
- 'color': state.get('color', self.STATUS_COLOR['unknown']),
- 'voltage': state.get('voltage', 0.0),
- 'current': state.get('current', 0.0),
- })
-
- return {
- "plate1": {
- 'plate_num': 1,
- 'stats': plate1_stats,
- 'total_positions': len(self.station_resources_plate1),
- 'active_positions': len(plate1_active),
- 'resources': plate1_active
- },
- "plate2": {
- 'plate_num': 2,
- 'stats': plate2_stats,
- 'total_positions': len(self.station_resources_plate2),
- 'active_positions': len(plate2_active),
- 'resources': plate2_active
- },
- "total_plates": 2
- }
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"获取盘状态失败: {e}")
- return {
- "plate1": {"error": str(e)},
- "plate2": {"error": str(e)},
- "total_plates": 2
- }
-
-
-
-
-
- # ========================
- # 辅助方法
- # ========================
-
- def test_connection(self) -> bool:
- """
- 测试TCP连接是否正常
-
- Returns:
- bool: 连接是否成功
- """
- try:
- with socket.create_connection((self.ip, self.port), timeout=5) as sock:
- return True
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().debug(f"连接测试失败: {e}")
- return False
-
- def print_status_summary(self) -> None:
- """
- 打印通道状态摘要信息（支持2盘电池）
- """
- try:
- status_data = self.channel_status
- if not status_data:
- print(" 未获取到状态数据")
- return
-
- print(f" 状态统计:")
- total_channels = 0
-
- # 从channel_status获取stats字段
- stats = status_data.get("stats", {})
- for state, count in stats.items():
- if isinstance(count, int) and count > 0:
- color = self.STATUS_COLOR.get(state, "#000000")
- print(f" {state}: {count} 个通道 ({color})")
- total_channels += count
-
- print(f" 总计: {total_channels} 个通道")
- print(f" 第1盘资源数: {len(self.station_resources_plate1)}")
- print(f" 第2盘资源数: {len(self.station_resources_plate2)}")
- print(f" 总资源数: {len(self.station_resources)}")
-
- except Exception as e:
- print(f" 获取状态失败: {e}")
-
- def get_device_summary(self) -> dict:
- """
- 获取设备级别的摘要统计（设备动作）
-
- Returns:
- 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)
- success_msg = f"设备摘要统计: {result_info}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": result_info, "success": True}
-
- except Exception as e:
- error_msg = f"获取设备摘要失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def test_connection_action(self) -> dict:
- """
- 测试TCP连接（设备动作）
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- is_connected = self.test_connection()
- if is_connected:
- success_msg = f"TCP连接测试成功: {self.ip}:{self.port}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
- else:
- error_msg = f"TCP连接测试失败: {self.ip}:{self.port}"
- if self._ros_node:
- self._ros_node.lab_logger().warning(error_msg)
- return {"return_info": error_msg, "success": False}
-
- except Exception as e:
- error_msg = f"连接测试异常: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def print_status_summary_action(self) -> dict:
- """
- 打印状态摘要（设备动作）
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- self.print_status_summary()
- success_msg = "状态摘要已打印到控制台"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
-
- except Exception as e:
- error_msg = f"打印状态摘要失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def query_plate_action(self, plate_id: str = "P1") -> dict:
- """
- 查询指定盘的详细信息（设备动作）
-
- Args:
- plate_id: 盘号标识，如"P1"或"P2"
-
- Returns:
- dict: ROS2动作结果格式，包含指定盘的详细通道信息
- """
- try:
- # 解析盘号
- if plate_id.upper() == "P1":
- plate_num = 1
- elif plate_id.upper() == "P2":
- plate_num = 2
- else:
- error_msg = f"无效的盘号: {plate_id}，仅支持P1或P2"
- if self._ros_node:
- self._ros_node.lab_logger().warning(error_msg)
- return {"return_info": error_msg, "success": False}
-
- # 获取指定盘的详细信息
- plate_detail = self._get_plate_detail_info(plate_num)
-
- success_msg = f"成功获取{plate_id}盘详细信息，包含{len(plate_detail['channels'])}个通道"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
-
- return {
- "return_info": success_msg,
- "success": True,
- "plate_data": plate_detail
- }
-
- except Exception as e:
- error_msg = f"查询盘{plate_id}详细信息失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def _get_plate_detail_info(self, plate_num: int) -> dict:
- """
- 获取指定盘的详细信息，包含设备ID、子设备ID、通道ID映射
-
- Args:
- plate_num: 盘号 (1 或 2)
-
- Returns:
- dict: 包含详细通道信息的字典
- """
- # 获取最新的通道状态数据
- channel_status_data = self.channel_status
- subunits = channel_status_data.get('subunits', {})
-
- if plate_num == 1:
- devid = 1
- subdevid_range = range(1, 6) # 子设备ID 1-5
- elif plate_num == 2:
- devid = 1
- subdevid_range = range(6, 11) # 子设备ID 6-10
- else:
- raise ValueError("盘号必须是1或2")
-
- channels = []
-
- # 直接从subunits数据构建通道信息，而不依赖资源状态
- for subdev_id in subdevid_range:
- status_row = subunits.get(subdev_id, {})
-
- for chl_id in range(1, 9): # chlid 1-8
- try:
- # 计算在5×8网格中的位置
- if plate_num == 1:
- row_idx = (subdev_id - 1) # 0-4 (对应A-E)
- else: # plate_num == 2
- row_idx = (subdev_id - 6) # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
-
- col_idx = (chl_id - 1) # 0-7 (对应1-8)
- position = f"{self.LETTERS[row_idx]}{col_idx + 1}"
- name = f"P{plate_num}_{position}"
-
- # 从subunits直接获取通道状态数据
- status_channel = status_row.get(chl_id, {})
-
- # 提取metrics数据（如果存在）
- metrics = status_channel.get('metrics', {})
-
- channel_info = {
- 'name': name,
- 'devid': devid,
- 'subdevid': subdev_id,
- 'chlid': chl_id,
- 'position': position,
- 'status': status_channel.get('state', 'unknown'),
- 'color': status_channel.get('color', self.STATUS_COLOR['unknown']),
- 'voltage': metrics.get('voltage_V', 0.0),
- 'current': metrics.get('current_A', 0.0),
- 'time': metrics.get('totaltime_s', 0.0)
- }
-
- channels.append(channel_info)
-
- except (ValueError, IndexError, KeyError):
- # 如果解析失败，跳过该通道
- continue
-
- # 按位置排序（先按行，再按列）
- channels.sort(key=lambda x: (x['subdevid'], x['chlid']))
-
- # 统计状态
- stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
- for channel in channels:
- stats[channel['status']] += 1
-
- return {
- 'plate_id': f"P{plate_num}",
- 'plate_num': plate_num,
- 'devid': devid,
- 'subdevid_range': list(subdevid_range),
- 'total_channels': len(channels),
- 'stats': stats,
- 'channels': channels
- }
-
- # ========================
- # TCP通信和协议处理
- # ========================
-
- def _build_channel_map(self) -> List['ChannelKey']:
- """构建全量通道映射（720个通道）"""
- channels = []
-
- # devid 1-7: subdevid 1-10, chlid 1-8
- for devid in range(1, 8):
- for sub in range(1, 11):
- for ch in range(1, 9):
- channels.append(ChannelKey(devid, sub, ch))
-
- # devid 8: subdevid 11-20, chlid 1-8
- for sub in range(11, 21):
- for ch in range(1, 9):
- channels.append(ChannelKey(8, sub, ch))
-
- # devid 86: subdevid 1-10, chlid 1-8
- for sub in range(1, 11):
- for ch in range(1, 9):
- channels.append(ChannelKey(86, sub, ch))
-
- return channels
-
- def _query_all_channels(self) -> Dict['ChannelKey', dict]:
- """执行TCP查询获取所有通道状态"""
- try:
- req_xml = self._build_inquire_xml()
-
- with socket.create_connection((self.ip, self.port), timeout=self.timeout) as sock:
- sock.settimeout(self.timeout)
- sock.sendall(req_xml)
- response = self._recv_until(sock)
-
- return self._parse_inquire_resp(response)
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"查询通道状态失败: {e}")
- else:
- print(f"查询通道状态失败: {e}")
- return {}
-
- def _build_inquire_xml(self) -> bytes:
- """构造inquire请求XML"""
- lines = [
- '',
- '',
- 'inquire',
- f''
- ]
-
- for c in self._channels:
- lines.append(
- f'true'
- )
-
- lines.extend(['
', ''])
- xml_text = "\n".join(lines)
- return xml_text.encode("utf-8") + self.REQ_END
-
- def _recv_until(self, sock: socket.socket, end_token: bytes = None,
- alt_close_tag: bytes = b"") -> bytes:
- """接收TCP响应数据"""
- if end_token is None:
- end_token = self.REQ_END
-
- buf = bytearray()
- while True:
- chunk = sock.recv(8192)
- if not chunk:
- break
- buf.extend(chunk)
- if end_token in buf:
- cut = buf.rfind(end_token)
- return bytes(buf[:cut])
- if alt_close_tag in buf:
- cut = buf.rfind(alt_close_tag) + len(alt_close_tag)
- return bytes(buf[:cut])
- return bytes(buf)
-
- def _parse_inquire_resp(self, xml_bytes: bytes) -> Dict['ChannelKey', dict]:
- """解析inquire_resp响应XML"""
- mapping = {}
-
- try:
- xml_text = xml_bytes.decode("utf-8", errors="ignore").strip()
- if not xml_text:
- return mapping
-
- root = ET.fromstring(xml_text)
- cmd = root.findtext("cmd", default="").strip()
-
- if cmd != "inquire_resp":
- return mapping
-
- list_node = root.find("list")
- if list_node is None:
- return mapping
-
- for node in list_node.findall("inquire"):
- # 解析 dev="27-1-1-1-0"
- dev = node.get("dev", "")
- parts = dev.split("-")
- # 容错：至少需要 5 段
- if len(parts) < 5:
- continue
- try:
- devtype = int(parts[0]) # 未使用，但解析以校验正确性
- devid = int(parts[1])
- subdevid = int(parts[2])
- chlid = int(parts[3])
- aux = int(parts[4])
- except ValueError:
- continue
-
- key = ChannelKey(devid, subdevid, chlid)
-
- # 提取属性，带类型转换与缺省值
- def fget(name: str, cast, default):
- v = node.get(name)
- if v is None or v == "":
- return default
- try:
- return cast(v)
- except Exception:
- return default
-
- workstatus = (node.get("workstatus", "") or "").lower()
- if workstatus not in self.STATUS_SET:
- workstatus = "unknown"
-
- current = fget("current", float, 0.0)
- voltage = fget("voltage", float, 0.0)
- capacity = fget("capacity", float, 0.0)
- energy = fget("energy", float, 0.0)
- totaltime = fget("totaltime", float, 0.0)
- relativetime = fget("relativetime", float, 0.0)
- open_close = fget("open_or_close", int, 0)
- cycle_id = fget("cycle_id", int, 0)
- step_id = fget("step_id", int, 0)
- step_type = node.get("step_type", "") or ""
- log_code = node.get("log_code", "") or ""
- barcode = node.get("barcode")
-
- mapping[key] = {
- "state": workstatus,
- "color": self.STATUS_COLOR.get(workstatus, self.STATUS_COLOR["unknown"]),
- "current_A": current,
- "voltage_V": voltage,
- "capacity_Ah": capacity,
- "energy_Wh": energy,
- "totaltime_s": totaltime,
- "relativetime_s": relativetime,
- "open_or_close": open_close,
- "step_type": step_type,
- "cycle_id": cycle_id,
- "step_id": step_id,
- "log_code": log_code,
- **({"barcode": barcode} if barcode is not None else {}),
- }
-
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"解析XML响应失败: {e}")
- else:
- print(f"解析XML响应失败: {e}")
-
- return mapping
-
- def _group_by_devid(self, status_map: Dict['ChannelKey', dict]) -> Dict[int, Dict]:
- """按设备ID分组状态数据"""
- result = {}
-
- for key, val in status_map.items():
- if key.devid not in result:
- result[key.devid] = {
- "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}},
- "subunits": {}
- }
-
- dev = result[key.devid]
- state = val.get("state", "unknown")
- dev["stats"][state] = dev["stats"].get(state, 0) + 1
-
- subunits = dev["subunits"]
- if key.subdevid not in subunits:
- subunits[key.subdevid] = {}
-
- subunits[key.subdevid][key.chlid] = {
- "state": state,
- "color": val.get("color", self.STATUS_COLOR["unknown"]),
- "open_or_close": val.get("open_or_close", 0),
- "metrics": {
- "voltage_V": val.get("voltage_V", 0.0),
- "current_A": val.get("current_A", 0.0),
- "capacity_Ah": val.get("capacity_Ah", 0.0),
- "energy_Wh": val.get("energy_Wh", 0.0),
- "totaltime_s": val.get("totaltime_s", 0.0),
- "relativetime_s": val.get("relativetime_s", 0.0)
- },
- "meta": {
- "step_type": val.get("step_type", ""),
- "cycle_id": val.get("cycle_id", 0),
- "step_id": val.get("step_id", 0),
- "log_code": val.get("log_code", "")
- }
- }
-
- return result
-
-
-# ========================
-# 示例和测试代码
-# ========================
-def main():
- """测试和演示设备类的使用（支持2盘80颗电池）"""
- print("=== 新威电池测试系统设备类演示（2盘80颗电池） ===")
-
- # 创建设备实例
- bts = NewareBatteryTestSystem()
-
- # 创建一个模拟的ROS节点用于初始化
- class MockRosNode:
- def lab_logger(self):
- import logging
- return logging.getLogger(__name__)
-
- def update_resource(self, *args, **kwargs):
- pass # 空实现，避免ROS调用错误
-
- # 调用post_init进行正确的初始化
- mock_ros_node = MockRosNode()
- bts.post_init(mock_ros_node)
-
- # 测试连接
- print(f"\n1. 连接测试:")
- print(f" 连接信息: {bts.connection_info}")
- if bts.test_connection():
- print(" ✓ TCP连接正常")
- else:
- print(" ✗ TCP连接失败")
- return
-
- # 获取设备摘要
- print(f"\n2. 设备摘要:")
- print(f" 总通道数: {bts.total_channels}")
- summary_result = bts.get_device_summary()
- if summary_result["success"]:
- # 直接解析return_info，因为它就是JSON字符串
- summary = json.loads(summary_result["return_info"])
- for devid, count in summary.items():
- print(f" 设备ID {devid}: {count} 个通道")
- else:
- print(f" 获取设备摘要失败: {summary_result['return_info']}")
-
- # 显示物料管理系统信息
- print(f"\n3. 物料管理系统:")
- print(f" 第1盘资源数: {len(bts.station_resources_plate1)}")
- print(f" 第2盘资源数: {len(bts.station_resources_plate2)}")
- print(f" 总资源数: {len(bts.station_resources)}")
-
- # 获取实时状态
- print(f"\n4. 获取通道状态:")
- try:
- bts.print_status_summary()
- except Exception as e:
- print(f" 获取状态失败: {e}")
-
- # 分别获取两盘的状态
- print(f"\n5. 分盘状态统计:")
- try:
- plate_status_data = bts.plate_status
- for plate_num in [1, 2]:
- plate_key = f"plate{plate_num}" # 修正键名格式：plate1, plate2
- if plate_key in plate_status_data:
- plate_info = plate_status_data[plate_key]
- print(f" 第{plate_num}盘:")
- print(f" 总位置数: {plate_info['total_positions']}")
- print(f" 活跃位置数: {plate_info['active_positions']}")
- for state, count in plate_info['stats'].items():
- if count > 0:
- print(f" {state}: {count} 个位置")
- else:
- print(f" 第{plate_num}盘: 无数据")
- except Exception as e:
- print(f" 获取分盘状态失败: {e}")
-
- # 导出JSON
- print(f"\n6. 导出状态数据:")
- result = bts.export_status_json("demo_2plate_status.json")
- if result["success"]:
- print(" ✓ 状态数据已导出到 demo_2plate_status.json")
- else:
- print(" ✗ 导出失败")
-
-
-if __name__ == "__main__":
- main()
diff --git a/unilabos/devices/cameraSII/__init__.py b/unilabos/devices/cameraSII/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/cameraSII/cameraDriver.py b/unilabos/devices/cameraSII/cameraDriver.py
deleted file mode 100644
index 27d27b90..00000000
--- a/unilabos/devices/cameraSII/cameraDriver.py
+++ /dev/null
@@ -1,712 +0,0 @@
-#!/usr/bin/env python3
-import asyncio
-import json
-import subprocess
-import sys
-import threading
-from typing import Optional, Dict, Any
-import logging
-
-import requests
-import websockets
-
-logging.getLogger("zeep").setLevel(logging.WARNING)
-logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING)
-logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING)
-from onvif import ONVIFCamera # 新增：ONVIF PTZ 控制
-
-
-# ======================= 独立的 PTZController =======================
-class PTZController:
- def __init__(self, host: str, port: int, user: str, password: str):
- """
- :param host: 摄像机 IP 或域名（和 RTSP 的一样即可）
- :param port: ONVIF 端口（多数为 80，看你的设备）
- :param user: 摄像机用户名
- :param password: 摄像机密码
- """
- self.host = host
- self.port = port
- self.user = user
- self.password = password
-
- self.cam: Optional[ONVIFCamera] = None
- self.media_service = None
- self.ptz_service = None
- self.profile = None
-
- def connect(self) -> bool:
- """
- 建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常）
- Note: 首先 pip install onvif-zeep
- """
- try:
- self.cam = ONVIFCamera(self.host, self.port, self.user, self.password)
- self.media_service = self.cam.create_media_service()
- self.ptz_service = self.cam.create_ptz_service()
- profiles = self.media_service.GetProfiles()
- if not profiles:
- print("[PTZ] No media profiles found on camera.", file=sys.stderr)
- return False
- self.profile = profiles[0]
- return True
- except Exception as e:
- print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr)
- return False
-
- def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool:
- """
- 连续移动一段时间（秒），之后自动停止。
- 此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。
- """
- if not self.ptz_service or not self.profile:
- print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr)
- return False
-
- # 进入前先强行停一下，避免前一次残留动作
- self._force_stop()
-
- req = self.ptz_service.create_type("ContinuousMove")
- req.ProfileToken = self.profile.token
-
- req.Velocity = {
- "PanTilt": {"x": pan, "y": tilt},
- "Zoom": {"x": zoom},
- }
-
- try:
- print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr)
- self.ptz_service.ContinuousMove(req)
- except Exception as e:
- print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr)
- return False
-
- # 阻塞等待：这里决定“运动时间”
- import time
- wait_seconds = max(2 * duration, 0.0)
- time.sleep(wait_seconds)
-
- # 运动完成后强制停止
- return self._force_stop()
-
- def stop(self) -> bool:
- """
- 阻塞调用 Stop（带重试），成功 True，失败 False。
- """
- return self._force_stop()
-
- # ------- 对外动作接口（给 CameraController 调用） -------
- # 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False
-
- def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
- print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr)
- return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration)
-
- def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
- print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr)
- return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration)
-
- def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr)
- return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration)
-
- def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr)
- return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration)
-
- # ------- 占位的变倍接口（当前设备不支持） -------
- def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- """
- 当前设备不支持变倍；保留方法只是避免上层调用时报错。
- """
- print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
- return False
-
- def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- """
- 当前设备不支持变倍；保留方法只是避免上层调用时报错。
- """
- print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
- return False
-
- def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool:
- """
- 尝试多次调用 Stop，作为“强制停止”手段。
- :param retries: 重试次数
- :param delay: 每次重试间隔（秒）
- """
- if not self.ptz_service or not self.profile:
- print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr)
- return False
-
- import time
- last_error = None
- for i in range(retries):
- try:
- print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr)
- self.ptz_service.Stop({"ProfileToken": self.profile.token})
- print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr)
- return True
- except Exception as e:
- last_error = e
- print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr)
- time.sleep(delay)
-
- print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr)
- return False
-
-# ======================= CameraController（加入 PTZ） =======================
-
-class CameraController:
- """
- Uni-Lab-OS 摄像头驱动（driver 形式）
- 启动 Uni-Lab-OS 后，立即开始推流
-
- - WebSocket 信令：通过 signal_backend_url 连接到后端
- 例如: wss://sciol.ac.cn/api/realtime/signal/host/
- - 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url
- 当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。
- """
-
- def __init__(
- self,
- host_id: str = "demo-host",
-
- # （1）信令后端（WebSocket）
- signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
-
- # （2）媒体后端（RTMP + WebRTC API）
- rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
- webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
- webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
- camera_rtsp_url: str = "",
-
- # （3）PTZ 控制相关（ONVIF）
- ptz_host: str = "", # 一般就是摄像头 IP，比如 "192.168.31.164"
- ptz_port: int = 80, # ONVIF 端口，不一定是 80，按实际情况改
- ptz_user: str = "", # admin
- ptz_password: str = "", # admin123
- ):
- self.host_id = host_id
- self.camera_rtsp_url = camera_rtsp_url
-
- # 拼接最终的 WebSocket URL：.../host/
- signal_backend_url = signal_backend_url.rstrip("/")
- if not signal_backend_url.endswith("/host"):
- signal_backend_url = signal_backend_url + "/host"
- self.signal_backend_url = f"{signal_backend_url}/{host_id}"
-
- # 媒体服务器配置
- self.rtmp_url = rtmp_url
- self.webrtc_api = webrtc_api
- self.webrtc_stream_url = webrtc_stream_url
-
- # PTZ 控制
- self.ptz_host = ptz_host
- self.ptz_port = ptz_port
- self.ptz_user = ptz_user
- self.ptz_password = ptz_password
- self._ptz: Optional[PTZController] = None
- self._init_ptz_if_possible()
-
- # 运行时状态
- self._ws: Optional[object] = None
- self._ffmpeg_process: Optional[subprocess.Popen] = None
- self._running = False
- self._loop_task: Optional[asyncio.Future] = None
-
- # 事件循环 & 线程
- self._loop: Optional[asyncio.AbstractEventLoop] = None
- self._loop_thread: Optional[threading.Thread] = None
-
- try:
- self.start()
- except Exception as e:
- print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
-
- # ------------------------ PTZ 初始化 ------------------------
-
- # ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------
-
- def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
- print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}")
- return self._ptz.move_up(speed=speed, duration=duration)
-
- def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
- print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}")
- return self._ptz.move_down(speed=speed, duration=duration)
-
- def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}")
- return self._ptz.move_left(speed=speed, duration=duration)
-
- def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}")
- return self._ptz.move_right(speed=speed, duration=duration)
-
- def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- """
- 当前设备不支持变倍；保留方法只是避免上层调用时报错。
- """
- print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
- return False
-
- def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
- """
- 当前设备不支持变倍；保留方法只是避免上层调用时报错。
- """
- print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
- return False
-
- def ptz_stop(self):
- if self._ptz is None:
- print("[CameraController] PTZ not initialized.", file=sys.stderr)
- return
- self._ptz.stop()
-
- def _init_ptz_if_possible(self):
- """
- 根据 ptz_host / user / password 初始化 PTZ；
- 如果配置信息不全则不启用 PTZ（静默）。
- """
- if not (self.ptz_host and self.ptz_user and self.ptz_password):
- return
- ctrl = PTZController(
- host=self.ptz_host,
- port=self.ptz_port,
- user=self.ptz_user,
- password=self.ptz_password,
- )
- if ctrl.connect():
- self._ptz = ctrl
- else:
- self._ptz = None
-
- # ---------------------------------------------------------------------
- # 对外暴露的方法：供 Uni-Lab-OS 调用
- # ---------------------------------------------------------------------
-
- def start(self, config: Optional[Dict[str, Any]] = None):
- """
- 启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流，
- """
-
- if self._running:
- return {"status": "already_running", "host_id": self.host_id}
-
- # 应用 config 覆盖（如果有）
- if config:
- self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url)
- cfg_host_id = config.get("host_id")
- if cfg_host_id:
- self.host_id = cfg_host_id
-
- signal_backend_url = config.get("signal_backend_url")
- if signal_backend_url:
- signal_backend_url = signal_backend_url.rstrip("/")
- if not signal_backend_url.endswith("/host"):
- signal_backend_url = signal_backend_url + "/host"
- self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
-
- self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
- self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
- self.webrtc_stream_url = config.get(
- "webrtc_stream_url", self.webrtc_stream_url
- )
-
- # PTZ 相关配置也允许通过 config 注入
- self.ptz_host = config.get("ptz_host", self.ptz_host)
- self.ptz_port = int(config.get("ptz_port", self.ptz_port))
- self.ptz_user = config.get("ptz_user", self.ptz_user)
- self.ptz_password = config.get("ptz_password", self.ptz_password)
- self._init_ptz_if_possible()
-
- self._running = True
-
- # === start 时启动 FFmpeg 推流 ===
- self._start_ffmpeg()
-
- # 创建新的事件循环和线程（用于 WebSocket 信令）
- self._loop = asyncio.new_event_loop()
-
- def loop_runner(loop: asyncio.AbstractEventLoop):
- asyncio.set_event_loop(loop)
- try:
- loop.run_forever()
- except Exception as e:
- print(f"[CameraController] event loop error: {e}", file=sys.stderr)
-
- self._loop_thread = threading.Thread(
- target=loop_runner, args=(self._loop,), daemon=True
- )
- self._loop_thread.start()
-
- self._loop_task = asyncio.run_coroutine_threadsafe(
- self._run_main_loop(), self._loop
- )
-
- return {
- "status": "started",
- "host_id": self.host_id,
- "signal_backend_url": self.signal_backend_url,
- "rtmp_url": self.rtmp_url,
- "webrtc_api": self.webrtc_api,
- "webrtc_stream_url": self.webrtc_stream_url,
- }
-
- def stop(self) -> Dict[str, Any]:
- """
- 停止推流 & 断开 WebSocket，并关闭事件循环线程。
- """
- self._running = False
-
- self._stop_ffmpeg()
-
- if self._ws and self._loop is not None:
- async def close_ws():
- try:
- await self._ws.close()
- except Exception as e:
- print(
- f"[CameraController] error when closing WebSocket: {e}",
- file=sys.stderr,
- )
-
- asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
-
- if self._loop_task is not None:
- if not self._loop_task.done():
- self._loop_task.cancel()
- try:
- self._loop_task.result()
- except asyncio.CancelledError:
- pass
- except Exception as e:
- print(
- f"[CameraController] main loop task error in stop(): {e}",
- file=sys.stderr,
- )
- finally:
- self._loop_task = None
-
- if self._loop is not None:
- try:
- self._loop.call_soon_threadsafe(self._loop.stop)
- except Exception as e:
- print(
- f"[CameraController] error when stopping event loop: {e}",
- file=sys.stderr,
- )
-
- if self._loop_thread is not None:
- try:
- self._loop_thread.join(timeout=5)
- except Exception as e:
- print(
- f"[CameraController] error when joining loop thread: {e}",
- file=sys.stderr,
- )
- finally:
- self._loop_thread = None
-
- self._ws = None
- self._loop = None
-
- return {"status": "stopped", "host_id": self.host_id}
-
- def get_status(self) -> Dict[str, Any]:
- """
- 查询当前状态，方便在 Uni-Lab-OS 中做监控。
- """
- ws_closed = None
- if self._ws is not None:
- ws_closed = getattr(self._ws, "closed", None)
-
- if ws_closed is None:
- websocket_connected = self._ws is not None
- else:
- websocket_connected = (self._ws is not None) and (not ws_closed)
-
- return {
- "host_id": self.host_id,
- "running": self._running,
- "websocket_connected": websocket_connected,
- "ffmpeg_running": bool(
- self._ffmpeg_process and self._ffmpeg_process.poll() is None
- ),
- "signal_backend_url": self.signal_backend_url,
- "rtmp_url": self.rtmp_url,
- }
-
- # ---------------------------------------------------------------------
- # 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理
- # ---------------------------------------------------------------------
-
- async def _run_main_loop(self):
- try:
- while self._running:
- try:
- async with websockets.connect(self.signal_backend_url) as ws:
- self._ws = ws
- await self._recv_loop()
- except asyncio.CancelledError:
- raise
- except Exception as e:
- if self._running:
- print(
- f"[CameraController] WebSocket connection error: {e}",
- file=sys.stderr,
- )
- await asyncio.sleep(3)
- except asyncio.CancelledError:
- pass
-
- async def _recv_loop(self):
- assert self._ws is not None
- ws = self._ws
-
- async for message in ws:
- try:
- data = json.loads(message)
- except json.JSONDecodeError:
- print(
- f"[CameraController] received non-JSON message: {message}",
- file=sys.stderr,
- )
- continue
-
- try:
- await self._handle_message(data)
- except Exception as e:
- print(
- f"[CameraController] error while handling message {data}: {e}",
- file=sys.stderr,
- )
-
- async def _handle_message(self, data: Dict[str, Any]):
- """
- 处理来自信令后端的消息：
- - command: start_stream / stop_stream / ptz_xxx
- - type: offer (WebRTC)
- """
- cmd = data.get("command")
-
- # ---------- 推流控制 ----------
- if cmd == "start_stream":
- try:
- self._start_ffmpeg()
- except Exception as e:
- print(
- f"[CameraController] error when starting FFmpeg on start_stream: {e}",
- file=sys.stderr,
- )
- return
-
- if cmd == "stop_stream":
- try:
- self._stop_ffmpeg()
- except Exception as e:
- print(
- f"[CameraController] error when stopping FFmpeg on stop_stream: {e}",
- file=sys.stderr,
- )
- return
-
- # # ---------- PTZ 控制 ----------
- # # 例如信令可以发：
- # # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5}
- # if cmd == "ptz_move":
- # if self._ptz is None:
- # # 没有初始化 PTZ，静默忽略或打印一条
- # print("[CameraController] PTZ not initialized.", file=sys.stderr)
- # return
-
- # direction = data.get("direction", "")
- # speed = float(data.get("speed", 0.5))
- # duration = float(data.get("duration", 0.5))
-
- # try:
- # if direction == "up":
- # self._ptz.move_up(speed=speed, duration=duration)
- # elif direction == "down":
- # self._ptz.move_down(speed=speed, duration=duration)
- # elif direction == "left":
- # self._ptz.move_left(speed=speed, duration=duration)
- # elif direction == "right":
- # self._ptz.move_right(speed=speed, duration=duration)
- # elif direction == "zoom_in":
- # self._ptz.zoom_in(speed=speed, duration=duration)
- # elif direction == "zoom_out":
- # self._ptz.zoom_out(speed=speed, duration=duration)
- # elif direction == "stop":
- # self._ptz.stop()
- # else:
- # # 未知方向，忽略
- # pass
- # except Exception as e:
- # print(
- # f"[CameraController] error when handling PTZ move: {e}",
- # file=sys.stderr,
- # )
- # return
-
- # ---------- WebRTC Offer ----------
- if data.get("type") == "offer":
- offer_sdp = data.get("sdp", "")
- camera_id = data.get("cameraId", "camera-01")
- try:
- answer_sdp = await self._handle_webrtc_offer(offer_sdp)
- except Exception as e:
- print(
- f"[CameraController] error when handling WebRTC offer: {e}",
- file=sys.stderr,
- )
- return
-
- if self._ws:
- answer_payload = {
- "type": "answer",
- "sdp": answer_sdp,
- "cameraId": camera_id,
- "hostId": self.host_id,
- }
- try:
- await self._ws.send(json.dumps(answer_payload))
- except Exception as e:
- print(
- f"[CameraController] error when sending WebRTC answer: {e}",
- file=sys.stderr,
- )
-
- # ------------------------ FFmpeg 相关 ------------------------
-
- def _start_ffmpeg(self):
- if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
- return
-
- cmd = [
- "ffmpeg",
- "-rtsp_transport", "tcp",
- "-i", self.camera_rtsp_url,
-
- "-c:v", "libx264",
- "-preset", "ultrafast",
- "-tune", "zerolatency",
- "-profile:v", "baseline",
- "-b:v", "1M",
- "-maxrate", "1M",
- "-bufsize", "2M",
- "-g", "10",
- "-keyint_min", "10",
- "-sc_threshold", "0",
- "-pix_fmt", "yuv420p",
- "-x264-params", "bframes=0",
-
- "-c:a", "aac",
- "-ar", "44100",
- "-ac", "1",
- "-b:a", "64k",
-
- "-f", "flv",
- self.rtmp_url,
- ]
-
- try:
- self._ffmpeg_process = subprocess.Popen(
- cmd,
- stdout=subprocess.DEVNULL,
- stderr=subprocess.STDOUT,
- shell=False,
- )
- except Exception as e:
- print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
- self._ffmpeg_process = None
- raise
-
- def _stop_ffmpeg(self):
- proc = self._ffmpeg_process
-
- if proc and proc.poll() is None:
- try:
- proc.terminate()
- try:
- proc.wait(timeout=5)
- except subprocess.TimeoutExpired:
- try:
- proc.kill()
- try:
- proc.wait(timeout=2)
- except subprocess.TimeoutExpired:
- print(
- f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})",
- file=sys.stderr,
- )
- except Exception as e:
- print(
- f"[CameraController] failed to kill FFmpeg process: {e}",
- file=sys.stderr,
- )
- except Exception as e:
- print(
- f"[CameraController] error when stopping FFmpeg: {e}",
- file=sys.stderr,
- )
-
- self._ffmpeg_process = None
-
- # ------------------------ WebRTC Offer 相关 ------------------------
-
- async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
- payload = {
- "api": self.webrtc_api,
- "streamurl": self.webrtc_stream_url,
- "sdp": offer_sdp,
- }
-
- headers = {"Content-Type": "application/json"}
-
- def _do_request():
- return requests.post(
- self.webrtc_api,
- json=payload,
- headers=headers,
- timeout=10,
- )
-
- try:
- loop = asyncio.get_running_loop()
- resp = await loop.run_in_executor(None, _do_request)
- except Exception as e:
- print(
- f"[CameraController] failed to send offer to media server: {e}",
- file=sys.stderr,
- )
- raise
-
- try:
- resp.raise_for_status()
- except Exception as e:
- print(
- f"[CameraController] media server HTTP error: {e}, "
- f"status={resp.status_code}, body={resp.text[:200]}",
- file=sys.stderr,
- )
- raise
-
- try:
- data = resp.json()
- except Exception as e:
- print(
- f"[CameraController] failed to parse media server JSON: {e}, "
- f"raw={resp.text[:200]}",
- file=sys.stderr,
- )
- raise
-
- answer_sdp = data.get("sdp", "")
- if not answer_sdp:
- msg = f"empty SDP from media server: {data}"
- print(f"[CameraController] {msg}", file=sys.stderr)
- raise RuntimeError(msg)
-
- return answer_sdp
\ No newline at end of file
diff --git a/unilabos/devices/cameraSII/cameraUSB.py b/unilabos/devices/cameraSII/cameraUSB.py
deleted file mode 100644
index 5544a8bd..00000000
--- a/unilabos/devices/cameraSII/cameraUSB.py
+++ /dev/null
@@ -1,401 +0,0 @@
-#!/usr/bin/env python3
-import asyncio
-import json
-import subprocess
-import sys
-import threading
-from typing import Optional, Dict, Any
-
-import requests
-import websockets
-
-
-class CameraController:
- """
- Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
-
- - WebSocket 信令：signal_backend_url 连接到后端
- 例如: wss://sciol.ac.cn/api/realtime/signal/host/
- - 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api
- - 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0）
- """
-
- def __init__(
- self,
- host_id: str = "demo-host",
- signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
- rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
- webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
- webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
- video_device: str = "/dev/video0",
- width: int = 1280,
- height: int = 720,
- fps: int = 30,
- video_bitrate: str = "1500k",
- audio_device: Optional[str] = None, # 比如 "hw:1,0"，没有音频就保持 None
- audio_bitrate: str = "64k",
- ):
- self.host_id = host_id
-
- # 拼接最终 WebSocket URL：.../host/
- signal_backend_url = signal_backend_url.rstrip("/")
- if not signal_backend_url.endswith("/host"):
- signal_backend_url = signal_backend_url + "/host"
- self.signal_backend_url = f"{signal_backend_url}/{host_id}"
-
- # 媒体服务器配置
- self.rtmp_url = rtmp_url
- self.webrtc_api = webrtc_api
- self.webrtc_stream_url = webrtc_stream_url
-
- # 本地采集配置
- self.video_device = video_device
- self.width = int(width)
- self.height = int(height)
- self.fps = int(fps)
- self.video_bitrate = video_bitrate
- self.audio_device = audio_device
- self.audio_bitrate = audio_bitrate
-
- # 运行时状态
- self._ws: Optional[object] = None
- self._ffmpeg_process: Optional[subprocess.Popen] = None
- self._running = False
- self._loop_task: Optional[asyncio.Future] = None
-
- # 事件循环 & 线程
- self._loop: Optional[asyncio.AbstractEventLoop] = None
- self._loop_thread: Optional[threading.Thread] = None
-
- try:
- self.start()
- except Exception as e:
- print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
-
- # ---------------------------------------------------------------------
- # 对外方法
- # ---------------------------------------------------------------------
-
- def start(self, config: Optional[Dict[str, Any]] = None):
- if self._running:
- return {"status": "already_running", "host_id": self.host_id}
-
- # 应用 config 覆盖（如果有）
- if config:
- cfg_host_id = config.get("host_id")
- if cfg_host_id:
- self.host_id = cfg_host_id
-
- signal_backend_url = config.get("signal_backend_url")
- if signal_backend_url:
- signal_backend_url = signal_backend_url.rstrip("/")
- if not signal_backend_url.endswith("/host"):
- signal_backend_url = signal_backend_url + "/host"
- self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
-
- self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
- self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
- self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url)
-
- self.video_device = config.get("video_device", self.video_device)
- self.width = int(config.get("width", self.width))
- self.height = int(config.get("height", self.height))
- self.fps = int(config.get("fps", self.fps))
- self.video_bitrate = config.get("video_bitrate", self.video_bitrate)
- self.audio_device = config.get("audio_device", self.audio_device)
- self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate)
-
- self._running = True
-
- print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr)
- self._start_ffmpeg()
-
- self._loop = asyncio.new_event_loop()
-
- def loop_runner(loop: asyncio.AbstractEventLoop):
- asyncio.set_event_loop(loop)
- try:
- loop.run_forever()
- except Exception as e:
- print(f"[CameraController] event loop error: {e}", file=sys.stderr)
-
- self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True)
- self._loop_thread.start()
-
- self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop)
-
- return {
- "status": "started",
- "host_id": self.host_id,
- "signal_backend_url": self.signal_backend_url,
- "rtmp_url": self.rtmp_url,
- "webrtc_api": self.webrtc_api,
- "webrtc_stream_url": self.webrtc_stream_url,
- "video_device": self.video_device,
- "width": self.width,
- "height": self.height,
- "fps": self.fps,
- "video_bitrate": self.video_bitrate,
- "audio_device": self.audio_device,
- }
-
- def stop(self) -> Dict[str, Any]:
- self._running = False
-
- # 先取消主任务（让 ws connect/sleep 尽快退出）
- if self._loop_task is not None and not self._loop_task.done():
- self._loop_task.cancel()
-
- # 停止推流
- self._stop_ffmpeg()
-
- # 关闭 WebSocket（在 loop 中执行）
- if self._ws and self._loop is not None:
-
- async def close_ws():
- try:
- await self._ws.close()
- except Exception as e:
- print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr)
-
- try:
- asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
- except Exception:
- pass
-
- # 停止事件循环
- if self._loop is not None:
- try:
- self._loop.call_soon_threadsafe(self._loop.stop)
- except Exception as e:
- print(f"[CameraController] error stopping loop: {e}", file=sys.stderr)
-
- # 等待线程退出
- if self._loop_thread is not None:
- try:
- self._loop_thread.join(timeout=5)
- except Exception as e:
- print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr)
-
- self._ws = None
- self._loop_task = None
- self._loop = None
- self._loop_thread = None
-
- return {"status": "stopped", "host_id": self.host_id}
-
- def get_status(self) -> Dict[str, Any]:
- ws_closed = None
- if self._ws is not None:
- ws_closed = getattr(self._ws, "closed", None)
-
- if ws_closed is None:
- websocket_connected = self._ws is not None
- else:
- websocket_connected = (self._ws is not None) and (not ws_closed)
-
- return {
- "host_id": self.host_id,
- "running": self._running,
- "websocket_connected": websocket_connected,
- "ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None),
- "signal_backend_url": self.signal_backend_url,
- "rtmp_url": self.rtmp_url,
- "video_device": self.video_device,
- "width": self.width,
- "height": self.height,
- "fps": self.fps,
- "video_bitrate": self.video_bitrate,
- }
-
- # ---------------------------------------------------------------------
- # WebSocket / 信令
- # ---------------------------------------------------------------------
-
- async def _run_main_loop(self):
- print("[CameraController] main loop started", file=sys.stderr)
- try:
- while self._running:
- try:
- async with websockets.connect(self.signal_backend_url) as ws:
- self._ws = ws
- print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr)
- await self._recv_loop()
- except asyncio.CancelledError:
- raise
- except Exception as e:
- if self._running:
- print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr)
- await asyncio.sleep(3)
- except asyncio.CancelledError:
- pass
- finally:
- print("[CameraController] main loop exited", file=sys.stderr)
-
- async def _recv_loop(self):
- assert self._ws is not None
- ws = self._ws
-
- async for message in ws:
- try:
- data = json.loads(message)
- except json.JSONDecodeError:
- print(f"[CameraController] non-JSON message: {message}", file=sys.stderr)
- continue
-
- try:
- await self._handle_message(data)
- except Exception as e:
- print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr)
-
- async def _handle_message(self, data: Dict[str, Any]):
- cmd = data.get("command")
-
- if cmd == "start_stream":
- self._start_ffmpeg()
- return
-
- if cmd == "stop_stream":
- self._stop_ffmpeg()
- return
-
- if data.get("type") == "offer":
- offer_sdp = data.get("sdp", "")
- camera_id = data.get("cameraId", "camera-01")
-
- answer_sdp = await self._handle_webrtc_offer(offer_sdp)
-
- if self._ws:
- answer_payload = {
- "type": "answer",
- "sdp": answer_sdp,
- "cameraId": camera_id,
- "hostId": self.host_id,
- }
- await self._ws.send(json.dumps(answer_payload))
-
- # ---------------------------------------------------------------------
- # FFmpeg 推流（V4L2 USB 摄像头）
- # ---------------------------------------------------------------------
-
- def _start_ffmpeg(self):
- if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
- return
-
- # 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps
- video_size = f"{self.width}x{self.height}"
-
- cmd = [
- "ffmpeg",
- "-hide_banner",
- "-loglevel",
- "warning",
-
- # video input
- "-f", "v4l2",
- "-framerate", str(self.fps),
- "-video_size", video_size,
- "-i", self.video_device,
- ]
-
- # optional audio input
- if self.audio_device:
- cmd += [
- "-f", "alsa",
- "-i", self.audio_device,
- "-c:a", "aac",
- "-b:a", self.audio_bitrate,
- "-ar", "44100",
- "-ac", "1",
- ]
- else:
- cmd += ["-an"]
-
- # video encode + rtmp out
- cmd += [
- "-c:v", "libx264",
- "-preset", "ultrafast",
- "-tune", "zerolatency",
- "-profile:v", "baseline",
- "-pix_fmt", "yuv420p",
- "-b:v", self.video_bitrate,
- "-maxrate", self.video_bitrate,
- "-bufsize", "2M",
- "-g", str(max(self.fps, 10)),
- "-keyint_min", str(max(self.fps, 10)),
- "-sc_threshold", "0",
- "-x264-params", "bframes=0",
-
- "-f", "flv",
- self.rtmp_url,
- ]
-
- print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr)
-
- try:
- # 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键）
- self._ffmpeg_process = subprocess.Popen(
- cmd,
- stdout=subprocess.DEVNULL,
- stderr=sys.stderr,
- shell=False,
- )
- except Exception as e:
- self._ffmpeg_process = None
- print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
-
- def _stop_ffmpeg(self):
- proc = self._ffmpeg_process
- if proc and proc.poll() is None:
- try:
- proc.terminate()
- try:
- proc.wait(timeout=5)
- except subprocess.TimeoutExpired:
- proc.kill()
- except Exception as e:
- print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr)
- self._ffmpeg_process = None
-
- # ---------------------------------------------------------------------
- # WebRTC offer -> SRS
- # ---------------------------------------------------------------------
-
- async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
- payload = {
- "api": self.webrtc_api,
- "streamurl": self.webrtc_stream_url,
- "sdp": offer_sdp,
- }
- headers = {"Content-Type": "application/json"}
-
- def _do_post():
- return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10)
-
- loop = asyncio.get_running_loop()
- resp = await loop.run_in_executor(None, _do_post)
-
- resp.raise_for_status()
- data = resp.json()
- answer_sdp = data.get("sdp", "")
- if not answer_sdp:
- raise RuntimeError(f"empty SDP from media server: {data}")
- return answer_sdp
-
-
-if __name__ == "__main__":
- # 直接运行用于手动测试
- c = CameraController(
- host_id="demo-host",
- video_device="/dev/video0",
- width=1280,
- height=720,
- fps=30,
- video_bitrate="1500k",
- audio_device=None,
- )
- try:
- while True:
- asyncio.sleep(1)
- except KeyboardInterrupt:
- c.stop()
\ No newline at end of file
diff --git a/unilabos/devices/cameraSII/cameraUSB_test.py b/unilabos/devices/cameraSII/cameraUSB_test.py
deleted file mode 100644
index fd2da1ac..00000000
--- a/unilabos/devices/cameraSII/cameraUSB_test.py
+++ /dev/null
@@ -1,51 +0,0 @@
-#!/usr/bin/env python3
-import time
-import json
-
-from cameraUSB import CameraController
-
-
-def main():
- # 按你的实际情况改
- cfg = dict(
- host_id="demo-host",
- signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
- rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
- webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
- webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
- video_device="/dev/video7",
- width=1280,
- height=720,
- fps=30,
- video_bitrate="1500k",
- audio_device=None,
- )
-
- c = CameraController(**cfg)
-
- # 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用：
- # c = CameraController(host_id=cfg["host_id"])
- # c.start(cfg)
-
- run_seconds = 30 # 测试运行时长
- t0 = time.time()
-
- try:
- while True:
- st = c.get_status()
- print(json.dumps(st, ensure_ascii=False, indent=2))
-
- if time.time() - t0 >= run_seconds:
- break
-
- time.sleep(2)
- except KeyboardInterrupt:
- print("Interrupted, stopping...")
- finally:
- print("Stopping controller...")
- c.stop()
- print("Done.")
-
-
-if __name__ == "__main__":
- main()
\ No newline at end of file
diff --git a/unilabos/devices/cameraSII/demo_camera_pic.py b/unilabos/devices/cameraSII/demo_camera_pic.py
deleted file mode 100644
index 6e117a97..00000000
--- a/unilabos/devices/cameraSII/demo_camera_pic.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import cv2
-
-# 推荐把 @ 进行 URL 编码：@ -> %40
-RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1"
-OUTPUT_IMAGE = "rtsp_test_frame.jpg"
-
-def main():
- print(f"尝试连接 RTSP 流: {RTSP_URL}")
- cap = cv2.VideoCapture(RTSP_URL)
-
- if not cap.isOpened():
- print("错误：无法打开 RTSP 流，请检查：")
- print(" 1. IP/端口是否正确")
- print(" 2. 账号密码（尤其是 @ 是否已转成 %40）是否正确")
- print(" 3. 摄像头是否允许当前主机访问（同一网段、防火墙等）")
- return
-
- print("连接成功，开始读取一帧...")
- ret, frame = cap.read()
-
- if not ret or frame is None:
- print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）")
- cap.release()
- return
-
- # 保存当前帧
- success = cv2.imwrite(OUTPUT_IMAGE, frame)
- cap.release()
-
- if success:
- print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}")
- else:
- print("错误：写入图片失败，请检查磁盘权限/路径")
-
-if __name__ == "__main__":
- main()
\ No newline at end of file
diff --git a/unilabos/devices/cameraSII/demo_camera_push.py b/unilabos/devices/cameraSII/demo_camera_push.py
deleted file mode 100644
index 8cb02227..00000000
--- a/unilabos/devices/cameraSII/demo_camera_push.py
+++ /dev/null
@@ -1,21 +0,0 @@
-# run_camera_push.py
-import time
-from cameraDriver import CameraController # 这里根据你的文件名调整
-
-if __name__ == "__main__":
- controller = CameraController(
- host_id="demo-host",
- signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
- rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
- webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
- webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
- camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1",
- )
-
- try:
- while True:
- status = controller.get_status()
- print(status)
- time.sleep(5)
- except KeyboardInterrupt:
- controller.stop()
\ No newline at end of file
diff --git a/unilabos/devices/cameraSII/ptz_cameracontroller_test.py b/unilabos/devices/cameraSII/ptz_cameracontroller_test.py
deleted file mode 100644
index 2d788b62..00000000
--- a/unilabos/devices/cameraSII/ptz_cameracontroller_test.py
+++ /dev/null
@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-使用 CameraController 来测试 PTZ：
-让摄像头按顺序向下、向上、向左、向右运动几次。
-"""
-
-import time
-import sys
-
-# 根据你的工程结构修改导入路径：
-# 假设 CameraController 定义在 cameraController.py 里
-from cameraDriver import CameraController
-
-
-def main():
- # === 根据你的实际情况填 IP、端口、账号密码 ===
- ptz_host = "192.168.31.164"
- ptz_port = 2020 # 注意要和你单独测试 PTZController 时保持一致
- ptz_user = "admin"
- ptz_password = "admin123"
-
- # 1. 创建 CameraController 实例
- cam = CameraController(
- # 其他摄像机相关参数按你类的 __init__ 来补充
- ptz_host=ptz_host,
- ptz_port=ptz_port,
- ptz_user=ptz_user,
- ptz_password=ptz_password,
- )
-
- # 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口）
- # 这里给一个最小的 config，重点是 PTZ 相关字段
- config = {
- "ptz_host": ptz_host,
- "ptz_port": ptz_port,
- "ptz_user": ptz_user,
- "ptz_password": ptz_password,
- }
-
- try:
- cam.start(config)
- except Exception as e:
- print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr)
- return
-
- # 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装）
- if getattr(cam, "_ptz", None) is None:
- print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr)
- return
-
- # 3. 依次调用 CameraController 的 PTZ 方法
- # 这里假设你在 CameraController 中提供了这几个对外方法：
- # ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right
- # 如果你命名不一样，把下面调用名改成你的即可。
-
- print("向下移动（通过 CameraController）...")
- cam.ptz_move_down(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("向上移动（通过 CameraController）...")
- cam.ptz_move_up(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("向左移动（通过 CameraController）...")
- cam.ptz_move_left(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("向右移动（通过 CameraController）...")
- cam.ptz_move_right(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("测试结束。")
-
-
-if __name__ == "__main__":
- main()
\ No newline at end of file
diff --git a/unilabos/devices/cameraSII/ptz_test.py b/unilabos/devices/cameraSII/ptz_test.py
deleted file mode 100644
index 018c3d29..00000000
--- a/unilabos/devices/cameraSII/ptz_test.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次
-"""
-
-import time
-
-from cameraDriver import PTZController
-
-
-def main():
- # 根据你的实际情况填 IP、端口、账号密码
- host = "192.168.31.164"
- port = 80
- user = "admin"
- password = "admin123"
-
- ptz = PTZController(host=host, port=port, user=user, password=password)
-
- # 1. 连接摄像头
- if not ptz.connect():
- print("连接 PTZ 失败，检查 IP/用户名/密码/端口。")
- return
-
- # 2. 依次测试几个动作
- # 每个动作之间 sleep 一下方便观察
-
- print("向下移动...")
- ptz.move_down(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("向上移动...")
- ptz.move_up(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("向左移动...")
- ptz.move_left(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("向右移动...")
- ptz.move_right(speed=0.5, duration=1.0)
- time.sleep(1)
-
- print("测试结束。")
-
-
-if __name__ == "__main__":
- main()
\ No newline at end of file
diff --git a/unilabos/devices/cnc/__init__.py b/unilabos/devices/cnc/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/cnc/grbl_async.py b/unilabos/devices/cnc/grbl_async.py
deleted file mode 100644
index 3ecd4ba8..00000000
--- a/unilabos/devices/cnc/grbl_async.py
+++ /dev/null
@@ -1,270 +0,0 @@
-import os
-import asyncio
-from asyncio import Event, Future, Lock, Task
-from enum import Enum
-from dataclasses import dataclass
-import re
-import time
-from typing import Any, Union, Optional, overload
-
-import serial.tools.list_ports
-from serial import Serial
-from serial.serialutil import SerialException
-
-from unilabos.messages import Point3D
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class GrblCNCConnectionError(Exception):
- pass
-
-
-@dataclass(frozen=True, kw_only=True)
-class GrblCNCInfo:
- port: str
- address: str = "1"
-
- limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)
-
- def create(self):
- return GrblCNCAsync(self.port, self.address, self.limits)
-
-
-class GrblCNCAsync:
- _status: str = "Offline"
- _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
- self.port = port
- self.address = address
-
- self.limits = limits
-
- try:
- self._serial = Serial(
- baudrate=115200,
- port=port
- )
- except (OSError, SerialException) as e:
- raise GrblCNCConnectionError from e
-
- self._busy = False
- self._closing = False
- self._pose_number = self.pose_number_remaining = -1
- self._error_event = Event()
- self._query_future = Future[Any]()
- self._query_lock = Lock()
- self._read_task: Optional[Task[None]] = None
- self._read_extra_line = False
- self._run_future: Optional[Future[Any]] = None
- self._run_lock = Lock()
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- def _read_all(self):
- data = self._serial.read_until(b"\n")
- data_decoded = data.decode()
- while not "ok" in data_decoded and not "Grbl" in data_decoded:
- data += self._serial.read_until(b"\n")
- data_decoded = data.decode()
- return data
-
- async def _read_loop(self):
- try:
- while True:
- self._receive((await asyncio.to_thread(lambda: self._read_all())))
- except SerialException as e:
- raise GrblCNCConnectionError from e
- finally:
- if not self._closing:
- self._error_event.set()
-
- if self._query_future and not self._query_future.done():
- self._query_future.set_exception(GrblCNCConnectionError())
- if self._run_future and not self._run_future.done():
- self._run_future.set_exception(GrblCNCConnectionError())
-
- @overload
- async def _query(self, command: str, dtype: type[bool]) -> bool:
- pass
-
- @overload
- async def _query(self, command: str, dtype: type[int]) -> int:
- pass
-
- @overload
- async def _query(self, command: str, dtype = None) -> str:
- pass
-
- async def _query(self, command: str, dtype: Optional[type] = None):
- async with self._query_lock:
- if self._closing or self._error_event.is_set():
- raise GrblCNCConnectionError
-
- self._query_future = Future[Any]()
-
- self._read_extra_line = command.startswith("?")
- run = ''
- full_command = f"{command}{run}\n"
- full_command_data = bytearray(full_command, 'ascii')
-
- try:
- # await asyncio.to_thread(lambda: self._serial.write(full_command_data))
- self._serial.write(full_command_data)
- return self._parse(await asyncio.wait_for(asyncio.shield(self._query_future), timeout=5.0), dtype=dtype)
- except (SerialException, asyncio.TimeoutError) as e:
- self._error_event.set()
- raise GrblCNCConnectionError from e
- finally:
- self._query_future = None
-
- def _parse(self, data: bytes, dtype: Optional[type] = None):
- response = data.decode()
-
- if dtype == bool:
- return response == "1"
- elif dtype == int:
- return int(response)
- else:
- return response
-
- def _receive(self, data: bytes):
- ascii_string = "".join(chr(byte) for byte in data)
- was_busy = self._busy
- self._busy = "Idle" not in ascii_string
-
- # if self._read_extra_line and ascii_string.startswith("ok"):
- # self._read_extra_line = False
- # return
- if self._run_future and was_busy and not self._busy:
- self._run_future.set_result(data)
- if self._query_future:
- self._query_future.set_result(data)
- else:
- raise Exception("Dropping data")
-
- async def _run(self, command: str):
- async with self._run_lock:
- self._run_future = Future[Any]()
- # self._busy = True
-
- try:
- await self._query(command)
- while True:
- await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again
-
- status = await self.get_status()
- if "Idle" in status:
- break
- await asyncio.shield(self._run_future)
- finally:
- self._run_future = None
-
- async def initialize(self):
- time.sleep(0.5)
- await self._run("G0X0Y0Z0")
- status = await self.get_status()
- return status
-
- # Operations
-
- # Status Queries
-
- @property
- def status(self) -> str:
- return self._status
-
- async def get_status(self):
- __pos_pattern__ = re.compile('.Pos:(\-?\d+\.\d+),(\-?\d+\.\d+),(\-?\d+\.\d+)')
- __status_pattern__ = re.compile('<([a-zA-Z]+),')
-
- response = await self._query("?")
- pat = re.search(__pos_pattern__, response)
- if pat is not None:
- pos = pat.group().split(":")[1].split(",")
- self._status = re.search(__status_pattern__, response).group(1).lstrip("<").rstrip(",")
- self._position = Point3D(x=float(pos[0]), y=float(pos[1]), z=float(pos[2]))
-
- return self.status
-
- # Position Setpoint and Queries
-
- @property
- def position(self) -> Point3D:
- # 由于此时一定调用过 get_status，所以 position 一定是被更新过的
- return self._position
-
- def get_position(self):
- return self.position
-
- async def set_position(self, position: Point3D):
- """
- Move to absolute position (unit: mm)
-
- Args:
- x, y, z: float
-
- Returns:
- None
- """
- x = max(self.limits[0], min(self.limits[1], position.x))
- y = max(self.limits[2], min(self.limits[3], position.y))
- z = max(self.limits[4], min(self.limits[5], position.z))
- return await self._run(f"G0X{x:.3f}Y{y:.3f}Z{z:.3f}")
-
- async def move_through_points(self, points: list[Point3D]):
- for i, point in enumerate(points):
- self._pose_number = i
- self.pose_number_remaining = len(points) - i
- await self.set_position(point)
- await self._ros_node.sleep(0.5)
- self._step_number = -1
-
- async def stop_operation(self):
- return await self._run("T")
-
- # Queries
-
- async def wait_error(self):
- await self._error_event.wait()
-
- async def __aenter__(self):
- await self.open()
- return self
-
- async def __aexit__(self, exc_type, exc, tb):
- await self.close()
-
- async def open(self):
- if self._read_task:
- raise GrblCNCConnectionError
- self._read_task = self._ros_node.create_task(self._read_loop())
-
- try:
- await self.get_status()
- except Exception:
- await self.close()
- raise
-
- async def close(self):
- if self._closing or not self._read_task:
- raise GrblCNCConnectionError
-
- self._closing = True
- self._read_task.cancel()
-
- try:
- await self._read_task
- except asyncio.CancelledError:
- pass
- finally:
- del self._read_task
-
- self._serial.close()
-
- @staticmethod
- def list():
- for item in serial.tools.list_ports.comports():
- yield GrblCNCInfo(port=item.device)
diff --git a/unilabos/devices/cnc/grbl_sync.py b/unilabos/devices/cnc/grbl_sync.py
deleted file mode 100644
index b5ff716a..00000000
--- a/unilabos/devices/cnc/grbl_sync.py
+++ /dev/null
@@ -1,205 +0,0 @@
-import os
-import asyncio
-from threading import Event, Lock
-from enum import Enum
-from dataclasses import dataclass
-import re
-import time
-from typing import Any, Union, Optional, overload
-
-import serial.tools.list_ports
-from serial import Serial
-from serial.serialutil import SerialException
-
-from unilabos.messages import Point3D
-
-
-class GrblCNCConnectionError(Exception):
- pass
-
-
-@dataclass(frozen=True, kw_only=True)
-class GrblCNCInfo:
- port: str
- address: str = "1"
-
- limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, -80, 0)
-
- def create(self):
- return GrblCNC(self.port, self.address, self.limits)
-
-
-class GrblCNC:
- _status: str = "Offline"
- _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
- _spindle_speed: float = 0.0
-
- def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, -80, 0)):
- self.port = port
- self.address = address
-
- self.limits = limits
-
- try:
- self._serial = Serial(
- baudrate=115200,
- port=port
- )
- except (OSError, SerialException) as e:
- raise GrblCNCConnectionError from e
-
- self._busy = False
- self._closing = False
- self._pose_number = self.pose_number_remaining = -1
-
- self._query_lock = Lock()
- self._run_lock = Lock()
- self._error_event = Event()
-
- def _read_all(self):
- data = self._serial.read_until(b"\n")
- data_decoded = data.decode()
- while not "ok" in data_decoded and not "Grbl" in data_decoded:
- data += self._serial.read_until(b"\n")
- data_decoded = data.decode()
- return data
-
- @overload
- def _query(self, command: str, dtype: type[bool]) -> bool:
- pass
-
- @overload
- def _query(self, command: str, dtype: type[int]) -> int:
- pass
-
- @overload
- def _query(self, command: str, dtype = None) -> str:
- pass
-
- def _query(self, command: str, dtype: Optional[type] = None):
- with self._query_lock:
- if self._closing or self._error_event.is_set():
- raise GrblCNCConnectionError
-
- self._read_extra_line = command.startswith("?")
- run = ''
- full_command = f"{command}{run}\n"
- full_command_data = bytearray(full_command, 'ascii')
-
- try:
- # await asyncio.to_thread(lambda: self._serial.write(full_command_data))
- self._serial.write(full_command_data)
- time.sleep(0.1)
- return self._receive(self._read_all())
- except (SerialException, asyncio.TimeoutError) as e:
- self._error_event.set()
- raise GrblCNCConnectionError from e
-
- def _receive(self, data: bytes):
- ascii_string = "".join(chr(byte) for byte in data)
- was_busy = self._busy
- self._busy = "Idle" not in ascii_string
- return ascii_string
-
- def _run(self, command: str):
- with self._run_lock:
- try:
- self._query(command)
- while True:
- time.sleep(0.2) # Wait for 0.5 seconds before polling again
-
- status = self.get_status()
- if "Idle" in status:
- break
- except:
- self._error_event.set()
-
- def initialize(self):
- time.sleep(0.5)
- self._run("G0X0Y0Z0")
- status = self.get_status()
- return status
-
- # Operations
-
- # Status Queries
-
- @property
- def status(self) -> str:
- return self._status
-
- def get_status(self):
- __pos_pattern__ = re.compile('.Pos:(\-?\d+\.\d+),(\-?\d+\.\d+),(\-?\d+\.\d+)')
- __status_pattern__ = re.compile('<([a-zA-Z]+),')
-
- response = self._query("?")
- pat = re.search(__pos_pattern__, response)
- if pat is not None:
- pos = pat.group().split(":")[1].split(",")
- self._status = re.search(__status_pattern__, response).group(1).lstrip("<").rstrip(",")
- self._position = Point3D(x=float(pos[0]), y=float(pos[1]), z=float(pos[2]))
-
- return self.status
-
- # Position Setpoint and Queries
-
- @property
- def position(self) -> Point3D:
- # 由于此时一定调用过 get_status，所以 position 一定是被更新过的
- return self._position
-
- def get_position(self):
- return self.position
-
- def set_position(self, position: Point3D):
- """
- Move to absolute position (unit: mm)
-
- Args:
- x, y, z: float
-
- Returns:
- None
- """
- x = max(self.limits[0], min(self.limits[1], position.x))
- y = max(self.limits[2], min(self.limits[3], position.y))
- z = max(self.limits[4], min(self.limits[5], position.z))
- return self._run(f"G0X{x:.3f}Y{y:.3f}Z{z:.3f}")
-
- def move_through_points(self, positions: list[Point3D]):
- for i, point in enumerate(positions):
- self._pose_number = i
- self.pose_number_remaining = len(positions) - i
- self.set_position(point)
- time.sleep(0.5)
- self._pose_number = -1
-
- @property
- def spindle_speed(self) -> float:
- return self._spindle_speed
-
- # def get_spindle_speed(self):
- # self._spindle_speed = float(self._query("M3?"))
- # return self.spindle_speed
-
- def set_spindle_speed(self, spindle_speed: float, max_velocity: float = 500):
- if spindle_speed < 0:
- spindle_speed = 0
- self._run("M5")
- else:
- spindle_speed = min(max_velocity, spindle_speed)
- self._run(f"M3 S{spindle_speed}")
- self._spindle_speed = spindle_speed
-
- def stop_operation(self):
- return self._run("T")
-
- # Queries
-
- async def wait_error(self):
- await self._error_event.wait()
-
- @staticmethod
- def list():
- for item in serial.tools.list_ports.comports():
- yield GrblCNCInfo(port=item.device)
diff --git a/unilabos/devices/cnc/mock.py b/unilabos/devices/cnc/mock.py
deleted file mode 100644
index ebe96833..00000000
--- a/unilabos/devices/cnc/mock.py
+++ /dev/null
@@ -1,49 +0,0 @@
-import time
-import asyncio
-from pydantic import BaseModel
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class Point3D(BaseModel):
- x: float
- y: float
- z: float
-
-
-def d(a: Point3D, b: Point3D) -> float:
- return ((a.x - b.x) ** 2 + (a.y - b.y) ** 2 + (a.z - b.z) ** 2) ** 0.5
-
-
-class MockCNCAsync:
- _ros_node: BaseROS2DeviceNode["MockCNCAsync"]
-
- def __init__(self):
- self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
- self._status = "Idle"
-
- def post_create(self, ros_node):
- self._ros_node = ros_node
-
- @property
- def position(self) -> Point3D:
- return self._position
-
- async def get_position(self):
- return self.position
-
- @property
- def status(self) -> str:
- return self._status
-
- async def set_position(self, position: Point3D, velocity: float = 10.0):
- self._status = "Running"
- current_pos = self.position
-
- move_time = d(position, current_pos) / velocity
- for i in range(20):
- self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
- self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
- self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
- await self._ros_node.sleep(move_time / 20)
- self._status = "Idle"
diff --git a/unilabos/devices/cytomat/cytomat.py b/unilabos/devices/cytomat/cytomat.py
deleted file mode 100644
index 454111de..00000000
--- a/unilabos/devices/cytomat/cytomat.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import serial
-import time
-
-ser = serial.Serial(
- port="COM18",
- baudrate=9600,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=15,
-
-def send_cmd(cmd: str, wait: float = 1.0) -> str:
- """向 Cytomat 发送一行命令并打印/返回响应。"""
- print(f">>> {cmd}")
- ser.write((cmd + "\r").encode("ascii"))
- time.sleep(wait)
- resp = ser.read_all().decode("ascii", errors="ignore").strip()
- print(f"<<< {resp or ''}")
- return resp
-
-def initialize():
- """设备初始化 (ll:in)。"""
- return send_cmd("ll:in")
-
-def wp_to_storage(pos: int):
- """WP → 库位。pos: 1–9999 绝对地址。"""
- return send_cmd(f"mv:ws {pos:04d}")
-
-def storage_to_tfs(stacker: int, level: int):
- """库位 → TFS1。"""
- return send_cmd(f"mv:st {stacker:02d} {level:02d}")
-
-def get_basic_state():
- """查询 Basic State Register。"""
- return send_cmd("ch:bs")
-
-def set_pitch(stacker: int, pitch_mm: int):
- """设置单个 stacker 的层间距（mm）。"""
- return send_cmd(f"se:cs {stacker:02d} {pitch_mm}")
-
-def tfs_to_storage(stacker: int, level: int):
- """TFS1 → 库位。"""
- return send_cmd(f"mv:ts {stacker:02d} {level:02d}")
-
-# ---------- 示例工作流 ----------
-if __name__ == "__main__":
- try:
- if not ser.is_open:
- ser.open()
- initialize()
- wp_to_storage(10)
- storage_to_tfs(17, 3)
- get_basic_state()
- tfs_to_storage(7, 5)
-
- except Exception as exc:
- print("Error:", exc)
- finally:
- ser.close()
- print("Done.")
-
diff --git a/unilabos/devices/gripper/__init__.py b/unilabos/devices/gripper/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/gripper/mock.py b/unilabos/devices/gripper/mock.py
deleted file mode 100644
index cce33c1d..00000000
--- a/unilabos/devices/gripper/mock.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import time
-
-
-class MockGripper:
- def __init__(self):
- self._position: float = 0.0
- self._velocity: float = 2.0
- self._torque: float = 0.0
- self._status = "Idle"
-
- @property
- def position(self) -> float:
- return self._position
-
- @property
- def velocity(self) -> float:
- return self._velocity
-
- @property
- def torque(self) -> float:
- return self._torque
-
- @property
- def status(self) -> str:
- return self._status
-
- def push_to(self, position: float, torque: float, velocity: float = 0.0):
- self._status = "Running"
- current_pos = self.position
- if velocity == 0.0:
- velocity = self.velocity
-
- move_time = abs(position - current_pos) / velocity
- for i in range(20):
- self._position = current_pos + (position - current_pos) / 20 * (i+1)
- self._torque = torque / (20 - i)
- self._velocity = velocity
- time.sleep(move_time / 20)
- self._torque = torque
- self._status = "Idle"
-
- def edit_id(self, wf_name: str = "gripper_run", params: str = "{}", resource: dict = {"Gripper1": {}}):
- v = list(resource.values())[0]
- v["sample_id"] = "EDITED"
- time.sleep(10)
- return resource
diff --git a/unilabos/devices/gripper/rmaxis_v4.py b/unilabos/devices/gripper/rmaxis_v4.py
deleted file mode 100644
index ff49ade0..00000000
--- a/unilabos/devices/gripper/rmaxis_v4.py
+++ /dev/null
@@ -1,408 +0,0 @@
-import time
-from asyncio import Event
-from enum import Enum, auto
-from dataclasses import dataclass
-from typing import Dict, Tuple
-from pymodbus.client import ModbusSerialClient as ModbusClient
-from pymodbus.client import ModbusTcpClient as ModbusTcpClient
-
-
-class CommandType(Enum):
- COMMAND_NONE = 0
- COMMAND_GO_HOME = 1
- COMMAND_DELAY = 2
- COMMAND_MOVE_ABSOLUTE = 3
- COMMAND_PUSH = 4
- COMMAND_MOVE_RELATIVE = 5
- COMMAND_PRECISE_PUSH = 6
-
-
-class ParamType(Enum):
- BOOLEAN = 0
- INT32 = 1
- FLOAT = 2
- ENUM = 3
-
-
-class ParamEdit(Enum):
- NORMAL = 0
- READONLY = 1
-
-
-@dataclass
-class Param:
- type: ParamType
- editability: ParamEdit
- address: int
-
-# 用于存储参数的字典类型
-ParamsDict = Dict[str, Param]
-
-
-# Constants and other required elements can be defined as needed
-IO_GAP_TIME = 0.01
-EXECUTE_COMMAND_INDEX = 15 # Example index
-COMMAND_REACH_SIGNAL = "reach_15"
-# Define other constants or configurations as needed
-
-
-def REVERSE(x):
- return ((x << 16) & 0xFFFF0000) | ((x >> 16) & 0x0000FFFF)
-
-
-def int32_to_uint16_list(int32_list):
- uint16_list = []
- for num in int32_list:
- lower_half = num & 0xFFFF
- upper_half = (num >> 16) & 0xFFFF
- uint16_list.extend([upper_half, lower_half])
- return uint16_list
-
-
-def uint16_list_to_int32_list(uint16_list):
- if len(uint16_list) % 2 != 0:
- raise ValueError("Input list must have even number of uint16 elements.")
- int32_list = []
- for i in range(0, len(uint16_list), 2):
- # Combine two uint16 values into one int32 value
- high = uint16_list[i + 1]
- low = uint16_list[i]
- # Assuming the uint16_list is in big-endian order
- int32_value = (high << 16) | low
- int32_list.append(int(int32_value))
- return int32_list
-
-
-class RMAxis:
- modbus_device = {}
-
- def __init__(self, port, is_modbus_rtu, baudrate: int = 115200, address: str = "", slave_id: int = 1):
- self.device = port
- self.is_modbus_rtu = is_modbus_rtu
- if is_modbus_rtu:
- self.client = ModbusClient(port=port, baudrate=baudrate, parity='N', stopbits=1, bytesize=8, timeout=3)
- else:
- self.client = ModbusTcpClient(address, port)
- if not self.client.connect():
- raise Exception(f"Modbus Connection failed")
- self.slave_id = slave_id
-
- self._error_event = Event()
- self.device_params = {} # Assuming some initialization for parameters
- self.command_edited = {}
- self.init_parameters(self.device_params)
-
- def init_parameters(self, params):
- params["current_command_position"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 4902)
- params["current_command_velocity"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 4904)
- params["current_command_acceleration"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 4906)
- params["current_command_deacceleration"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 4908)
- params["current_position"] = Param(ParamType.FLOAT, ParamEdit.READONLY, 0)
- params["current_velocity"] = Param(ParamType.FLOAT, ParamEdit.READONLY, 2)
- params["control_torque"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 4)
- params["error"] = Param(ParamType.INT32, ParamEdit.READONLY, 6)
- params["current_force_sensor"] = Param(ParamType.FLOAT, ParamEdit.READONLY, 18)
- params["io_in_go_home"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1401)
- params["io_in_error_reset"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1402)
- params["io_in_start"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1403)
- params["io_in_servo"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1404)
- params["io_in_stop"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1405)
- params["io_in_force_reset"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1424)
- params["io_in_save_parameters"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1440)
- params["io_in_load_parameters"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1441)
- params["io_in_save_positions"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1442)
- params["io_in_load_positions"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1443)
- params["io_out_gone_home"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1501)
- params["command_address"] = Param(ParamType.INT32, ParamEdit.NORMAL, 5000)
- params["selected_command_index"] = Param(ParamType.INT32, ParamEdit.NORMAL, 4001)
- params["io_out_reach_15"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1521)
- params["io_out_moving"] = Param(ParamType.BOOLEAN, ParamEdit.NORMAL, 1505)
- params["limit_pos"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 74)
- params["limit_neg"] = Param(ParamType.FLOAT, ParamEdit.NORMAL, 72)
- params["hardware_direct_output"] = Param(ParamType.INT32, ParamEdit.NORMAL, 158)
- params["hardware_direct_input"] = Param(ParamType.INT32, ParamEdit.NORMAL, 160)
-
- def get_version(self):
- version_major = self.client.read_input_registers(8, 1, unit=self.slave_id).registers[0]
- version_minor = self.client.read_input_registers(10, 1, unit=self.slave_id).registers[0]
- version_build = self.client.read_input_registers(12, 1, unit=self.slave_id).registers[0]
- version_type = self.client.read_input_registers(14, 1, unit=self.slave_id).registers[0]
- return (version_major, version_minor, version_build, version_type)
-
- def set_input_signal(self, signal, level):
- param_name = f"io_in_{signal}"
- self.set_parameter(param_name, level)
-
- def get_output_signal(self, signal):
- param_name = f"io_out_{signal}"
- return self.get_device_parameter(param_name)
-
- def config_motion(self, velocity, acceleration, deacceleration):
- self.set_parameter("current_command_velocity", velocity)
- self.set_parameter("current_command_acceleration", acceleration)
- self.set_parameter("current_command_deacceleration", deacceleration)
-
- def move_to(self, position):
- self.set_parameter("current_command_position", position)
-
- def go_home(self):
- self.set_input_signal("go_home", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("go_home", True)
-
- def move_absolute(self, position, velocity, acceleration, deacceleration, band):
- command = {
- 'type': CommandType.COMMAND_MOVE_ABSOLUTE.value,
- 'position': position,
- 'velocity': velocity,
- 'acceleration': acceleration,
- 'deacceleration': deacceleration,
- 'band': band,
- 'push_force': 0,
- 'push_distance': 0,
- 'delay': 0,
- 'next_command_index': -1
- }
- self.execute_command(command)
-
- def move_relative(self, position, velocity, acceleration, deacceleration, band):
- command = {
- 'type': CommandType.COMMAND_MOVE_RELATIVE.value,
- 'position': position,
- 'velocity': velocity,
- 'acceleration': acceleration,
- 'deacceleration': deacceleration,
- 'band': band,
- 'push_force': 0,
- 'push_distance': 0,
- 'delay': 0,
- 'next_command_index': -1
- }
- self.execute_command(command)
-
- def push(self, force, distance, velocity):
- command = {
- 'type': CommandType.COMMAND_PUSH.value,
- 'position': 0,
- 'velocity': velocity,
- 'acceleration': 0,
- 'deacceleration': 0,
- 'band': 0,
- 'push_force': force,
- 'push_distance': distance,
- 'delay': 0,
- 'next_command_index': -1
- }
- self.execute_command(command)
-
- def precise_push(self, force, distance, velocity, force_band, force_check_time):
- command = {
- 'type': CommandType.COMMAND_PRECISE_PUSH.value,
- 'position': 0,
- 'velocity': velocity,
- 'acceleration': 0,
- 'deacceleration': 0,
- 'band': force_band,
- 'push_force': force,
- 'push_distance': distance,
- 'delay': force_check_time,
- 'next_command_index': -1
- }
- self.execute_command(command)
-
- def is_moving(self):
- return self.get_output_signal("moving")
-
- def is_reached(self):
- return self.get_output_signal(COMMAND_REACH_SIGNAL)
-
- def is_push_empty(self):
- return not self.is_moving()
-
- def set_command(self, index, command):
- print("Setting command", command)
- self.command_edited[index] = True
- command_buffer = [
- command['type'],
- int(command['position'] * 1000),
- int(command['velocity'] * 1000),
- int(command['acceleration'] * 1000),
- int(command['deacceleration'] * 1000),
- int(command['band'] * 1000),
- int(command['push_force'] * 1000),
- int(command['push_distance'] * 1000),
- int(command['delay']),
- int(command['next_command_index'])
- ]
- buffer = int32_to_uint16_list(command_buffer)
- response = self.client.write_registers(self.device_params["command_address"].address + index * 20, buffer, self.slave_id)
-
- def get_command(self, index):
- response = self.client.read_holding_registers(self.device_params["command_address"].address + index * 20, 20, self.slave_id)
- print(response)
- buffer = response.registers
- command_buffer = uint16_list_to_int32_list(buffer)
- command = {
- 'type': command_buffer[0],
- 'position': command_buffer[1] / 1000.0,
- 'velocity': command_buffer[2] / 1000.0,
- 'acceleration': command_buffer[3] / 1000.0,
- 'deacceleration': command_buffer[4] / 1000.0,
- 'band': command_buffer[5] / 1000.0,
- 'push_force': command_buffer[6] / 1000.0,
- 'push_distance': command_buffer[7] / 1000.0,
- 'delay': command_buffer[8],
- 'next_command_index': command_buffer[9]
- }
- return command
-
- def execute_command(self, command):
- self.set_command(EXECUTE_COMMAND_INDEX, command)
- self.save_commands()
- self.trig_command(EXECUTE_COMMAND_INDEX)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
-
- def trig_command(self, index):
- print("Triggering command", index)
- self.set_parameter("selected_command_index", index)
- self.set_input_signal("start", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("start", True)
-
- def load_commands(self):
- self.set_input_signal("load_positions", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("load_positions", True)
-
- def save_commands(self):
- for index, edited in self.command_edited.items():
- if edited:
- self.set_parameter("selected_command_index", index)
- self.set_input_signal("save_positions", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("save_positions", True)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.command_edited[index] = False
-
- @property
- def position(self) -> float:
- return self.get_device_parameter("current_position")
-
- def get_position(self) -> float:
- return self.get_device_parameter("current_position")
-
- @property
- def velocity(self) -> float:
- return self.get_device_parameter("current_velocity")
-
- @property
- def torque(self) -> float:
- return self.get_device_parameter("control_torque")
-
- @property
- def force_sensor(self) -> float:
- return self.get_device_parameter("current_force_sensor")
-
- def error_code(self):
- return self.get_device_parameter("error")
-
- def get_device_parameter(self, name):
- # Assuming self.device_params is a dictionary with address and type
- param = self.device_params.get(name)
- if not param:
- self._error_event.set()
- raise Exception(f"parameter {name} does not exist")
-
- address = param.address
- if param.editability == ParamEdit.READONLY:
- if param.type == ParamType.BOOLEAN:
- return self.client.read_input_discretes(address, 1).bits[0]
- elif param.type == ParamType.ENUM:
- return self.client.read_input_registers(address, 1).registers[0]
- elif param.type == ParamType.INT32:
- return self.client.read_input_registers(address, 2).registers[0] # Handle as needed
- elif param.type == ParamType.FLOAT:
- return self.client.read_input_registers(address, 2).registers[0] # Handle as needed
- else:
- self._error_event.set()
- raise Exception(f"parameter {name} has unknown data type {param.type}")
- else:
- if param.type == ParamType.BOOLEAN:
- return self.client.read_holding_registers(address, 1).registers[0]
- elif param.type == ParamType.ENUM:
- return self.client.read_holding_registers(address, 1).registers[0]
- elif param.type == ParamType.INT32:
- return self.client.read_holding_registers(address, 2).registers[0] # Handle as needed
- elif param.type == ParamType.FLOAT:
- return self.client.read_holding_registers(address, 2).registers[0] # Handle as needed
- else:
- self._error_event.set()
- raise Exception(f"parameter {name} has unknown data type {param['type']}")
-
- def set_parameter(self, name, value):
- param = self.device_params.get(name)
- if not param:
- self._error_event.set()
- raise Exception(f"parameter {name} does not exist")
-
- address = param.address
- if param.editability == ParamEdit.READONLY:
- raise Exception(f"parameter {name} is read only")
- else:
- if param.type == ParamType.BOOLEAN:
- self.client.write_coil(address, bool(value))
- elif param.type == ParamType.ENUM:
- self.client.write_register(address, value)
- elif param.type == ParamType.INT32:
- self.client.write_register(address, int(value))
- elif param.type == ParamType.FLOAT:
- self.client.write_register(address, float(value))
- else:
- self._error_event.set()
- raise Exception(f"parameter {name} has unknown data type {param['type']}")
-
- def load_parameters(self):
- self.set_input_signal("load_parameters", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("load_parameters", True)
-
- def save_parameters(self):
- self.set_input_signal("save_parameters", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("save_parameters", True)
-
- def reset_error(self):
- self.set_input_signal("error_reset", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("error_reset", True)
-
- def set_servo_on_off(self, on_off):
- self.set_input_signal("servo", on_off)
-
- def stop(self):
- self.set_input_signal("stop", False)
- time.sleep(IO_GAP_TIME) # Assuming IO_GAP_TIME is 0.1 seconds
- self.set_input_signal("stop", True)
-
- def soft_reset(self):
- self.client.write_register(186, 0x22205682)
-
- async def wait_error(self):
- await self._error_event.wait()
-
- def close(self):
- self.client.close()
- del self.client
-
-
-if __name__ == "__main__":
- # gripper = RMAxis.create_rmaxis_modbus_rtu("COM7", 115200, 1)
- gripper = RMAxis.create_rmaxis_modbus_rtu('/dev/tty.usbserial-B002YGXY', 115200, 0)
- gripper.go_home()
- # gripper.move_to(20)
- # print("Moving abs...")
- # gripper.move_absolute(20, 5, 100, 100, 0.1)
- # print(gripper.get_command(EXECUTE_COMMAND_INDEX))
- # gripper.go_home()
- # print("Pushing...")
- # gripper.push(0.7, 10, 20)
diff --git a/unilabos/devices/heaterstirrer/__init__.py b/unilabos/devices/heaterstirrer/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/heaterstirrer/dalong.py b/unilabos/devices/heaterstirrer/dalong.py
deleted file mode 100644
index 8232753a..00000000
--- a/unilabos/devices/heaterstirrer/dalong.py
+++ /dev/null
@@ -1,197 +0,0 @@
-import json
-import serial
-import time as systime
-
-
-class HeaterStirrer_DaLong:
- def __init__(self, port: str = 'COM6', temp_warning = 50.0, baudrate: int = 9600):
- try:
- self.serial = serial.Serial(port, baudrate, timeout=2)
- except serial.SerialException as e:
- print("串口错误", f"无法打开串口{port}: {e}")
- self._status = "Idle"
- self._stir_speed = 0.0
- self._temp = 0.0
- self._temp_warning = temp_warning
- self.set_temp_warning(temp_warning)
- self._temp_target = 20.0
- self.success = False
-
- @property
- def status(self) -> str:
- return self._status
-
- def get_status(self) -> str:
- self._status = "Idle" if self.stir_speed == 0 else "Running"
-
- @property
- def stir_speed(self) -> float:
- return self._stir_speed
-
- def set_stir_speed(self, speed: float):
- try:
- # 转换速度为整数
- speed_int = int(speed)
- # 确保速度在允许的范围内
- if speed_int < 0 or speed_int > 65535:
- raise ValueError("速度必须在0到65535之间")
- except ValueError as e:
- print("输入错误", str(e))
- return
-
- # 计算高位和低位
- speed_high = speed_int >> 8
- speed_low = speed_int & 0xFF
-
- # 构建搅拌控制指令
- command = bytearray([0xfe, 0xB1, speed_high, speed_low, 0x00])
- # 计算校验和
- command.append(sum(command[1:]) % 256)
-
- # 发送指令
- self.serial.write(command)
- # 检查响应
- response = self.serial.read(6)
- if len(response) == 6 and response[0] == 0xfd and response[1] == 0xB1 and response[2] == 0x00:
- print("成功", "搅拌速度更新成功")
- self._stir_speed = speed
- else:
- print("失败", "搅拌速度更新失败")
-
- def heatchill(
- self,
- vessel: str,
- temp: float,
- time: float = 3600,
- stir: bool = True,
- stir_speed: float = 300,
- purpose: str = "reaction"
- ):
- self.set_temp_target(temp)
- if stir:
- self.set_stir_speed(stir_speed)
- self.status = "Stirring"
- systime.sleep(time)
- self.set_stir_speed(0)
- self.status = "Idle"
-
- @property
- def temp(self) -> float:
- self._temp = self.get_temp()
- return self._temp
-
- def get_temp(self):
- # 构建读取温度的指令
- command = bytearray([0xfe, 0xA2, 0x00, 0x00, 0x00])
- command.append(sum(command[1:]) % 256)
-
- # 发送指令
- self.serial.write(command)
- # 读取响应
- systime.sleep(0.1)
- num_bytes = self.serial.in_waiting
- response = self.serial.read(num_bytes)
- try:
- high_value = response[8]
- low_value = response[9]
- raw_temp = (high_value << 8) + low_value
- if raw_temp & 0x8000: # 如果低位寄存器最高位为1，表示负值
- raw_temp -= 0x10000 # 转换为正确的负数表示
- temp = raw_temp / 10
- return temp
- except:
- return None
-
- @property
- def temp_warning(self) -> float:
- return self._temp_warning
-
- def set_temp_warning(self, temp):
- self.success = False
- # temp = round(float(warning_temp), 1)
- if self.set_temp_inner(float(temp), "warning"):
- self._temp_warning = round(float(temp), 1)
- self.success = True
-
- @property
- def temp_target(self) -> float:
- return self._temp_target
-
- def set_temp_target(self, temp):
- self.success = False
- # temp = round(float(target_temp), 1)
- if self.set_temp_inner(float(temp), "target"):
- self._temp_target = round(float(temp), 1)
- self.success = True
-
- def set_temp_inner(self, temp: float, type: str = "warning"):
- try:
- # 转换为整数
- temp_int = int(temp*10)
- except ValueError as e:
- print("输入错误", str(e))
- return
-
- # 计算高位和低位
- temp_high = temp_int >> 8
- temp_low = temp_int & 0xFF
-
- # 构建控制指令
- if type == "warning":
- command = bytearray([0xfe, 0xB4, temp_high, temp_low, 0x00])
- elif type == "target":
- command = bytearray([0xfe, 0xB2, temp_high, temp_low, 0x00])
- else:
- return False
- # 计算校验和
- command.append(sum(command[1:]) % 256)
- print(command)
- # 发送指令
- self.serial.write(command)
- # 检查响应
- systime.sleep(0.1)
- response = self.serial.read(6)
- print(response)
- if len(response) == 6 and response[0] == 0xfd and response[1] == 0xB4 and response[2] == 0x00:
- print("成功", "安全温度设置成功")
- return True
- else:
- print("失败", "安全温度设置失败")
- return False
-
- def close(self):
- self.serial.close()
-
-
-if __name__ == "__main__":
- import tkinter as tk
- from tkinter import messagebox
-
- heaterstirrer = HeaterStirrer_DaLong()
- # heaterstirrer.set_mix_speed(0)
- heaterstirrer.get_temp()
- # heaterstirrer.set_warning(17)
- print(heaterstirrer.temp)
- print(heaterstirrer.temp_warning)
-
- # 创建主窗口
- # root = tk.Tk()
- # root.title("搅拌速度控制")
-
- # # 创建速度变量
- # speed_var = tk.StringVar()
-
- # # 创建输入框
- # speed_entry = tk.Entry(root, textvariable=speed_var)
- # speed_entry.pack(pady=10)
-
- # # 创建按钮
- # set_speed_button = tk.Button(root, text="确定", command=heaterstirrer.set_mix_speed)
- # # set_speed_button = tk.Button(root, text="确定", command=heaterstirrer.read_temp)
- # set_speed_button.pack(pady=5)
-
- # # 运行主事件循环
- # root.mainloop()
-
- # 关闭串口
- heaterstirrer.serial.close()
diff --git a/unilabos/devices/hplc/AgilentHPLC.py b/unilabos/devices/hplc/AgilentHPLC.py
deleted file mode 100644
index 2e43c255..00000000
--- a/unilabos/devices/hplc/AgilentHPLC.py
+++ /dev/null
@@ -1,484 +0,0 @@
-import traceback
-from datetime import datetime
-import os
-import re
-from typing import TypedDict
-
-import pyautogui
-from pywinauto import Application
-from pywinauto.application import WindowSpecification
-from pywinauto.controls.uiawrapper import UIAWrapper
-from pywinauto.uia_element_info import UIAElementInfo
-
-from unilabos.app.oss_upload import oss_upload
-from unilabos.device_comms import universal_driver as ud
-from unilabos.device_comms.universal_driver import UniversalDriver
-
-
-class DeviceStatusInfo(TypedDict):
- name: str
- name_obj: UIAWrapper
- status: str
- status_obj: UIAWrapper
- open_btn: UIAWrapper
- close_btn: UIAWrapper
- sub_item: UIAWrapper
-
-class DeviceStatus(TypedDict):
- VWD: DeviceStatusInfo
- JinYangQi: DeviceStatusInfo
- Beng: DeviceStatusInfo
- ShouJiQi: DeviceStatusInfo
-
-
-class HPLCDriver(UniversalDriver):
- # 设备状态
- _device_status: DeviceStatus = None
- _is_running: bool = False
- _success: bool = False
- _finished: int = None
- _total_sample_number: int = None
- _status_text: str = ""
- # 外部传入
- _wf_name: str = ""
- # 暂时用不到，用来支持action name
- gantt: str = ""
- status: str = ""
-
- @property
- def status_text(self) -> str:
- return self._status_text
-
- @property
- def device_status(self) -> str:
- return f", ".join([f"{k}:{v.get('status')}" for k, v in self._device_status.items()])
-
- @property
- def could_run(self) -> bool:
- return self.driver_init_ok and all([v.get('status') == "空闲" for v in self._device_status.values()])
-
- @property
- def driver_init_ok(self) -> bool:
- for k, v in self._device_status.items():
- if v.get("open_btn") is None:
- return False
- if v.get("close_btn") is None:
- return False
- return len(self._device_status) == 4
-
- @property
- def is_running(self) -> bool:
- return self._is_running
-
- @property
- def success(self) -> bool:
- return self._success
-
- @property
- def finish_status(self) -> str:
- return f"{self._finished}/{self._total_sample_number}"
-
- def try_open_sub_device(self, device_name: str = None):
- if not self.driver_init_ok:
- self._success = False
- print(f"仪器还没有初始化完成，无法查询设备：{device_name}")
- return
- if device_name is None:
- for k, v in self._device_status.items():
- self.try_open_sub_device(k)
- return
- target_device_status = self._device_status[device_name]
- if target_device_status["status"] == "未就绪":
- print(f"尝试打开{device_name}设备")
- target_device_status["open_btn"].click()
- else:
- print(f"{device_name}设备状态不支持打开：{target_device_status['status']}")
-
- def try_close_sub_device(self, device_name: str = None):
- if not self.driver_init_ok:
- self._success = False
- print(f"仪器还没有初始化完成，无法查询设备：{device_name}")
- return
- if device_name is None:
- for k, v in self._device_status.items():
- self.try_close_sub_device(k)
- return
- target_device_status = self._device_status[device_name]
- if target_device_status["status"] == "空闲":
- print(f"尝试关闭{device_name}设备")
- target_device_status["close_btn"].click()
- else:
- print(f"{device_name}设备状态不支持关闭：{target_device_status['status']}")
-
- def _get_resource_sample_id(self, wf_name, idx):
- try:
- root = list(self.resource_info[wf_name].values())[0]
- # print(root)
- plates = root["children"]
- plate_01 = list(plates.values())[0]
- pots = list(plate_01["children"].values())
- return pots[idx]['sample_id']
- except Exception as ex:
- traceback.print_exc()
-
- def start_sequence(self, wf_name: str, params: str = None, resource: dict = None):
- print("!!!!!! 任务启动")
- self.resource_info[wf_name] = resource
- # 后续workflow_name将同步一下
- if self.is_running:
- print("设备正在运行，无法启动序列")
- self._success = False
- return False
- if not self.driver_init_ok:
- print(f"仪器还没有初始化完成，无法启动序列")
- self._success = False
- return False
- if not self.could_run:
- print(f"仪器不处于空闲状态，无法运行")
- self._success = False
- return False
- # 参考：
- # with UIPath(u"PREP-LC (联机): 方法和运行控制 ||Window"):
- # with UIPath(u"panelNavTabChem||Pane->||Pane->panelControlChemStation||Pane->||Tab->仪器控制||Pane->||Pane->panelChemStation||Pane->PREP-LC (联机): 方法和运行控制 ||Pane->ViewMGR||Pane->MRC view||Pane->||Pane->||Pane->||Pane->||Custom->||Custom"):
- # click(u"||Button#[0,1]")
- app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
- window = app['PREP-LC (联机): 方法和运行控制']
- window.allow_magic_lookup = False
- panel_nav_tab = window.child_window(title="panelNavTabChem", auto_id="panelNavTabChem", control_type="Pane")
- first_pane = panel_nav_tab.child_window(auto_id="uctlNavTabChem1", control_type="Pane")
- panel_control_station = first_pane.child_window(title="panelControlChemStation", auto_id="panelControlChemStation", control_type="Pane")
- instrument_control_tab: WindowSpecification = panel_control_station.\
- child_window(auto_id="tabControlChem", control_type="Tab").\
- child_window(title="仪器控制", auto_id="tabPage1", control_type="Pane").\
- child_window(auto_id="uctrlChemStation", control_type="Pane").\
- child_window(title="panelChemStation", auto_id="panelChemStation", control_type="Pane").\
- child_window(title="PREP-LC (联机): 方法和运行控制 ", control_type="Pane").\
- child_window(title="ViewMGR", control_type="Pane").\
- child_window(title="MRC view", control_type="Pane").\
- child_window(auto_id="mainMrcControlHost", control_type="Pane").\
- child_window(control_type="Pane", found_index=0).\
- child_window(control_type="Pane", found_index=0).\
- child_window(control_type="Custom", found_index=0).\
- child_window(control_type="Custom", found_index=0)
- instrument_control_tab.dump_tree(3)
- btn: UIAWrapper = instrument_control_tab.child_window(auto_id="methodButtonStartSequence", control_type="Button").wrapper_object()
- self.start_time = datetime.now()
- btn.click()
- self._wf_name = wf_name
- self._success = True
- return True
-
- def check_status(self):
- app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
- window = app['PREP-LC (联机): 方法和运行控制']
- ui_window = window.child_window(title="靠顶部", control_type="Group").\
- child_window(title="状态", control_type="ToolBar").\
- child_window(title="项目", control_type="Button", found_index=0)
- # 检测pixel的颜色
- element_info: UIAElementInfo = ui_window.element_info
- rectangle = element_info.rectangle
- point_x = int(rectangle.left + rectangle.width() * 0.15)
- point_y = int(rectangle.top + rectangle.height() * 0.15)
- r, g, b = pyautogui.pixel(point_x, point_y)
- if 270 > r > 250 and 200 > g > 180 and b < 10: # 是黄色
- self._is_running = False
- self._status_text = "Not Ready"
- elif r > 110 and g > 190 and 50 < b < 60:
- self._is_running = False
- self._status_text = "Ready"
- elif 75 > r > 65 and 135 > g > 120 and 240 > b > 230:
- self._is_running = True
- self._status_text = "Running"
- else:
- print(point_x, point_y, "未知的状态", r, g, b)
-
- def extract_data_from_txt(self, file_path):
- # 打开文件
- print(file_path)
- with open(file_path, mode='r', encoding='utf-16') as f:
- lines = f.readlines()
- # 定义一个标志变量来判断是否已经找到“馏分列表”
- started = False
- data = []
-
- for line in lines:
- # 查找“馏分列表”，并开始提取后续行
- if line.startswith("-----|-----|-----"):
- started = True
- continue # 跳过当前行
- if started:
- # 遇到"==="表示结束读取
- if '=' * 80 in line:
- break
- # 使用正则表达式提取馏分、孔、位置和原因
- res = re.split(r'\s+', line.strip())
- if res:
- fraction, hole, position, reason = res[0], res[1], res[2], res[-1]
- data.append({
- '馏分': fraction,
- '孔': hole,
- '位置': position,
- '原因': reason.strip()
- })
-
- return data
-
- def get_data_file(self, mat_index: str = None, after_time: datetime = None) -> tuple[str, str]:
- """
- 获取数据文件
- after_time: 由于HPLC是启动后生成一个带时间的目录，所以会选取after_time后的文件
- """
- if mat_index is None:
- print(f"mat_index不能为空")
- return None
- if after_time is None:
- after_time = self.start_time
- files = [i for i in os.listdir(self.data_file_path) if i.startswith(self.using_method)]
- time_to_files: list[tuple[datetime, str]] = [(datetime.strptime(i.split(" ", 1)[1], "%Y-%m-%d %H-%M-%S"), i) for i in files]
- time_to_files.sort(key=lambda x: x[0])
- choose_folder = None
- for i in time_to_files:
- if i[0] > after_time:
- print(i[0], after_time)
- print(f"选取时间{datetime.strftime(after_time, '%Y-%m-%d %H-%M-%S')}之后的文件夹{i[1]}")
- choose_folder = i[1]
- break
- if choose_folder is None:
- print(f"没有找到{self.using_method} {datetime.strftime(after_time, '%Y-%m-%d %H-%M-%S')}之后的文件夹")
- return None
- current_data_path = os.path.join(self.data_file_path, choose_folder)
-
- # 需要匹配 数字数字数字-.* 001-P2-E1-DQJ-4-70.D
- target_row = [i for i in os.listdir(current_data_path) if re.match(r"\d{3}-.*", i)]
- index2filepath = {int(k.split("-")[0]): os.path.join(current_data_path, k) for k in target_row}
- print(f"查找文件{mat_index}")
- if int(mat_index) not in index2filepath:
- print(f"没有找到{mat_index}的文件 已找到：{index2filepath}")
- return None
- mat_final_path = index2filepath[int(mat_index)]
- pdf = os.path.join(mat_final_path, "Report.PDF")
- txt = os.path.join(mat_final_path, "Report.TXT")
- fractions = self.extract_data_from_txt(txt)
- print(fractions)
- return pdf, txt
-
- def __init__(self, driver_debug=False):
- super().__init__()
- self.data_file_path = r"D:\ChemStation\1\Data"
- self.using_method = f"1106-dqj-4-64"
- self.start_time = datetime.now()
- self._device_status = dict()
- self.resource_info: dict[str, dict] = dict()
- # 启动所有监控器
- self.checkers = [
- InstrumentChecker(self, 1),
- RunningChecker(self, 1),
- RunningResultChecker(self, 1),
- ]
- if not driver_debug:
- for checker in self.checkers:
- checker.start_monitoring()
-
-
-class DriverChecker(ud.DriverChecker):
- driver: HPLCDriver
-
-class InstrumentChecker(DriverChecker):
- _instrument_control_tab = None
- _instrument_control_tab_wrapper = None
- def get_instrument_status(self):
- if self._instrument_control_tab is not None:
- return self._instrument_control_tab
- # 连接到目标窗口
- app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
- window = app['PREP-LC (联机): 方法和运行控制']
- window.allow_magic_lookup = False
- panel_nav_tab = window.child_window(title="panelNavTabChem", auto_id="panelNavTabChem", control_type="Pane")
- first_pane = panel_nav_tab.child_window(auto_id="uctlNavTabChem1", control_type="Pane")
- panel_control_station = first_pane.child_window(title="panelControlChemStation", auto_id="panelControlChemStation", control_type="Pane")
- instrument_control_tab: WindowSpecification = panel_control_station.\
- child_window(auto_id="tabControlChem", control_type="Tab").\
- child_window(title="仪器控制", auto_id="tabPage1", control_type="Pane").\
- child_window(auto_id="uctrlChemStation", control_type="Pane").\
- child_window(title="panelChemStation", auto_id="panelChemStation", control_type="Pane").\
- child_window(title="PREP-LC (联机): 方法和运行控制 ", control_type="Pane").\
- child_window(title="ViewMGR", control_type="Pane").\
- child_window(title="MRC view", control_type="Pane").\
- child_window(auto_id="mainMrcControlHost", control_type="Pane").\
- child_window(control_type="Pane", found_index=0).\
- child_window(control_type="Pane", found_index=0).\
- child_window(control_type="Custom", found_index=0).\
- child_window(best_match="Custom6").\
- child_window(auto_id="ListBox_DashboardPanel", control_type="List")
- if self._instrument_control_tab is None:
- self._instrument_control_tab = instrument_control_tab
- self._instrument_control_tab_wrapper = instrument_control_tab.wrapper_object()
- return self._instrument_control_tab
-
-
- def check(self):
- self.get_instrument_status()
- if self._instrument_control_tab_wrapper is None or self._instrument_control_tab is None:
- return
- item: UIAWrapper
- index = 0
- keys = list(self.driver._device_status.keys())
- for item in self._instrument_control_tab_wrapper.children():
- info: UIAElementInfo = item.element_info
- if info.control_type == "ListItem" and item.window_text() == "Agilent.RapidControl.StatusDashboard.PluginViewModel":
- sub_item: WindowSpecification = self._instrument_control_tab.\
- child_window(title="Agilent.RapidControl.StatusDashboard.PluginViewModel", control_type="ListItem", found_index=index).\
- child_window(control_type="Custom", found_index=0)
- if index < len(keys):
- deviceStatusInfo = self.driver._device_status[keys[index]]
- name = deviceStatusInfo["name"]
- deviceStatusInfo["status"] = deviceStatusInfo["status_obj"].window_text()
- print(name, index, deviceStatusInfo["status"], "刷新")
- if deviceStatusInfo["open_btn"] is not None and deviceStatusInfo["close_btn"] is not None:
- index += 1
- continue
- else:
- name_obj = sub_item.child_window(control_type="Text", found_index=0).wrapper_object()
- name = name_obj.window_text()
- self.driver._device_status[name] = dict()
- self.driver._device_status[name]["name_obj"] = name_obj
- self.driver._device_status[name]["name"] = name
- print(name, index)
- status = sub_item.child_window(control_type="Custom", found_index=0).\
- child_window(auto_id="TextBlock_StateLabel", control_type="Text")
- status_obj: UIAWrapper = status.wrapper_object()
- self.driver._device_status[name]["status_obj"] = status_obj
- self.driver._device_status[name]["status"] = status_obj.window_text()
- print(status.window_text())
- sub_item = sub_item.wrapper_object()
- found_index = 0
- open_btn = None
- close_btn = None
- for btn in sub_item.children():
- if btn.element_info.control_type == "Button":
- found_index += 1
- if found_index == 5:
- open_btn = btn
- elif found_index == 6:
- close_btn = btn
- self.driver._device_status[name]["open_btn"] = open_btn
- self.driver._device_status[name]["close_btn"] = close_btn
- index += 1
-
-class RunningChecker(DriverChecker):
- def check(self):
- self.driver.check_status()
-
-class RunningResultChecker(DriverChecker):
- _finished: UIAWrapper = None
- _total_sample_number: UIAWrapper = None
-
- def check(self):
- if self._finished is None or self._total_sample_number is None:
- app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
- window = app['PREP-LC (联机): 方法和运行控制']
- window.allow_magic_lookup = False
- panel_nav_tab = window.child_window(title="panelNavTabChem", auto_id="panelNavTabChem", control_type="Pane")
- first_pane = panel_nav_tab.child_window(auto_id="uctlNavTabChem1", control_type="Pane")
- panel_control_station = first_pane.child_window(title="panelControlChemStation", auto_id="panelControlChemStation", control_type="Pane")
- instrument_control_tab: WindowSpecification = panel_control_station.\
- child_window(auto_id="tabControlChem", control_type="Tab").\
- child_window(title="仪器控制", auto_id="tabPage1", control_type="Pane").\
- child_window(auto_id="uctrlChemStation", control_type="Pane").\
- child_window(title="panelChemStation", auto_id="panelChemStation", control_type="Pane").\
- child_window(title="PREP-LC (联机): 方法和运行控制 ", control_type="Pane").\
- child_window(title="ViewMGR", control_type="Pane").\
- child_window(title="MRC view", control_type="Pane").\
- child_window(auto_id="mainMrcControlHost", control_type="Pane").\
- child_window(control_type="Pane", found_index=0).\
- child_window(control_type="Pane", found_index=0).\
- child_window(control_type="Custom", found_index=0).\
- child_window(auto_id="mainControlExpanderSampleInformation", control_type="Group").\
- child_window(auto_id="controlsSampleInfo", control_type="Custom")
- self._finished = instrument_control_tab.child_window(best_match="Static15").wrapper_object()
- self._total_sample_number = instrument_control_tab.child_window(best_match="Static16").wrapper_object()
- try:
- temp = int(self._finished.window_text())
- if self.driver._finished is None or temp > self.driver._finished:
- if self.driver._finished is None:
- self.driver._finished = 0
- for i in range(self.driver._finished, temp):
- sample_id = self.driver._get_resource_sample_id(self.driver._wf_name, i) # 从0开始计数
- pdf, txt = self.driver.get_data_file(i + 1)
- # 使用新的OSS上传接口，传入driver_name和exp_type
- pdf_result = oss_upload(pdf, filename=os.path.basename(pdf), driver_name="HPLC", exp_type="analysis")
- txt_result = oss_upload(txt, filename=os.path.basename(txt), driver_name="HPLC", exp_type="result")
-
- if pdf_result["success"]:
- print(f"PDF上传成功: {pdf_result['oss_path']}")
- else:
- print(f"PDF上传失败: {pdf_result['original_path']}")
-
- if txt_result["success"]:
- print(f"TXT上传成功: {txt_result['oss_path']}")
- else:
- print(f"TXT上传失败: {txt_result['original_path']}")
- # self.driver.extract_data_from_txt()
- except Exception as ex:
- self.driver._finished = 0
-
- print("转换数字出错", ex)
- try:
- self.driver._total_sample_number = int(self._total_sample_number.window_text())
- except Exception as ex:
- self.driver._total_sample_number = 0
- print("转换数字出错", ex)
-
-
-
-
-# 示例用法
-if __name__ == "__main__":
- # obj = HPLCDriver.__new__(HPLCDriver)
- # obj.start_sequence()
-
- # obj = HPLCDriver.__new__(HPLCDriver)
- # obj.data_file_path = r"D:\ChemStation\1\Data"
- # obj.using_method = r"1106-dqj-4-64"
- # obj.get_data_file("001", after_time=datetime(2024, 11, 6, 19, 3, 6))
-
- obj = HPLCDriver.__new__(HPLCDriver)
- obj.data_file_path = r"D:\ChemStation\1\Data"
- obj.using_method = r"1106-dqj-4-64"
- obj._wf_name = "test"
- obj.resource_info = {
- "test": {
- "1": {
- "children": {
- "11": {
- "children": {
- "111": {
- "sample_id": "sample-1"
- },
- "112": {
- "sample_id": "sample-2"
- }
- }
- }
- }
- }
- }
- }
- sample_id = obj._get_resource_sample_id("test", 0)
- pdf, txt = obj.get_data_file("1", after_time=datetime(2024, 11, 6, 19, 3, 6))
- # 使用新的OSS上传接口，传入driver_name和exp_type
- pdf_result = oss_upload(pdf, filename=os.path.basename(pdf), driver_name="HPLC", exp_type="analysis")
- txt_result = oss_upload(txt, filename=os.path.basename(txt), driver_name="HPLC", exp_type="result")
-
- print(f"PDF上传结果: {pdf_result}")
- print(f"TXT上传结果: {txt_result}")
- # driver = HPLCDriver()
- # for i in range(10000):
- # print({k: v for k, v in driver._device_status.items() if isinstance(v, str)})
- # print(driver.device_status)
- # print(driver.could_run)
- # print(driver.driver_init_ok)
- # print(driver.is_running)
- # print(driver.finish_status)
- # print(driver.status_text)
- # time.sleep(5)
diff --git a/unilabos/devices/hplc/__init__.py b/unilabos/devices/hplc/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/liquid_handling/__init__.py b/unilabos/devices/liquid_handling/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/liquid_handling/biomek.py b/unilabos/devices/liquid_handling/biomek.py
deleted file mode 100644
index 7fbafd7e..00000000
--- a/unilabos/devices/liquid_handling/biomek.py
+++ /dev/null
@@ -1,1098 +0,0 @@
-import json
-import pathlib
-from typing import Sequence, Optional, List, Union, Literal
-
-import requests
-from geometry_msgs.msg import Point
-from pylabrobot.liquid_handling import LiquidHandler
-from pylabrobot.resources import (
- TipRack,
- Container,
- Coordinate,
-)
-import copy
-from unilabos_msgs.msg import Resource
-
-from unilabos.resources.resource_tracker import DeviceNodeResourceTracker # type: ignore
-
-
-class LiquidHandlerBiomek:
- """
- Biomek液体处理器的实现类，继承自LiquidHandlerAbstract。
- 该类用于处理Biomek液体处理器的特定操作。
- """
-
- def __init__(self, *args, **kwargs):
- super().__init__(*args, **kwargs)
- self._status = "Idle" # 初始状态为 Idle
- self._success = False # 初始成功状态为 False
- self._status_queue = kwargs.get("status_queue", None) # 状态队列
- self.temp_protocol = {}
- self.py32_path = "/opt/py32" # Biomek的Python 3.2路径
-
- # 预定义的仪器分类
- self.tip_racks = [
- "BC230", "BC1025F", "BC50", "TipRack200", "TipRack1000",
- "tip", "tips", "Tip", "Tips"
- ]
-
- self.reservoirs = [
- "AgilentReservoir", "nest_12_reservoir_15ml", "nest_1_reservoir_195ml",
- "reservoir", "Reservoir", "waste", "Waste"
- ]
-
- self.plates_96 = [
- "BCDeep96Round", "Matrix96_750uL", "NEST 2ml Deep Well Plate", "nest_96_wellplate_100ul_pcr_full_skirt",
- "nest_96_wellplate_200ul_flat", "Matrix96", "96", "plate", "Plate"
- ]
-
- self.aspirate_techniques = {
- 'MC P300 high':{
- 'Position': 'P1',
- 'Height': -2.0,
- 'Volume': '50',
- 'liquidtype': 'Well Contents',
- 'WellsX': 12,
- 'LabwareClass': 'Matrix96_750uL',
- 'AutoSelectPrototype': True,
- 'ColsFirst': True,
- 'CustomHeight': False,
- 'DataSetPattern': False,
- 'HeightFrom': 0,
- 'LocalPattern': True,
- 'Operation': 'Aspirate',
- 'OverrideHeight': False,
- 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
- 'Prototype': 'MC P300 High',
- 'ReferencedPattern': '',
- 'RowsFirst': False,
- 'SectionExpression': '',
- 'SelectionInfo': (1,),
- 'SetMark': True,
- 'Source': True,
- 'StartAtMark': False,
- 'StartAtSelection': True,
- 'UseExpression': False},
- }
-
- self.dispense_techniques = {
- 'MC P300 high':{
- 'Position': 'P11',
- 'Height': -2.0,
- 'Volume': '50',
- 'liquidtype': 'Tip Contents',
- 'WellsX': 12,
- 'LabwareClass': 'Matrix96_750uL',
- 'AutoSelectPrototype': True,
- 'ColsFirst': True,
- 'CustomHeight': False,
- 'DataSetPattern': False,
- 'HeightFrom': 0,
- 'LocalPattern': True,
- 'Operation': 'Dispense',
- 'OverrideHeight': False,
- 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
- 'Prototype': 'MC P300 High',
- 'ReferencedPattern': '',
- 'RowsFirst': False,
- 'SectionExpression': '',
- 'SelectionInfo': (1,),
- 'SetMark': True,
- 'Source': False,
- 'StartAtMark': False,
- 'StartAtSelection': True,
- 'UseExpression': False}
- }
-
- def _get_instrument_type(self, class_name: str) -> str:
- """
- 根据class_name判断仪器类型
-
- Returns:
- str: "tip_rack", "reservoir", "plate_96", 或 "unknown"
- """
- # 检查是否是枪头架
- for tip_name in self.tip_racks:
- if tip_name in class_name:
- return "tip_rack"
-
- # 检查是否是储液槽
- for reservoir_name in self.reservoirs:
- if reservoir_name in class_name:
- return "reservoir"
-
- # 检查是否是96孔板
- for plate_name in self.plates_96:
- if plate_name in class_name:
- return "plate_96"
-
- return "unknown"
-
- @classmethod
- def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
- return LiquidHandler.deserialize(data, allow_marshal)
-
- @property
- def success(self):
- """
- 获取操作是否成功的状态。
-
- Returns:
- bool: 如果操作成功，返回True；否则返回False。
- """
- return self._success
-
- def create_protocol(
- self,
- protocol_name: str,
- protocol_description: str,
- protocol_version: str,
- protocol_author: str,
- protocol_date: str,
- protocol_type: str,
- none_keys: List[str] = [],
- ):
- """
- 创建一个新的协议。
-
- Args:
- protocol_name (str): 协议名称
- protocol_description (str): 协议描述
- protocol_version (str): 协议版本
- protocol_author (str): 协议作者
- protocol_date (str): 协议日期
- protocol_type (str): 协议类型
- none_keys (List[str]): 需要设置为None的键列表
-
- Returns:
- dict: 创建的协议字典
- """
- self.temp_protocol = {
- "meta": {
- "name": protocol_name,
- "description": protocol_description,
- "version": protocol_version,
- "author": protocol_author,
- "date": protocol_date,
- "type": protocol_type,
- },
- "labwares": {},
- "steps": [],
- }
- return self.temp_protocol
-
- def run_protocol(self):
- """
- 执行创建的实验流程。
- 工作站的完整执行流程是，
- 从 create_protocol 开始，创建新的 method，
- 随后执行 transfer_liquid 等操作向实验流程添加步骤，
- 最后 run_protocol 执行整个方法。
-
- Returns:
- dict: 执行结果
- """
- #use popen or subprocess to create py32 process and communicate send the temp protocol to it
- if not self.temp_protocol:
- raise ValueError("No protocol created. Please create a protocol first.")
-
- # 模拟执行协议
- self._status = "Running"
- self._success = True
- # 在这里可以添加实际执行协议的逻辑
-
- response = requests.post("localhost:5000/api/protocols", json=self.temp_protocol)
-
- def create_resource(
- self,
- resource_tracker: DeviceNodeResourceTracker,
- resources: list[Resource],
- bind_parent_id: str,
- bind_location: dict[str, float],
- liquid_input_slot: list[int],
- liquid_type: list[str],
- liquid_volume: list[int],
- slot_on_deck: int,
- ):
- """
- 创建一个新的资源。
-
- Args:
- device_id (str): 设备ID
- res_id (str): 资源ID
- class_name (str): 资源类名
- parent (str): 父级ID
- bind_locations (Point): 绑定位置
- liquid_input_slot (list[int]): 液体输入槽列表
- liquid_type (list[str]): 液体类型列表
- liquid_volume (list[int]): 液体体积列表
- slot_on_deck (int): 甲板上的槽位
-
- Returns:
- dict: 创建的资源字典
- """
- # TODO：需要对好接口，下面这个是临时的
- for resource in resources:
- res_id = resource.id
- class_name = resource.name
- parent = bind_parent_id
- liquid_input_slot = liquid_input_slot
- liquid_type = liquid_type
- liquid_volume = liquid_volume
- slot_on_deck = slot_on_deck
-
- resource = {
- "id": res_id,
- "class": class_name,
- "parent": parent,
- "bind_locations": bind_location,
- "liquid_input_slot": liquid_input_slot,
- "liquid_type": liquid_type,
- "liquid_volume": liquid_volume,
- "slot_on_deck": slot_on_deck,
- }
- self.temp_protocol["labwares"].append(resource)
- return resources
-
- def transfer_liquid(
- self,
- sources: Sequence[Container],
- targets: Sequence[Container],
- tip_racks: Sequence[TipRack],
- *,
- use_channels: Optional[List[int]] = None,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- asp_flow_rates: Optional[List[Optional[float]]] = None,
- dis_flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- touch_tip: bool = False,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- is_96_well: bool = False,
- mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
- mix_times: Optional[int] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- delays: Optional[List[int]] = None,
- none_keys: List[str] = []
- ):
-
- transfer_params = {
- "Span8": False,
- "Pod": "Pod1",
- "items": {},
- "Wash": False,
- "Dynamic?": True,
- "AutoSelectActiveWashTechnique": False,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": False,
- "ChangeTipsBetweenSources": False,
- "DefaultCaption": "",
- "UseExpression": False,
- "LeaveTipsOn": False,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": False,
- "Replicates": "1",
- "ShowTipHandlingDetails": False,
- "ShowTransferDetails": True,
- "Solvent": "Well Content",
- "Span8Wash": False,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": False,
- "SplitVolumeCleaning": False,
- "Stop": "Destinations",
- "TipLocation": "BC1025F",
- "UseCurrentTips": False,
- "UseDisposableTips": True,
- "UseFixedTips": False,
- "UseJIT": True,
- "UseMandrelSelection": True,
- "UseProbes": [True, True, True, True, True, True, True, True],
- "WashCycles": "1",
- "WashVolume": "110%",
- "Wizard": False
- }
-
- items: dict = {}
- for idx, (src, dst) in enumerate(zip(sources, targets)):
- items[str(idx)] = {
- "Source": str(src),
- "Destination": str(dst),
- "Volume": dis_vols[idx]
- }
- transfer_params["items"] = items
-
- transfer_params["Solvent"] = "Water"
- TipLocation = tip_racks[0].name
- transfer_params["TipLocation"] = TipLocation
-
- if len(tip_racks) == 1:
- transfer_params['UseCurrentTips'] = True
- elif len(tip_racks) > 1:
- transfer_params["ChangeTipsBetweenDests"] = True
-
- self.temp_protocol["steps"].append(transfer_params)
-
- return
-
- def instrument_setup_biomek(
- self,
- id: str,
- parent: str,
- slot_on_deck: str,
- class_name: str,
- liquid_type: list[str],
- liquid_volume: list[int],
- liquid_input_wells: list[str],
- ):
- """
- 设置Biomek仪器的参数配置，按照DeckItems格式
-
- 根据不同的仪器类型（容器、tip rack等）设置相应的参数结构
- 位置作为键，配置列表作为值
- """
-
- # 判断仪器类型
- instrument_type = self._get_instrument_type(class_name)
-
- config = None # 初始化为None
-
- if instrument_type == "reservoir":
- # 储液槽类型配置
- config = {
- "Properties": {
- "Name": id, # 使用id作为名称
- "Device": "",
- "liquidtype": liquid_type[0] if liquid_type else "Water",
- "BarCode": "",
- "SenseEveryTime": False
- },
- "Known": True,
- "Class": f"LabwareClasses\\{class_name}",
- "DataSets": {"Volume": {}},
- "RuntimeDataSets": {"Volume": {}},
- "EvalAmounts": (float(liquid_volume[0]),) if liquid_volume else (0,),
- "Nominal": False,
- "EvalLiquids": (liquid_type[0],) if liquid_type else ("Water",)
- }
-
- elif instrument_type == "plate_96":
- # 96孔板类型配置
- volume_per_well = float(liquid_volume[0]) if liquid_volume else 0
- liquid_per_well = liquid_type[0] if liquid_type else "Water"
-
- config = {
- "Properties": {
- "Name": id, # 使用id作为名称
- "Device": "",
- "liquidtype": liquid_per_well,
- "BarCode": "",
- "SenseEveryTime": False
- },
- "Known": True,
- "Class": f"LabwareClasses\\{class_name}",
- "DataSets": {"Volume": {}},
- "RuntimeDataSets": {"Volume": {}},
- "EvalAmounts": tuple([volume_per_well] * 96),
- "Nominal": False,
- "EvalLiquids": tuple([liquid_per_well] * 96)
- }
-
- elif instrument_type == "tip_rack":
- # 枪头架类型配置
- tip_config = {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": False,
- "RT_Used": False,
- "Dirty": False,
- "RT_Dirty": False,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- }
-
- config = {
- "Tips": tip_config,
- "RT_Tips": tip_config.copy(),
- "Properties": {},
- "Known": False,
- "Class": f"LabwareClasses\\{class_name}",
- "DataSets": {"Volume": {}},
- "RuntimeDataSets": {"Volume": {}}
- }
-
- # 按照DeckItems格式存储：位置作为键，配置列表作为值
- if config is not None:
- self.temp_protocol["labwares"][slot_on_deck] = [config]
- else:
- # 空位置
- self.temp_protocol["labwares"][slot_on_deck] = []
-
- return
-
- def transfer_biomek(
- self,
- source: str,
- target: str,
- tip_rack: str,
- volume: float,
- aspirate_techniques: str,
- dispense_techniques: str,
- ):
- """
- 处理Biomek的液体转移操作。
-
- """
- items = []
-
- asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
- dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
-
- asp_params['Position'] = source
- dis_params['Position'] = target
- asp_params['Volume'] = str(volume)
- dis_params['Volume'] = str(volume)
-
- items.append(asp_params)
- items.append(dis_params)
-
- transfer_params = {
- "Span8": False,
- "Pod": "Pod1",
- "items": [],
- "Wash": False,
- "Dynamic?": True,
- "AutoSelectActiveWashTechnique": False,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": True,
- "ChangeTipsBetweenSources": False,
- "DefaultCaption": "",
- "UseExpression": False,
- "LeaveTipsOn": False,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": False,
- "Replicates": "1",
- "ShowTipHandlingDetails": False,
- "ShowTransferDetails": True,
- "Solvent": "Water",
- "Span8Wash": False,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": False,
- "SplitVolumeCleaning": False,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": False,
- "UseDisposableTips": False,
- "UseFixedTips": False,
- "UseJIT": True,
- "UseMandrelSelection": True,
- "UseProbes": [True, True, True, True, True, True, True, True],
- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": False
- }
- transfer_params["items"] = items
- transfer_params["Solvent"] = 'Water'
- transfer_params["TipLocation"] = tip_rack
- tmp={'transfer': transfer_params}
- self.temp_protocol["steps"].append(tmp)
-
- return
-
-
- def move_biomek(
- self,
- source: str,
- target: str,
- ):
- """
- 处理Biomek移动板子的操作。
-
- """
-
- move_params = {
- "Pod": "Pod1",
- "GripSide": "A1 near",
- "Source": source,
- "Target": target,
- "LeaveBottomLabware": False,
- }
- self.temp_protocol["steps"].append(move_params)
-
- return
-
- def incubation_biomek(
- self,
- time: int,
- ):
- """
- 处理Biomek的孵育操作。
- """
- incubation_params = {
- "Message": "Paused",
- "Location": "the whole system",
- "Time": time,
- "Mode": "TimedResource"
- }
- self.temp_protocol["steps"].append(incubation_params)
-
- return
-
- def oscillation_biomek(
- self,
- rpm: int,
- time: int,
- ):
- """
- 处理Biomek的振荡操作。
- """
- oscillation_params = {
- 'Device': 'OrbitalShaker0',
- 'Parameters': (str(rpm), '2', str(time), 'CounterClockwise'),
- 'Command': 'Timed Shake'
- }
- self.temp_protocol["steps"].append(oscillation_params)
-
- return
-
-
-if __name__ == "__main__":
-
- print("=== Biomek完整流程测试 ===")
- print("包含: 仪器设置 + 完整实验步骤")
-
- # 完整的步骤信息（从biomek.py复制）
- steps_info = '''
- {
- "steps": [
- {
- "step_number": 1,
- "operation": "transfer",
- "description": "转移PCR产物或酶促反应液至0.5ml 96孔板中",
- "parameters": {
- "source": "P1",
- "target": "P11",
- "tip_rack": "BC230",
- "volume": 50
- }
- },
- {
- "step_number": 2,
- "operation": "transfer",
- "description": "加入2倍体积的Bind Beads BC至产物中",
- "parameters": {
- "source": "P2",
- "target": "P11",
- "tip_rack": "BC230",
- "volume": 100
- }
- },
- {
- "step_number": 3,
- "operation": "oscillation",
- "description": "振荡混匀300秒",
- "parameters": {
- "rpm": 800,
- "time": 300
- }
- },
- {
- "step_number": 4,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附3分钟",
- "parameters": {
- "source": "P11",
- "target": "P12"
- }
- },
- {
- "step_number": 5,
- "operation": "incubation",
- "description": "吸附3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 6,
- "operation": "transfer",
- "description": "吸弃或倒除上清液",
- "parameters": {
- "source": "P12",
- "target": "P22",
- "tip_rack": "BC230",
- "volume": 150
- }
- },
- {
- "step_number": 7,
- "operation": "transfer",
- "description": "加入300-500μl 75%乙醇",
- "parameters": {
- "source": "P3",
- "target": "P12",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 8,
- "operation": "move_labware",
- "description": "移动至振荡器进行振荡混匀",
- "parameters": {
- "source": "P12",
- "target": "Orbital1"
- }
- },
- {
- "step_number": 9,
- "operation": "oscillation",
- "description": "振荡混匀60秒",
- "parameters": {
- "rpm": 800,
- "time": 60
- }
- },
- {
- "step_number": 10,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附3分钟",
- "parameters": {
- "source": "Orbital1",
- "target": "P12"
- }
- },
- {
- "step_number": 11,
- "operation": "incubation",
- "description": "吸附3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 12,
- "operation": "transfer",
- "description": "吸弃或倒弃废液",
- "parameters": {
- "source": "P12",
- "target": "P22",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 13,
- "operation": "transfer",
- "description": "重复加入75%乙醇",
- "parameters": {
- "source": "P3",
- "target": "P12",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 14,
- "operation": "move_labware",
- "description": "移动至振荡器进行振荡混匀",
- "parameters": {
- "source": "P12",
- "target": "Orbital1"
- }
- },
- {
- "step_number": 15,
- "operation": "oscillation",
- "description": "振荡混匀60秒",
- "parameters": {
- "rpm": 800,
- "time": 60
- }
- },
- {
- "step_number": 16,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附3分钟",
- "parameters": {
- "source": "Orbital1",
- "target": "P12"
- }
- },
- {
- "step_number": 17,
- "operation": "incubation",
- "description": "吸附3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 18,
- "operation": "transfer",
- "description": "吸弃或倒弃废液",
- "parameters": {
- "source": "P12",
- "target": "P22",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 19,
- "operation": "move_labware",
- "description": "正放96孔板，空气干燥15分钟",
- "parameters": {
- "source": "P12",
- "target": "P13"
- }
- },
- {
- "step_number": 20,
- "operation": "incubation",
- "description": "空气干燥15分钟",
- "parameters": {
- "time": 900
- }
- },
- {
- "step_number": 21,
- "operation": "transfer",
- "description": "加入30-50μl Elution Buffer",
- "parameters": {
- "source": "P4",
- "target": "P13",
- "tip_rack": "BC230",
- "volume": 40
- }
- },
- {
- "step_number": 22,
- "operation": "move_labware",
- "description": "移动至振荡器进行振荡混匀",
- "parameters": {
- "source": "P13",
- "target": "Orbital1"
- }
- },
- {
- "step_number": 23,
- "operation": "oscillation",
- "description": "振荡混匀60秒",
- "parameters": {
- "rpm": 800,
- "time": 60
- }
- },
- {
- "step_number": 24,
- "operation": "move_labware",
- "description": "室温静置3分钟",
- "parameters": {
- "source": "Orbital1",
- "target": "P13"
- }
- },
- {
- "step_number": 25,
- "operation": "incubation",
- "description": "室温静置3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 26,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附2分钟",
- "parameters": {
- "source": "P13",
- "target": "P12"
- }
- },
- {
- "step_number": 27,
- "operation": "incubation",
- "description": "吸附2分钟",
- "parameters": {
- "time": 120
- }
- },
- {
- "step_number": 28,
- "operation": "transfer",
- "description": "将DNA转移至新的板中",
- "parameters": {
- "source": "P12",
- "target": "P14",
- "tip_rack": "BC230",
- "volume": 40
- }
- }
- ]
- }
-'''
- # 完整的labware配置信息
- labware_with_liquid = '''
- [
- {
- "id": "Tip Rack BC230 TL1",
- "parent": "deck",
- "slot_on_deck": "TL1",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL2",
- "parent": "deck",
- "slot_on_deck": "TL2",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL3",
- "parent": "deck",
- "slot_on_deck": "TL3",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL4",
- "parent": "deck",
- "slot_on_deck": "TL4",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL5",
- "parent": "deck",
- "slot_on_deck": "TL5",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P5",
- "parent": "deck",
- "slot_on_deck": "P5",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P6",
- "parent": "deck",
- "slot_on_deck": "P6",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P15",
- "parent": "deck",
- "slot_on_deck": "P15",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P16",
- "parent": "deck",
- "slot_on_deck": "P16",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "stock plate on P1",
- "parent": "deck",
- "slot_on_deck": "P1",
- "class_name": "AgilentReservoir",
- "liquid_type": ["PCR product"],
- "liquid_volume": [5000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "stock plate on P2",
- "parent": "deck",
- "slot_on_deck": "P2",
- "class_name": "AgilentReservoir",
- "liquid_type": ["bind beads"],
- "liquid_volume": [100000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "stock plate on P3",
- "parent": "deck",
- "slot_on_deck": "P3",
- "class_name": "AgilentReservoir",
- "liquid_type": ["75% ethanol"],
- "liquid_volume": [100000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "stock plate on P4",
- "parent": "deck",
- "slot_on_deck": "P4",
- "class_name": "AgilentReservoir",
- "liquid_type": ["Elution Buffer"],
- "liquid_volume": [5000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "working plate on P11",
- "parent": "deck",
- "slot_on_deck": "P11",
- "class_name": "BCDeep96Round",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "working plate on P13",
- "parent": "deck",
- "slot_on_deck": "P13",
- "class_name": "BCDeep96Round",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "working plate on P14",
- "parent": "deck",
- "slot_on_deck": "P14",
- "class_name": "BCDeep96Round",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "waste on P22",
- "parent": "deck",
- "slot_on_deck": "P22",
- "class_name": "AgilentReservoir",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "oscillation",
- "parent": "deck",
- "slot_on_deck": "Orbital1",
- "class_name": "Orbital",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- }
- ]
- '''
-
- # 创建handler实例
- handler = LiquidHandlerBiomek()
-
- # 创建协议
- protocol = handler.create_protocol(
- protocol_name="DNA纯化完整流程",
- protocol_description="使用磁珠进行DNA纯化的完整自动化流程",
- protocol_version="1.0",
- protocol_author="Biomek系统",
- protocol_date="2024-01-01",
- protocol_type="DNA_purification"
- )
-
- print("\n=== 第一步：设置所有仪器 ===")
- # 解析labware配置
- labwares = json.loads(labware_with_liquid)
-
- # 设置所有仪器
- instrument_count = 0
- for labware in labwares:
- print(f"设置仪器: {labware['id']} ({labware['class_name']}) 在位置 {labware['slot_on_deck']}")
- handler.instrument_setup_biomek(
- id=labware['id'],
- parent=labware['parent'],
- slot_on_deck=labware['slot_on_deck'],
- class_name=labware['class_name'],
- liquid_type=labware['liquid_type'],
- liquid_volume=labware['liquid_volume'],
- liquid_input_wells=labware['liquid_input_wells']
- )
- instrument_count += 1
-
- print(f"总共设置了 {instrument_count} 个仪器位置")
-
- print("\n=== 第二步：执行实验步骤 ===")
- # 解析步骤信息
- input_steps = json.loads(steps_info)
-
- # 执行所有步骤
- step_count = 0
- for step in input_steps['steps']:
- operation = step['operation']
- parameters = step['parameters']
- description = step['description']
-
- print(f"步骤 {step['step_number']}: {description}")
-
- if operation == 'transfer':
- handler.transfer_biomek(
- source=parameters['source'],
- target=parameters['target'],
- volume=parameters['volume'],
- tip_rack=parameters['tip_rack'],
- aspirate_techniques='MC P300 high',
- dispense_techniques='MC P300 high'
- )
- elif operation == 'move_labware':
- handler.move_biomek(
- source=parameters['source'],
- target=parameters['target']
- )
- elif operation == 'oscillation':
- handler.oscillation_biomek(
- rpm=parameters['rpm'],
- time=parameters['time']
- )
- elif operation == 'incubation':
- handler.incubation_biomek(
- time=parameters['time']
- )
-
- step_count += 1
-
- print(f"总共执行了 {step_count} 个步骤")
-
- print("\n=== 第三步：保存完整协议 ===")
- # 获取脚本目录
- script_dir = pathlib.Path(__file__).parent
-
- # 保存完整协议
- complete_output_path = script_dir / "complete_biomek_protocol_0608.json"
- with open(complete_output_path, 'w', encoding='utf-8') as f:
- json.dump(handler.temp_protocol, f, indent=4, ensure_ascii=False)
-
- print(f"完整协议已保存到: {complete_output_path}")
-
- print("\n=== 测试完成 ===")
- print("完整的DNA纯化流程已成功转换为Biomek格式！")
diff --git a/unilabos/devices/liquid_handling/biomek.txt b/unilabos/devices/liquid_handling/biomek.txt
deleted file mode 100644
index 2d830a6d..00000000
--- a/unilabos/devices/liquid_handling/biomek.txt
+++ /dev/null
@@ -1,642 +0,0 @@
-
- 当前方法 Method0530 包含 36 个步骤
-
- 步骤 0:
- Bitmap: OStepUI.ocx,START
- Let: {}
- Weak: {}
- Prompt: {}
-
- 步骤 1:
- BarcodeInput?: False
- DeckItems: {'P1': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\Matrix96_750uL', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0), 'Nominal': False, 'EvalLiquids': ('Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water')}], 'P10': [{'Tips': {'Class': 'TipClasses\\T50F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T50F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC50F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P8': [], 'P9': [{'Tips': {'Class': 'TipClasses\\T50F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T50F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC50F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P11': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\BCDeep96Round', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'Nominal': False, 'EvalLiquids': ('Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water')}], 'P12': [], 'P13': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\BCDeep96Round', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0), 'Nominal': False, 'EvalLiquids': ('Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water')}], 'P14': [], 'P15': [], 'P16': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P17': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P18': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P19': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P20': [], 'P2': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\Matrix96_750uL', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0), 'Nominal': False, 'EvalLiquids': ('Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water')}], 'P21': [], 'P22': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\AgilentReservoir', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (0.0,), 'Nominal': False, 'EvalLiquids': ('Water',)}], 'P23': [], 'P24': [], 'P25': [], 'P26': [], 'P27': [], 'P28': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P29': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'P30': [], 'P3': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\AgilentReservoir', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (300000.0,), 'Nominal': False, 'EvalLiquids': ('Water',)}], 'P4': [{'Properties': {'Name': '', 'Device': '', 'liquidtype': 'Water', 'BarCode': '', 'SenseEveryTime': False}, 'Known': True, 'Class': 'LabwareClasses\\Matrix96_750uL', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}, 'EvalAmounts': (500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0), 'Nominal': False, 'EvalLiquids': ('Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water', 'Water')}], 'P5': [], 'P6': [], 'P7': [], 'TL1': [{'Tips': {'Class': 'TipClasses\\T230', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T230', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC230', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'TL2': [{'Tips': {'Class': 'TipClasses\\T230', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T230', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC230', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'TL3': [{'Tips': {'Class': 'TipClasses\\T230', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T230', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC230', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'TL4': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'TL5': [{'Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'RT_Tips': {'Class': 'TipClasses\\T1025F', 'Contents': [], '_RT_Contents': [], 'Used': False, 'RT_Used': False, 'Dirty': False, 'RT_Dirty': False, 'MaxVolumeUsed': 0.0, 'RT_MaxVolumeUsed': 0.0}, 'Properties': {}, 'Known': False, 'Class': 'LabwareClasses\\BC1025F', 'DataSets': {'Volume': {}}, 'RuntimeDataSets': {'Volume': {}}}], 'TR1': [], 'WS1': 'Water'}
- Layout: Multichannel
- Pause?: True
- PodSetup: {'LeftHasTips': False, 'LeftTipType': '', 'RightHasTips': False, 'RightTipType': ''}
- SplitterPosition: 206
- VerifyPodSetup?: True
-
- 步骤 2:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P1', 'Height': -2.0, 'Volume': '50', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'Matrix96_750uL', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P11', 'Height': -2.0, 'Volume': '50', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 50 µL from P1 to P11
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC230
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 3:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P2', 'Height': -2.0, 'Volume': '100', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'Matrix96_750uL', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P11', 'Height': -2.0, 'Volume': '100', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 100 µL from P2 to P11
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC230
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 4:
- Pod: Pod1
- GripSide: A1 near
- Source: P11
- Target: Orbital1
- LeaveBottomLabware: False
-
- 步骤 5:
- Device:
- Parameters: ()
- Command:
-
- 步骤 6:
- Device:
- Parameters: ()
- Command:
-
- 步骤 7:
- Pod: Pod1
- GripSide: A1 near
- Source: Orbital1
- Target: P11
- LeaveBottomLabware: False
-
- 步骤 8:
- Pod: Pod1
- GripSide: A1 near
- Source: P11
- Target: P12
- LeaveBottomLabware: False
-
- 步骤 9:
- Message: Paused
- Location: the whole system
- Time: 180
- Mode: TimedResource
-
- 步骤 10:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P12', 'Height': -2.0, 'Volume': '150', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P22', 'Height': -2.0, 'Volume': '150', 'liquidtype': 'Tip Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 150 µL from P12 to P22
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC230
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 11:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P3', 'Height': -2.0, 'Volume': '400', 'liquidtype': 'Well Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P3 to P12
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 12:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P3', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P3 to P12
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 13:
- Pod: Pod1
- GripSide: A1 near
- Source: P12
- Target: Orbital1
- LeaveBottomLabware: False
-
- 步骤 14:
- Device:
- Parameters: ()
- Command:
-
- 步骤 15:
- Pod: Pod1
- GripSide: A1 near
- Source: Orbital1
- Target: P12
- LeaveBottomLabware: False
-
- 步骤 16:
- Message: Paused
- Location: the whole system
- Time: 180
- Mode: TimedResource
-
- 步骤 17:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P22', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P12 to P22
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 18:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P22', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P12 to P22
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 19:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P3', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P3 to P12
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 20:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P3', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P3 to P12
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 21:
- Pod: Pod1
- GripSide: A1 near
- Source: P12
- Target: Orbital1
- LeaveBottomLabware: False
-
- 步骤 22:
- Device: OrbitalShaker0
- Parameters: ('800', '3', '45', 'CounterClockwise', None)
- Command: Timed Shake
-
- 步骤 23:
- Pod: Pod1
- GripSide: A1 near
- Source: Orbital1
- Target: P12
- LeaveBottomLabware: False
-
- 步骤 24:
- Message: Paused
- Location: the whole system
- Time: 180
- Mode: TimedResource
-
- 步骤 25:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P22', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P12 to P22
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 26:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P12', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P22', 'Height': -2.0, 'Volume': '200', 'liquidtype': 'Tip Contents', 'LabwareClass': 'AgilentReservoir', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True,), 'Prototype': 'MC P300 High', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 200 µL from P12 to P22
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC1025F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 27:
- Message: Paused
- Location: the whole system
- Time: 900
- Mode: TimedResource
-
- 步骤 28:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P4', 'Height': -2.0, 'Volume': '40', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'Matrix96_750uL', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P12', 'Height': -2.0, 'Volume': '40', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 40 µL from P4 to P12
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC50F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 29:
- Pod: Pod1
- GripSide: A1 near
- Source: P12
- Target: Orbital1
- LeaveBottomLabware: False
-
- 步骤 30:
- Device: OrbitalShaker0
- Parameters: ('800', '3', '60', 'CounterClockwise', None)
- Command: Timed Shake
-
- 步骤 31:
- Message: Paused
- Location: the whole system
- Time: 180
- Mode: TimedResource
-
- 步骤 32:
- Pod: Pod1
- GripSide: A1 near
- Source: Orbital1
- Target: P12
- LeaveBottomLabware: False
-
- 步骤 33:
- Message: Paused
- Location: the whole system
- Time: 120
- Mode: TimedResource
-
- 步骤 34:
- Span8: False
- Pod: Pod1
- Wash: False
- items: [{'Position': 'P12', 'Height': -2.0, 'Volume': '40', 'liquidtype': 'Well Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Aspirate', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': True, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}, {'Position': 'P13', 'Height': -2.0, 'Volume': '40', 'liquidtype': 'Tip Contents', 'WellsX': 12, 'LabwareClass': 'BCDeep96Round', 'AutoSelectPrototype': True, 'ColsFirst': True, 'CustomHeight': False, 'DataSetPattern': False, 'HeightFrom': 0, 'LocalPattern': True, 'Operation': 'Dispense', 'OverrideHeight': False, 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True), 'Prototype': 'MC', 'ReferencedPattern': '', 'RowsFirst': False, 'SectionExpression': '', 'SelectionInfo': (1,), 'SetMark': True, 'Source': False, 'StartAtMark': False, 'StartAtSelection': True, 'UseExpression': False}]
- Dynamic?: True
- AutoSelectActiveWashTechnique: False
- ActiveWashTechnique:
- ChangeTipsBetweenDests: True
- ChangeTipsBetweenSources: False
- DefaultCaption: Transfer 40 µL from P12 to P13
- UseExpression: False
- LeaveTipsOn: False
- MandrelExpression:
- Repeats: 1
- RepeatsByVolume: False
- Replicates: 1
- ShowTipHandlingDetails: True
- ShowTransferDetails: True
- Solvent: Water
- Span8Wash: False
- Span8WashVolume: 2
- Span8WasteVolume: 1
- SplitVolume: False
- SplitVolumeCleaning: False
- Stop: Destinations
- TipLocation: BC50F
- UseCurrentTips: False
- UseDisposableTips: False
- UseFixedTips: False
- UseJIT: True
- UseMandrelSelection: True
- UseProbes: (True, True, True, True, True, True, True, True)
- WashCycles: 4
- WashVolume: 110%
- Wizard: False
-
- 步骤 35:
- Type:
- Bitmap: OStepUI.ocx,FINISH
- cleardeck: True
- cleardevices: True
- cleanuppods: True
- PodsToMaxZ: True
- ClearGlobals: True
- ParkPods: True
- Authent: False
- Collapsed: True
- ConnectionString:
- Password:
- Path:
- Report: False
- Server:
- TableName:
- UserName:
- Catalog:
diff --git a/unilabos/devices/liquid_handling/biomek_temporary_protocol.json b/unilabos/devices/liquid_handling/biomek_temporary_protocol.json
deleted file mode 100644
index 129c3ba2..00000000
--- a/unilabos/devices/liquid_handling/biomek_temporary_protocol.json
+++ /dev/null
@@ -1,2697 +0,0 @@
-{
- "meta": {},
- "labwares": [],
- "steps": [
- {
- "Span8": false,
- "Pod": "Pod1",
- "items": [
- {
- "Position": "P12",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Well Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Aspirate",
- "OverrideHeight": false,
- "Pattern": [
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- ],
- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
- "RowsFirst": false,
- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": true,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- },
- {
- "Position": "P13",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Tip Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Dispense",
- "OverrideHeight": false,
- "Pattern": [
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- ],
- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
- "RowsFirst": false,
- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": false,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- }
- ],
- "Wash": false,
- "Dynamic?": true,
- "AutoSelectActiveWashTechnique": false,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": true,
- "ChangeTipsBetweenSources": false,
- "DefaultCaption": "",
- "UseExpression": false,
- "LeaveTipsOn": false,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": false,
- "Replicates": "1",
- "ShowTipHandlingDetails": false,
- "ShowTransferDetails": true,
- "Solvent": "Water",
- "Span8Wash": false,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": false,
- "SplitVolumeCleaning": false,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": false,
- "UseDisposableTips": false,
- "UseFixedTips": false,
- "UseJIT": true,
- "UseMandrelSelection": true,
- "UseProbes": [
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- true
- ],
- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": false
- },
- {
- "Span8": false,
- "Pod": "Pod1",
- "items": [
- {
- "Position": "P12",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Well Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Aspirate",
- "OverrideHeight": false,
- "Pattern": [
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- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
- "RowsFirst": false,
- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": true,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- },
- {
- "Position": "P13",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Tip Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
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- "Prototype": "MC P300 High",
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- 1
- ],
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- "UseExpression": false
- }
- ],
- "Wash": false,
- "Dynamic?": true,
- "AutoSelectActiveWashTechnique": false,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": true,
- "ChangeTipsBetweenSources": false,
- "DefaultCaption": "",
- "UseExpression": false,
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- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": false,
- "Replicates": "1",
- "ShowTipHandlingDetails": false,
- "ShowTransferDetails": true,
- "Solvent": "Water",
- "Span8Wash": false,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": false,
- "SplitVolumeCleaning": false,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": false,
- "UseDisposableTips": false,
- "UseFixedTips": false,
- "UseJIT": true,
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- "UseProbes": [
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- ],
- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": false
- },
- {
- "Span8": false,
- "Pod": "Pod1",
- "items": [
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- "Prototype": "MC P300 High",
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- "SetMark": true,
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- },
- {
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- "Prototype": "MC P300 High",
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- "SetMark": true,
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- "StartAtSelection": true,
- "UseExpression": false
- }
- ],
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- "RowsFirst": false,
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- "SetMark": true,
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- "StartAtMark": false,
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- "UseExpression": false
- },
- {
- "Position": "P13",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Tip Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
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- "LocalPattern": true,
- "Operation": "Dispense",
- "OverrideHeight": false,
- "Pattern": [
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- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
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- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": false,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- }
- ],
- "Wash": false,
- "Dynamic?": true,
- "AutoSelectActiveWashTechnique": false,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": true,
- "ChangeTipsBetweenSources": false,
- "DefaultCaption": "",
- "UseExpression": false,
- "LeaveTipsOn": false,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": false,
- "Replicates": "1",
- "ShowTipHandlingDetails": false,
- "ShowTransferDetails": true,
- "Solvent": "Water",
- "Span8Wash": false,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": false,
- "SplitVolumeCleaning": false,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": false,
- "UseDisposableTips": false,
- "UseFixedTips": false,
- "UseJIT": true,
- "UseMandrelSelection": true,
- "UseProbes": [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true
- ],
- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": false
- },
- {
- "Span8": false,
- "Pod": "Pod1",
- "items": [
- {
- "Position": "P12",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Well Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Aspirate",
- "OverrideHeight": false,
- "Pattern": [
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- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
- "RowsFirst": false,
- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": true,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- },
- {
- "Position": "P13",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Tip Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Dispense",
- "OverrideHeight": false,
- "Pattern": [
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- "Prototype": "MC P300 High",
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- "RowsFirst": false,
- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": false,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- }
- ],
- "Wash": false,
- "Dynamic?": true,
- "AutoSelectActiveWashTechnique": false,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": true,
- "ChangeTipsBetweenSources": false,
- "DefaultCaption": "",
- "UseExpression": false,
- "LeaveTipsOn": false,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": false,
- "Replicates": "1",
- "ShowTipHandlingDetails": false,
- "ShowTransferDetails": true,
- "Solvent": "Water",
- "Span8Wash": false,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": false,
- "SplitVolumeCleaning": false,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": false,
- "UseDisposableTips": false,
- "UseFixedTips": false,
- "UseJIT": true,
- "UseMandrelSelection": true,
- "UseProbes": [
- true,
- true,
- true,
- true,
- true,
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- ],
- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": false
- }
- ]
-}
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/biomek_test.py b/unilabos/devices/liquid_handling/biomek_test.py
deleted file mode 100644
index af6339a1..00000000
--- a/unilabos/devices/liquid_handling/biomek_test.py
+++ /dev/null
@@ -1,1006 +0,0 @@
-# import requests
-from typing import List, Sequence, Optional, Union, Literal
-# from geometry_msgs.msg import Point
-# from unilabos_msgs.msg import Resource
-# from pylabrobot.resources import (
-# Resource,
-# TipRack,
-# Container,
-# Coordinate,
-# Well
-# )
-# from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
-# from .liquid_handler_abstract import LiquidHandlerAbstract
-
-import json
-import pathlib
-from typing import Sequence, Optional, List, Union, Literal
-import copy
-
-
-
-#class LiquidHandlerBiomek(LiquidHandlerAbstract):
-
-
-class LiquidHandlerBiomek:
- """
- Biomek液体处理器的实现类，继承自LiquidHandlerAbstract。
- 该类用于处理Biomek液体处理器的特定操作。
- """
-
- def __init__(self, *args, **kwargs):
- super().__init__(*args, **kwargs)
- self._status = "Idle" # 初始状态为 Idle
- self._success = False # 初始成功状态为 False
- self._status_queue = kwargs.get("status_queue", None) # 状态队列
- self.temp_protocol = {}
- self.py32_path = "/opt/py32" # Biomek的Python 3.2路径
-
- # 预定义的仪器分类
- self.tip_racks = [
- "BC230", "BC1025F", "BC50", "TipRack200", "TipRack1000",
- "tip", "tips", "Tip", "Tips"
- ]
-
- self.reservoirs = [
- "AgilentReservoir", "nest_12_reservoir_15ml", "nest_1_reservoir_195ml",
- "reservoir", "Reservoir", "waste", "Waste"
- ]
-
- self.plates_96 = [
- "BCDeep96Round", "Matrix96_750uL", "NEST 2ml Deep Well Plate", "nest_96_wellplate_100ul_pcr_full_skirt",
- "nest_96_wellplate_200ul_flat", "Matrix96", "96", "plate", "Plate"
- ]
-
- self.aspirate_techniques = {
- 'MC P300 high':{
- 'Position': 'P1',
- 'Height': -2.0,
- 'Volume': '50',
- 'liquidtype': 'Well Contents',
- 'WellsX': 12,
- 'LabwareClass': 'Matrix96_750uL',
- 'AutoSelectPrototype': True,
- 'ColsFirst': True,
- 'CustomHeight': False,
- 'DataSetPattern': False,
- 'HeightFrom': 0,
- 'LocalPattern': True,
- 'Operation': 'Aspirate',
- 'OverrideHeight': False,
- 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
- 'Prototype': 'MC P300 High',
- 'ReferencedPattern': '',
- 'RowsFirst': False,
- 'SectionExpression': '',
- 'SelectionInfo': (1,),
- 'SetMark': True,
- 'Source': True,
- 'StartAtMark': False,
- 'StartAtSelection': True,
- 'UseExpression': False},
- }
-
- self.dispense_techniques = {
- 'MC P300 high':{
- 'Position': 'P11',
- 'Height': -2.0,
- 'Volume': '50',
- 'liquidtype': 'Tip Contents',
- 'WellsX': 12,
- 'LabwareClass': 'Matrix96_750uL',
- 'AutoSelectPrototype': True,
- 'ColsFirst': True,
- 'CustomHeight': False,
- 'DataSetPattern': False,
- 'HeightFrom': 0,
- 'LocalPattern': True,
- 'Operation': 'Dispense',
- 'OverrideHeight': False,
- 'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
- 'Prototype': 'MC P300 High',
- 'ReferencedPattern': '',
- 'RowsFirst': False,
- 'SectionExpression': '',
- 'SelectionInfo': (1,),
- 'SetMark': True,
- 'Source': False,
- 'StartAtMark': False,
- 'StartAtSelection': True,
- 'UseExpression': False}
- }
-
-
- def _get_instrument_type(self, class_name: str) -> str:
- """
- 根据class_name判断仪器类型
-
- Returns:
- str: "tip_rack", "reservoir", "plate_96", 或 "unknown"
- """
- # 检查是否是枪头架
- for tip_name in self.tip_racks:
- if tip_name in class_name:
- return "tip_rack"
-
- # 检查是否是储液槽
- for reservoir_name in self.reservoirs:
- if reservoir_name in class_name:
- return "reservoir"
-
- # 检查是否是96孔板
- for plate_name in self.plates_96:
- if plate_name in class_name:
- return "plate_96"
-
- return "unknown"
-
- def create_protocol(
- self,
- protocol_name: str,
- protocol_description: str,
- protocol_version: str,
- protocol_author: str,
- protocol_date: str,
- protocol_type: str,
- none_keys: List[str] = [],
- ):
- """
- 创建一个新的协议。
-
- Args:
- protocol_name (str): 协议名称
- protocol_description (str): 协议描述
- protocol_version (str): 协议版本
- protocol_author (str): 协议作者
- protocol_date (str): 协议日期
- protocol_type (str): 协议类型
- none_keys (List[str]): 需要设置为None的键列表
-
- Returns:
- dict: 创建的协议字典
- """
- self.temp_protocol = {
- "meta": {
- "name": protocol_name,
- "description": protocol_description,
- "version": protocol_version,
- "author": protocol_author,
- "date": protocol_date,
- "type": protocol_type,
- },
- "labwares": {}, # 改为字典格式以匹配DeckItems
- "steps": [],
- }
- return self.temp_protocol
-
-# def run_protocol(self):
-# """
-# 执行创建的实验流程。
-# 工作站的完整执行流程是，
-# 从 create_protocol 开始，创建新的 method，
-# 随后执行 transfer_liquid 等操作向实验流程添加步骤，
-# 最后 run_protocol 执行整个方法。
-
-# Returns:
-# dict: 执行结果
-# """
-# #use popen or subprocess to create py32 process and communicate send the temp protocol to it
-# if not self.temp_protocol:
-# raise ValueError("No protocol created. Please create a protocol first.")
-
-# # 模拟执行协议
-# self._status = "Running"
-# self._success = True
-# # 在这里可以添加实际执行协议的逻辑
-
-# response = requests.post("localhost:5000/api/protocols", json=self.temp_protocol)
-
-# def create_resource(
-# self,
-# resource_tracker: DeviceNodeResourceTracker,
-# resources: list[Resource],
-# bind_parent_id: str,
-# bind_location: dict[str, float],
-# liquid_input_slot: list[int],
-# liquid_type: list[str],
-# liquid_volume: list[int],
-# slot_on_deck: int,
-# res_id,
-# class_name,
-# bind_locations,
-# parent
-# ):
-# """
-# 创建一个新的资源。
-
-# Args:
-# device_id (str): 设备ID
-# res_id (str): 资源ID
-# class_name (str): 资源类名
-# parent (str): 父级ID
-# bind_locations (Point): 绑定位置
-# liquid_input_slot (list[int]): 液体输入槽列表
-# liquid_type (list[str]): 液体类型列表
-# liquid_volume (list[int]): 液体体积列表
-# slot_on_deck (int): 甲板上的槽位
-
-# Returns:
-# dict: 创建的资源字典
-# """
-# # TODO：需要对好接口，下面这个是临时的
-# resource = {
-# "id": res_id,
-# "class": class_name,
-# "parent": parent,
-# "bind_locations": bind_locations.to_dict(),
-# "liquid_input_slot": liquid_input_slot,
-# "liquid_type": liquid_type,
-# "liquid_volume": liquid_volume,
-# "slot_on_deck": slot_on_deck,
-# }
-# self.temp_protocol["labwares"].append(resource)
-# return resource
- def instrument_setup_biomek(
- self,
- id: str,
- parent: str,
- slot_on_deck: str,
- class_name: str,
- liquid_type: list[str],
- liquid_volume: list[int],
- liquid_input_wells: list[str],
- ):
- """
- 设置Biomek仪器的参数配置，按照DeckItems格式
-
- 根据不同的仪器类型（容器、tip rack等）设置相应的参数结构
- 位置作为键，配置列表作为值
- """
-
- # 判断仪器类型
- instrument_type = self._get_instrument_type(class_name)
-
- config = None # 初始化为None
-
- if instrument_type == "reservoir":
- # 储液槽类型配置
- config = {
- "Properties": {
- "Name": id, # 使用id作为名称
- "Device": "",
- "liquidtype": liquid_type[0] if liquid_type else "Water",
- "BarCode": "",
- "SenseEveryTime": False
- },
- "Known": True,
- "Class": f"LabwareClasses\\{class_name}",
- "DataSets": {"Volume": {}},
- "RuntimeDataSets": {"Volume": {}},
- "EvalAmounts": (float(liquid_volume[0]),) if liquid_volume else (0,),
- "Nominal": False,
- "EvalLiquids": (liquid_type[0],) if liquid_type else ("Water",)
- }
-
- elif instrument_type == "plate_96":
- # 96孔板类型配置
- volume_per_well = float(liquid_volume[0]) if liquid_volume else 0
- liquid_per_well = liquid_type[0] if liquid_type else "Water"
-
- config = {
- "Properties": {
- "Name": id, # 使用id作为名称
- "Device": "",
- "liquidtype": liquid_per_well,
- "BarCode": "",
- "SenseEveryTime": False
- },
- "Known": True,
- "Class": f"LabwareClasses\\{class_name}",
- "DataSets": {"Volume": {}},
- "RuntimeDataSets": {"Volume": {}},
- "EvalAmounts": tuple([volume_per_well] * 96),
- "Nominal": False,
- "EvalLiquids": tuple([liquid_per_well] * 96)
- }
-
- elif instrument_type == "tip_rack":
- # 枪头架类型配置
- tip_config = {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": False,
- "RT_Used": False,
- "Dirty": False,
- "RT_Dirty": False,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- }
-
- config = {
- "Tips": tip_config,
- "RT_Tips": tip_config.copy(),
- "Properties": {},
- "Known": False,
- "Class": f"LabwareClasses\\{class_name}",
- "DataSets": {"Volume": {}},
- "RuntimeDataSets": {"Volume": {}}
- }
-
- # 按照DeckItems格式存储：位置作为键，配置列表作为值
- if config is not None:
- self.temp_protocol["labwares"][slot_on_deck] = [config]
- else:
- # 空位置
- self.temp_protocol["labwares"][slot_on_deck] = []
-
- return
-
- def transfer_biomek(
- self,
- source: str,
- target: str,
- tip_rack: str,
- volume: float,
- aspirate_techniques: str,
- dispense_techniques: str,
- ):
- """
- 处理Biomek的液体转移操作。
-
- """
- items = []
-
- asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
- dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
-
-
- asp_params['Position'] = source
- dis_params['Position'] = target
- asp_params['Volume'] = str(volume)
- dis_params['Volume'] = str(volume)
-
- items.append(asp_params)
- items.append(dis_params)
-
- transfer_params = {
- "Span8": False,
- "Pod": "Pod1",
- "items": [],
- "Wash": False,
- "Dynamic?": True,
- "AutoSelectActiveWashTechnique": False,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": True,
- "ChangeTipsBetweenSources": False,
- "DefaultCaption": "",
- "UseExpression": False,
- "LeaveTipsOn": False,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": False,
- "Replicates": "1",
- "ShowTipHandlingDetails": False,
- "ShowTransferDetails": True,
- "Solvent": "Water",
- "Span8Wash": False,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": False,
- "SplitVolumeCleaning": False,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": False,
- "UseDisposableTips": False,
- "UseFixedTips": False,
- "UseJIT": True,
- "UseMandrelSelection": True,
- "UseProbes": [True, True, True, True, True, True, True, True],
- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": False
- }
- transfer_params["items"] = items
- transfer_params["Solvent"] = 'Water'
- transfer_params["TipLocation"] = tip_rack
- tmp={'transfer': transfer_params}
-
- self.temp_protocol["steps"].append(tmp)
-
-
- return
-
- def move_biomek(
- self,
- source: str,
- target: str,
- ):
- """
- 处理Biomek移动板子的操作。
-
- """
-
- move_params = {
- "Pod": "Pod1",
- "GripSide": "A1 near",
- "Source": source,
- "Target": target,
- "LeaveBottomLabware": False,
- }
- tmp={'move': move_params}
- self.temp_protocol["steps"].append(tmp)
-
- return
-
- def incubation_biomek(
- self,
- time: int,
- ):
- """
- 处理Biomek的孵育操作。
- """
- incubation_params = {
- "Message": "Paused",
- "Location": "the whole system",
- "Time": time,
- "Mode": "TimedResource"
- }
- tmp={'incubation': incubation_params}
- self.temp_protocol["steps"].append(tmp)
-
- return
-
- def oscillation_biomek(
- self,
- rpm: int,
- time: int,
- ):
- """
- 处理Biomek的振荡操作。
- """
- oscillation_params = {
- 'Device': 'OrbitalShaker0',
- 'Parameters': (str(rpm), '2', str(time), 'CounterClockwise'),
- 'Command': 'Timed Shake'
- }
- tmp={'oscillation': oscillation_params}
- self.temp_protocol["steps"].append(tmp)
-
- return
-
-
-
-if __name__ == "__main__":
-
- print("=== Biomek完整流程测试 ===")
- print("包含: 仪器设置 + 完整实验步骤")
-
- # 完整的步骤信息（从biomek.py复制）
- steps_info = '''
- {
- "steps": [
- {
- "step_number": 1,
- "operation": "transfer",
- "description": "转移PCR产物或酶促反应液至0.5ml 96孔板中",
- "parameters": {
- "source": "P1",
- "target": "P11",
- "tip_rack": "BC230",
- "volume": 50
- }
- },
- {
- "step_number": 2,
- "operation": "transfer",
- "description": "加入2倍体积的Bind Beads BC至产物中",
- "parameters": {
- "source": "P2",
- "target": "P11",
- "tip_rack": "BC230",
- "volume": 100
- }
- },
- {
- "step_number": 3,
- "operation": "oscillation",
- "description": "振荡混匀300秒",
- "parameters": {
- "rpm": 800,
- "time": 300
- }
- },
- {
- "step_number": 4,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附3分钟",
- "parameters": {
- "source": "P11",
- "target": "P12"
- }
- },
- {
- "step_number": 5,
- "operation": "incubation",
- "description": "吸附3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 6,
- "operation": "transfer",
- "description": "吸弃或倒除上清液",
- "parameters": {
- "source": "P12",
- "target": "P22",
- "tip_rack": "BC230",
- "volume": 150
- }
- },
- {
- "step_number": 7,
- "operation": "transfer",
- "description": "加入300-500μl 75%乙醇",
- "parameters": {
- "source": "P3",
- "target": "P12",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 8,
- "operation": "move_labware",
- "description": "移动至振荡器进行振荡混匀",
- "parameters": {
- "source": "P12",
- "target": "Orbital1"
- }
- },
- {
- "step_number": 9,
- "operation": "oscillation",
- "description": "振荡混匀60秒",
- "parameters": {
- "rpm": 800,
- "time": 60
- }
- },
- {
- "step_number": 10,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附3分钟",
- "parameters": {
- "source": "Orbital1",
- "target": "P12"
- }
- },
- {
- "step_number": 11,
- "operation": "incubation",
- "description": "吸附3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 12,
- "operation": "transfer",
- "description": "吸弃或倒弃废液",
- "parameters": {
- "source": "P12",
- "target": "P22",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 13,
- "operation": "transfer",
- "description": "重复加入75%乙醇",
- "parameters": {
- "source": "P3",
- "target": "P12",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 14,
- "operation": "move_labware",
- "description": "移动至振荡器进行振荡混匀",
- "parameters": {
- "source": "P12",
- "target": "Orbital1"
- }
- },
- {
- "step_number": 15,
- "operation": "oscillation",
- "description": "振荡混匀60秒",
- "parameters": {
- "rpm": 800,
- "time": 60
- }
- },
- {
- "step_number": 16,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附3分钟",
- "parameters": {
- "source": "Orbital1",
- "target": "P12"
- }
- },
- {
- "step_number": 17,
- "operation": "incubation",
- "description": "吸附3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 18,
- "operation": "transfer",
- "description": "吸弃或倒弃废液",
- "parameters": {
- "source": "P12",
- "target": "P22",
- "tip_rack": "BC230",
- "volume": 400
- }
- },
- {
- "step_number": 19,
- "operation": "move_labware",
- "description": "正放96孔板，空气干燥15分钟",
- "parameters": {
- "source": "P12",
- "target": "P13"
- }
- },
- {
- "step_number": 20,
- "operation": "incubation",
- "description": "空气干燥15分钟",
- "parameters": {
- "time": 900
- }
- },
- {
- "step_number": 21,
- "operation": "transfer",
- "description": "加入30-50μl Elution Buffer",
- "parameters": {
- "source": "P4",
- "target": "P13",
- "tip_rack": "BC230",
- "volume": 40
- }
- },
- {
- "step_number": 22,
- "operation": "move_labware",
- "description": "移动至振荡器进行振荡混匀",
- "parameters": {
- "source": "P13",
- "target": "Orbital1"
- }
- },
- {
- "step_number": 23,
- "operation": "oscillation",
- "description": "振荡混匀60秒",
- "parameters": {
- "rpm": 800,
- "time": 60
- }
- },
- {
- "step_number": 24,
- "operation": "move_labware",
- "description": "室温静置3分钟",
- "parameters": {
- "source": "Orbital1",
- "target": "P13"
- }
- },
- {
- "step_number": 25,
- "operation": "incubation",
- "description": "室温静置3分钟",
- "parameters": {
- "time": 180
- }
- },
- {
- "step_number": 26,
- "operation": "move_labware",
- "description": "转移至96孔磁力架上吸附2分钟",
- "parameters": {
- "source": "P13",
- "target": "P12"
- }
- },
- {
- "step_number": 27,
- "operation": "incubation",
- "description": "吸附2分钟",
- "parameters": {
- "time": 120
- }
- },
- {
- "step_number": 28,
- "operation": "transfer",
- "description": "将DNA转移至新的板中",
- "parameters": {
- "source": "P12",
- "target": "P14",
- "tip_rack": "BC230",
- "volume": 40
- }
- }
- ]
- }
-'''
- # 完整的labware配置信息
- labware_with_liquid = '''
- [
- {
- "id": "Tip Rack BC230 TL1",
- "parent": "deck",
- "slot_on_deck": "TL1",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL2",
- "parent": "deck",
- "slot_on_deck": "TL2",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL3",
- "parent": "deck",
- "slot_on_deck": "TL3",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL4",
- "parent": "deck",
- "slot_on_deck": "TL4",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 TL5",
- "parent": "deck",
- "slot_on_deck": "TL5",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P5",
- "parent": "deck",
- "slot_on_deck": "P5",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P6",
- "parent": "deck",
- "slot_on_deck": "P6",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P15",
- "parent": "deck",
- "slot_on_deck": "P15",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "Tip Rack BC230 P16",
- "parent": "deck",
- "slot_on_deck": "P16",
- "class_name": "BC230",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "stock plate on P1",
- "parent": "deck",
- "slot_on_deck": "P1",
- "class_name": "AgilentReservoir",
- "liquid_type": ["PCR product"],
- "liquid_volume": [5000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "stock plate on P2",
- "parent": "deck",
- "slot_on_deck": "P2",
- "class_name": "AgilentReservoir",
- "liquid_type": ["bind beads"],
- "liquid_volume": [100000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "stock plate on P3",
- "parent": "deck",
- "slot_on_deck": "P3",
- "class_name": "AgilentReservoir",
- "liquid_type": ["75% ethanol"],
- "liquid_volume": [100000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "stock plate on P4",
- "parent": "deck",
- "slot_on_deck": "P4",
- "class_name": "AgilentReservoir",
- "liquid_type": ["Elution Buffer"],
- "liquid_volume": [5000],
- "liquid_input_wells": ["A1"]
- },
- {
- "id": "working plate on P11",
- "parent": "deck",
- "slot_on_deck": "P11",
- "class_name": "BCDeep96Round",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "working plate on P13",
- "parent": "deck",
- "slot_on_deck": "P13",
- "class_name": "BCDeep96Round",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "working plate on P14",
- "parent": "deck",
- "slot_on_deck": "P14",
- "class_name": "BCDeep96Round",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "waste on P22",
- "parent": "deck",
- "slot_on_deck": "P22",
- "class_name": "AgilentReservoir",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- },
- {
- "id": "oscillation",
- "parent": "deck",
- "slot_on_deck": "Orbital1",
- "class_name": "Orbital",
- "liquid_type": [],
- "liquid_volume": [],
- "liquid_input_wells": []
- }
- ]
- '''
-
- # 创建handler实例
- handler = LiquidHandlerBiomek()
-
- # 创建协议
- protocol = handler.create_protocol(
- protocol_name="DNA纯化完整流程",
- protocol_description="使用磁珠进行DNA纯化的完整自动化流程",
- protocol_version="1.0",
- protocol_author="Biomek系统",
- protocol_date="2024-01-01",
- protocol_type="DNA_purification"
- )
-
- print("\n=== 第一步：设置所有仪器 ===")
- # 解析labware配置
- labwares = json.loads(labware_with_liquid)
-
- # 设置所有仪器
- instrument_count = 0
- for labware in labwares:
- print(f"设置仪器: {labware['id']} ({labware['class_name']}) 在位置 {labware['slot_on_deck']}")
- handler.instrument_setup_biomek(
- id=labware['id'],
- parent=labware['parent'],
- slot_on_deck=labware['slot_on_deck'],
- class_name=labware['class_name'],
- liquid_type=labware['liquid_type'],
- liquid_volume=labware['liquid_volume'],
- liquid_input_wells=labware['liquid_input_wells']
- )
- instrument_count += 1
-
- print(f"总共设置了 {instrument_count} 个仪器位置")
-
- print("\n=== 第二步：执行实验步骤 ===")
- # 解析步骤信息
- input_steps = json.loads(steps_info)
-
- # 执行所有步骤
- step_count = 0
- for step in input_steps['steps']:
- operation = step['operation']
- parameters = step['parameters']
- description = step['description']
-
- print(f"步骤 {step['step_number']}: {description}")
-
- if operation == 'transfer':
-
- handler.transfer_biomek(
- source=parameters['source'],
- target=parameters['target'],
- volume=parameters['volume'],
- tip_rack=parameters['tip_rack'],
- aspirate_techniques='MC P300 high',
- dispense_techniques='MC P300 high'
- )
- elif operation == 'move_labware':
- handler.move_biomek(
- source=parameters['source'],
- target=parameters['target']
- )
- elif operation == 'oscillation':
- handler.oscillation_biomek(
- rpm=parameters['rpm'],
- time=parameters['time']
- )
- elif operation == 'incubation':
- handler.incubation_biomek(
- time=parameters['time']
- )
-
- step_count += 1
-
- print(f"总共执行了 {step_count} 个步骤")
-
- print("\n=== 第三步：保存完整协议 ===")
- # 获取脚本目录
- script_dir = pathlib.Path(__file__).parent
-
- # 保存完整协议
- complete_output_path = script_dir / "complete_biomek_protocol_0608.json"
- with open(complete_output_path, 'w', encoding='utf-8') as f:
- json.dump(handler.temp_protocol, f, indent=4, ensure_ascii=False)
-
- print(f"完整协议已保存到: {complete_output_path}")
-
- print("\n=== 测试完成 ===")
- print("完整的DNA纯化流程已成功转换为Biomek格式！")
diff --git a/unilabos/devices/liquid_handling/complete_biomek_protocol.json b/unilabos/devices/liquid_handling/complete_biomek_protocol.json
deleted file mode 100644
index 2c0e95fd..00000000
--- a/unilabos/devices/liquid_handling/complete_biomek_protocol.json
+++ /dev/null
@@ -1,3760 +0,0 @@
-{
- "meta": {
- "name": "DNA纯化完整流程",
- "description": "使用磁珠进行DNA纯化的完整自动化流程",
- "version": "1.0",
- "author": "Biomek系统",
- "date": "2024-01-01",
- "type": "DNA_purification"
- },
- "labwares": [
- {
- "Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "RT_Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "Properties": {},
- "Known": false,
- "Class": "LabwareClasses\\BC230",
- "DataSets": {
- "Volume": {}
- },
- "RuntimeDataSets": {
- "Volume": {}
- },
- "Name": "Tip Rack BC230 on TL1",
- "Position": "TL1"
- },
- {
- "Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "RT_Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "Properties": {},
- "Known": false,
- "Class": "LabwareClasses\\BC230",
- "DataSets": {
- "Volume": {}
- },
- "RuntimeDataSets": {
- "Volume": {}
- },
- "Name": "Tip Rack BC230 on TL2",
- "Position": "TL2"
- },
- {
- "Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "RT_Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "Properties": {},
- "Known": false,
- "Class": "LabwareClasses\\BC230",
- "DataSets": {
- "Volume": {}
- },
- "RuntimeDataSets": {
- "Volume": {}
- },
- "Name": "Tip Rack BC230 on TL3",
- "Position": "TL3"
- },
- {
- "Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "RT_Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "Properties": {},
- "Known": false,
- "Class": "LabwareClasses\\BC230",
- "DataSets": {
- "Volume": {}
- },
- "RuntimeDataSets": {
- "Volume": {}
- },
- "Name": "Tip Rack BC230 on TL4",
- "Position": "TL4"
- },
- {
- "Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "RT_Tips": {
- "Class": "TipClasses\\T230",
- "Contents": [],
- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "Properties": {},
- "Known": false,
- "Class": "LabwareClasses\\BC230",
- "DataSets": {
- "Volume": {}
- },
- "RuntimeDataSets": {
- "Volume": {}
- },
- "Name": "Tip Rack BC230 on TL5",
- "Position": "TL5"
- },
- {
- "Tips": {
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\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/complete_biomek_protocol_0608.json b/unilabos/devices/liquid_handling/complete_biomek_protocol_0608.json
deleted file mode 100644
index 24b3d455..00000000
--- a/unilabos/devices/liquid_handling/complete_biomek_protocol_0608.json
+++ /dev/null
@@ -1,4201 +0,0 @@
-{
- "meta": {
- "name": "DNA纯化完整流程",
- "description": "使用磁珠进行DNA纯化的完整自动化流程",
- "version": "1.0",
- "author": "Biomek系统",
- "date": "2024-01-01",
- "type": "DNA_purification"
- },
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- "_RT_Contents": [],
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- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "RT_Tips": {
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- "_RT_Contents": [],
- "Used": false,
- "RT_Used": false,
- "Dirty": false,
- "RT_Dirty": false,
- "MaxVolumeUsed": 0.0,
- "RT_MaxVolumeUsed": 0.0
- },
- "Properties": {},
- "Known": false,
- "Class": "LabwareClasses\\BC230",
- "DataSets": {
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- },
- "RuntimeDataSets": {
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- }
- }
- ],
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- "2",
- "60",
- "CounterClockwise"
- ],
- "Command": "Timed Shake"
- }
- },
- {
- "move": {
- "Pod": "Pod1",
- "GripSide": "A1 near",
- "Source": "Orbital1",
- "Target": "P13",
- "LeaveBottomLabware": false
- }
- },
- {
- "incubation": {
- "Message": "Paused",
- "Location": "the whole system",
- "Time": 180,
- "Mode": "TimedResource"
- }
- },
- {
- "move": {
- "Pod": "Pod1",
- "GripSide": "A1 near",
- "Source": "P13",
- "Target": "P12",
- "LeaveBottomLabware": false
- }
- },
- {
- "incubation": {
- "Message": "Paused",
- "Location": "the whole system",
- "Time": 120,
- "Mode": "TimedResource"
- }
- },
- {
- "transfer": {
- "Span8": false,
- "Pod": "Pod1",
- "items": [
- {
- "Position": "P12",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Well Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Aspirate",
- "OverrideHeight": false,
- "Pattern": [
- true,
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- true,
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- ],
- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
- "RowsFirst": false,
- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": true,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- },
- {
- "Position": "P14",
- "Height": -2.0,
- "Volume": "40",
- "liquidtype": "Tip Contents",
- "WellsX": 12,
- "LabwareClass": "Matrix96_750uL",
- "AutoSelectPrototype": true,
- "ColsFirst": true,
- "CustomHeight": false,
- "DataSetPattern": false,
- "HeightFrom": 0,
- "LocalPattern": true,
- "Operation": "Dispense",
- "OverrideHeight": false,
- "Pattern": [
- true,
- true,
- true,
- true,
- true,
- true,
- true,
- true,
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- "Prototype": "MC P300 High",
- "ReferencedPattern": "",
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- "SectionExpression": "",
- "SelectionInfo": [
- 1
- ],
- "SetMark": true,
- "Source": false,
- "StartAtMark": false,
- "StartAtSelection": true,
- "UseExpression": false
- }
- ],
- "Wash": false,
- "Dynamic?": true,
- "AutoSelectActiveWashTechnique": false,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": true,
- "ChangeTipsBetweenSources": false,
- "DefaultCaption": "",
- "UseExpression": false,
- "LeaveTipsOn": false,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": false,
- "Replicates": "1",
- "ShowTipHandlingDetails": false,
- "ShowTransferDetails": true,
- "Solvent": "Water",
- "Span8Wash": false,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": false,
- "SplitVolumeCleaning": false,
- "Stop": "Destinations",
- "TipLocation": "BC230",
- "UseCurrentTips": false,
- "UseDisposableTips": false,
- "UseFixedTips": false,
- "UseJIT": true,
- "UseMandrelSelection": true,
- "UseProbes": [
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- true,
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- "WashCycles": "4",
- "WashVolume": "110%",
- "Wizard": false
- }
- }
- ]
-}
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb b/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb
deleted file mode 100644
index f380fc68..00000000
--- a/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb
+++ /dev/null
@@ -1,10286 +0,0 @@
-{
- "cells": [
- {
- "cell_type": "code",
- "id": "6e581f88",
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T15:32:44.429407Z",
- "start_time": "2025-06-08T15:32:43.584559Z"
- }
- },
- "source": [
- "# NF‑κB Luciferase Reporter Assay – pylabrobot version\n",
- "\n",
- "import os\n",
- "import sys\n",
- "from pylabrobot.resources import Coordinate\n",
- "from pylabrobot.liquid_handling.backends.chatterbox import LiquidHandlerChatterboxBackend\n",
- "from pylabrobot.visualizer.visualizer import Visualizer\n",
- "from pylabrobot.resources.opentrons import (\n",
- " OTDeck,\n",
- " corning_96_wellplate_360ul_flat,\n",
- " nest_12_reservoir_15ml,\n",
- " nest_1_reservoir_195ml,\n",
- " opentrons_96_tiprack_300ul\n",
- ")\n",
- "from pylabrobot.liquid_handling import LiquidHandler"
- ],
- "outputs": [],
- "execution_count": 1
- },
- {
- "cell_type": "code",
- "id": "c3127d6e",
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T15:32:45.234924Z",
- "start_time": "2025-06-08T15:32:45.194957Z"
- }
- },
- "source": [
- "\n",
- "# from pylabrobot.resources import set_volume_tracking\n",
- "# from pylabrobot.resources import set_tip_tracking\n",
- "# set_volume_tracking(enabled=True)\n",
- "# set_tip_tracking(enabled=True)\n",
- "# ──────────────────────────────────────\n",
- "# User‑configurable constants (µL)\n",
- "MEDIUM_VOL = 100 # volume of spent medium to remove\n",
- "PBS_VOL = 50 # PBS wash volume\n",
- "LYSIS_VOL = 30 # lysis buffer volume\n",
- "LUC_VOL = 100 # luciferase reagent volume\n",
- "TOTAL_COL = 12 # process A1–A12\n",
- "\n",
- "\n",
- "# ──────────────────────────────────────\n",
- "\n",
- "lh = LiquidHandler(backend=LiquidHandlerChatterboxBackend(), deck=OTDeck())\n",
- "await lh.setup()\n",
- "#vis = Visualizer(resource=lh)\n",
- "#await vis.setup()\n",
- "\n",
- "tiprack_slots = [1, 4, 8, 11]\n",
- "tipracks = {\n",
- " f\"tiprack_{slot}\": opentrons_96_tiprack_300ul(name=f\"tiprack_{slot}\")\n",
- " for slot in tiprack_slots\n",
- "}\n",
- "\n",
- "for name, tiprack in tipracks.items():\n",
- " slot = int(name.split(\"_\")[1])\n",
- " lh.deck.assign_child_at_slot(tiprack, slot=slot)\n",
- "\n",
- "# Working 96‑well plate at slot 6\n",
- "working_plate = corning_96_wellplate_360ul_flat(name=\"working_plate\")\n",
- "lh.deck.assign_child_at_slot(working_plate, slot=6)\n",
- "\n",
- "# 12‑channel reservoir (PBS, Lysis, Luciferase) at slot 3\n",
- "reagent_stock = nest_12_reservoir_15ml(name='reagent_stock')\n",
- "lh.deck.assign_child_at_slot(reagent_stock, slot=3)\n",
- "\n",
- "# 1‑channel waste reservoir at slot 9\n",
- "waste_liq = nest_1_reservoir_195ml(name='waste_liq')\n",
- "lh.deck.assign_child_at_slot(waste_liq, slot=9)"
- ],
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "Setting up the liquid handler.\n",
- "Resource deck was assigned to the liquid handler.\n",
- "Resource trash_container was assigned to the liquid handler.\n",
- "Resource tiprack_1 was assigned to the liquid handler.\n",
- "Resource tiprack_4 was assigned to the liquid handler.\n",
- "Resource tiprack_8 was assigned to the liquid handler.\n",
- "Resource tiprack_11 was assigned to the liquid handler.\n",
- "Resource working_plate was assigned to the liquid handler.\n",
- "Resource reagent_stock was assigned to the liquid handler.\n",
- "Resource waste_liq was assigned to the liquid handler.\n"
- ]
- }
- ],
- "execution_count": 2
- },
- {
- "cell_type": "code",
- "id": "b5313453",
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T15:32:45.425953Z",
- "start_time": "2025-06-08T15:32:45.420965Z"
- }
- },
- "source": [
- "pbs = reagent_stock[0][0]\n",
- "lysis = reagent_stock[1][0]\n",
- "luciferase = reagent_stock[2][0]\n",
- "waste_liq = waste_liq[0]\n",
- "wells_name = [f\"A{i}\" for i in range(1, 13)]\n",
- "cells_all = working_plate[wells_name] # A1–A12"
- ],
- "outputs": [],
- "execution_count": 3
- },
- {
- "cell_type": "code",
- "id": "e85d6752",
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T15:32:46.480024Z",
- "start_time": "2025-06-08T15:32:46.473896Z"
- }
- },
- "source": [
- "working_plate_volumes = [\n",
- " ('culture medium', MEDIUM_VOL) if i % 8 == 0 else (None, 0)\n",
- " for i in range(96)\n",
- "]\n",
- "working_plate.set_well_liquids(working_plate_volumes)\n",
- "reagent_info = [('PBS Buffer', 5000), ('Lysis Buffer', 5000), ('Luciferase Reagent', 5000)]+[ (None, 0) ]* 9\n",
- "reagent_stock.set_well_liquids(reagent_info)\n",
- "# lh.deck.set_tiprack(list(tipracks.values()))"
- ],
- "outputs": [],
- "execution_count": 4
- },
- {
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T15:32:47.742983Z",
- "start_time": "2025-06-08T15:32:47.731878Z"
- }
- },
- "cell_type": "code",
- "source": [
- "# state = reagent_stock.serialize_all_state()\n",
- "# print(state)\n",
- "reagent_stock.load_all_state({'reagent_stock': {}, 'reagent_stock_A1': {'liquids': [['PBS Buffer', 5000]], 'pending_liquids': [], 'liquid_history': []}, 'reagent_stock_A2': {'liquids': [['Lysis Buffer', 5000]], 'pending_liquids': [['Lysis Buffer', 5000]], 'liquid_history': ['Lysis Buffer']}, 'reagent_stock_A3': {'liquids': [['Luciferase Reagent', 5000]], 'pending_liquids': [['Luciferase Reagent', 5000]], 'liquid_history': ['Luciferase Reagent']}, 'reagent_stock_A4': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A5': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A6': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A7': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A8': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A9': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A10': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A11': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A12': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}})\n",
- "\n",
- "reagent_stock[0][0].tracker.liquids"
- ],
- "id": "cd6ad8fb6494f14a",
- "outputs": [
- {
- "data": {
- "text/plain": [
- "[('PBS Buffer', 5000)]"
- ]
- },
- "execution_count": 5,
- "metadata": {},
- "output_type": "execute_result"
- }
- ],
- "execution_count": 5
- },
- {
- "cell_type": "code",
- "id": "9dbfb0e2",
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T15:32:02.047523Z",
- "start_time": "2025-06-08T15:32:02.042034Z"
- }
- },
- "source": [
- "from pylabrobot.resources import set_tip_tracking, set_volume_tracking\n",
- "set_tip_tracking(True), set_volume_tracking(True)"
- ],
- "outputs": [
- {
- "data": {
- "text/plain": [
- "(None, None)"
- ]
- },
- "execution_count": 12,
- "metadata": {},
- "output_type": "execute_result"
- }
- ],
- "execution_count": 12
- },
- {
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T16:04:23.597819Z",
- "start_time": "2025-06-08T16:04:23.427478Z"
- }
- },
- "cell_type": "code",
- "source": "lh.serialize()",
- "id": "6b2801f34ac96ef6",
- "outputs": [
- {
- "data": {
- "text/plain": [
- "{'name': 'lh_deck',\n",
- " 'type': 'LiquidHandler',\n",
- " 'size_x': 624.3,\n",
- " 'size_y': 565.2,\n",
- " 'size_z': 900,\n",
- " 'location': {'x': 0, 'y': 0, 'z': 0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'liquid_handler',\n",
- " 'model': None,\n",
- " 'children': [{'name': 'deck',\n",
- " 'type': 'OTDeck',\n",
- " 'size_x': 624.3,\n",
- " 'size_y': 565.2,\n",
- " 'size_z': 900,\n",
- " 'location': {'x': 0, 'y': 0, 'z': 0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'deck',\n",
- " 'children': [{'name': 'trash_container',\n",
- " 'type': 'Resource',\n",
- " 'size_x': 172.86,\n",
- " 'size_y': 165.86,\n",
- " 'size_z': 82,\n",
- " 'location': {'x': 265.0, 'y': 271.5, 'z': 0.0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': None,\n",
- " 'model': None,\n",
- " 'children': [{'name': 'trash',\n",
- " 'type': 'Trash',\n",
- " 'size_x': 172.86,\n",
- " 'size_y': 165.86,\n",
- " 'size_z': 82,\n",
- " 'location': {'x': 0, 'y': 0, 'z': 0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'trash',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'trash_container',\n",
- " 'max_volume': 'Infinity',\n",
- " 'material_z_thickness': 0,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None}],\n",
- " 'parent_name': 'deck'},\n",
- " {'name': 'tiprack_1',\n",
- " 'type': 'TipRack',\n",
- " 'size_x': 127.76,\n",
- " 'size_y': 85.48,\n",
- " 'size_z': 64.49,\n",
- " 'location': {'x': 0.0, 'y': 0.0, 'z': 0.0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_rack',\n",
- " 'model': 'Opentrons OT-2 96 Tip Rack 300 µL',\n",
- " 'children': [{'name': 'tiprack_1_A1',\n",
- " 'type': 'TipSpot',\n",
- " 'size_x': 3.698,\n",
- " 'size_y': 3.698,\n",
- " 'size_z': 0,\n",
- " 'location': {'x': 12.531, 'y': 72.391, 'z': 5.39, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_spot',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'tiprack_1',\n",
- " 'prototype_tip': {'type': 'Tip',\n",
- " 'total_tip_length': 59.3,\n",
- " 'has_filter': False,\n",
- " 'maximal_volume': 300.0,\n",
- " 'fitting_depth': 7.47}},\n",
- " {'name': 'tiprack_1_B1',\n",
- " 'type': 'TipSpot',\n",
- " 'size_x': 3.698,\n",
- " 'size_y': 3.698,\n",
- " 'size_z': 0,\n",
- " 'location': {'x': 12.531, 'y': 63.391, 'z': 5.39, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_spot',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'tiprack_1',\n",
- " 'prototype_tip': {'type': 'Tip',\n",
- " 'total_tip_length': 59.3,\n",
- " 'has_filter': False,\n",
- " 'maximal_volume': 300.0,\n",
- " 'fitting_depth': 7.47}},\n",
- " {'name': 'tiprack_1_C1',\n",
- " 'type': 'TipSpot',\n",
- " 'size_x': 3.698,\n",
- " 'size_y': 3.698,\n",
- " 'size_z': 0,\n",
- " 'location': {'x': 12.531, 'y': 54.391, 'z': 5.39, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_spot',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'tiprack_1',\n",
- " 'prototype_tip': {'type': 'Tip',\n",
- " 'total_tip_length': 59.3,\n",
- " 'has_filter': False,\n",
- " 'maximal_volume': 300.0,\n",
- " 'fitting_depth': 7.47}},\n",
- " {'name': 'tiprack_1_D1',\n",
- " 'type': 'TipSpot',\n",
- " 'size_x': 3.698,\n",
- " 'size_y': 3.698,\n",
- " 'size_z': 0,\n",
- " 'location': {'x': 12.531, 'y': 45.391, 'z': 5.39, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_spot',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'tiprack_1',\n",
- " 'prototype_tip': {'type': 'Tip',\n",
- " 'total_tip_length': 59.3,\n",
- " 'has_filter': False,\n",
- " 'maximal_volume': 300.0,\n",
- " 'fitting_depth': 7.47}},\n",
- " {'name': 'tiprack_1_E1',\n",
- " 'type': 'TipSpot',\n",
- " 'size_x': 3.698,\n",
- " 'size_y': 3.698,\n",
- " 'size_z': 0,\n",
- " 'location': {'x': 12.531, 'y': 36.391, 'z': 5.39, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_spot',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'tiprack_1',\n",
- " 'prototype_tip': {'type': 'Tip',\n",
- " 'total_tip_length': 59.3,\n",
- " 'has_filter': False,\n",
- " 'maximal_volume': 300.0,\n",
- " 'fitting_depth': 7.47}},\n",
- " {'name': 'tiprack_1_F1',\n",
- " 'type': 'TipSpot',\n",
- " 'size_x': 3.698,\n",
- " 'size_y': 3.698,\n",
- " 'size_z': 0,\n",
- " 'location': {'x': 12.531, 'y': 27.391, 'z': 5.39, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'tip_spot',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'tiprack_1',\n",
- " 'prototype_tip': {'type': 'Tip',\n",
- " 'total_tip_length': 59.3,\n",
- " 'has_filter': False,\n",
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- " {'name': 'working_plate_G12',\n",
- " 'type': 'Well',\n",
- " 'size_x': 4.851,\n",
- " 'size_y': 4.851,\n",
- " 'size_z': 10.67,\n",
- " 'location': {'x': 110.9545,\n",
- " 'y': 17.8145,\n",
- " 'z': 3.55,\n",
- " 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'working_plate',\n",
- " 'max_volume': 360,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'circle'},\n",
- " {'name': 'working_plate_H12',\n",
- " 'type': 'Well',\n",
- " 'size_x': 4.851,\n",
- " 'size_y': 4.851,\n",
- " 'size_z': 10.67,\n",
- " 'location': {'x': 110.9545,\n",
- " 'y': 8.8145,\n",
- " 'z': 3.55,\n",
- " 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'working_plate',\n",
- " 'max_volume': 360,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'circle'}],\n",
- " 'parent_name': 'deck',\n",
- " 'ordering': ['A1',\n",
- " 'B1',\n",
- " 'C1',\n",
- " 'D1',\n",
- " 'E1',\n",
- " 'F1',\n",
- " 'G1',\n",
- " 'H1',\n",
- " 'A2',\n",
- " 'B2',\n",
- " 'C2',\n",
- " 'D2',\n",
- " 'E2',\n",
- " 'F2',\n",
- " 'G2',\n",
- " 'H2',\n",
- " 'A3',\n",
- " 'B3',\n",
- " 'C3',\n",
- " 'D3',\n",
- " 'E3',\n",
- " 'F3',\n",
- " 'G3',\n",
- " 'H3',\n",
- " 'A4',\n",
- " 'B4',\n",
- " 'C4',\n",
- " 'D4',\n",
- " 'E4',\n",
- " 'F4',\n",
- " 'G4',\n",
- " 'H4',\n",
- " 'A5',\n",
- " 'B5',\n",
- " 'C5',\n",
- " 'D5',\n",
- " 'E5',\n",
- " 'F5',\n",
- " 'G5',\n",
- " 'H5',\n",
- " 'A6',\n",
- " 'B6',\n",
- " 'C6',\n",
- " 'D6',\n",
- " 'E6',\n",
- " 'F6',\n",
- " 'G6',\n",
- " 'H6',\n",
- " 'A7',\n",
- " 'B7',\n",
- " 'C7',\n",
- " 'D7',\n",
- " 'E7',\n",
- " 'F7',\n",
- " 'G7',\n",
- " 'H7',\n",
- " 'A8',\n",
- " 'B8',\n",
- " 'C8',\n",
- " 'D8',\n",
- " 'E8',\n",
- " 'F8',\n",
- " 'G8',\n",
- " 'H8',\n",
- " 'A9',\n",
- " 'B9',\n",
- " 'C9',\n",
- " 'D9',\n",
- " 'E9',\n",
- " 'F9',\n",
- " 'G9',\n",
- " 'H9',\n",
- " 'A10',\n",
- " 'B10',\n",
- " 'C10',\n",
- " 'D10',\n",
- " 'E10',\n",
- " 'F10',\n",
- " 'G10',\n",
- " 'H10',\n",
- " 'A11',\n",
- " 'B11',\n",
- " 'C11',\n",
- " 'D11',\n",
- " 'E11',\n",
- " 'F11',\n",
- " 'G11',\n",
- " 'H11',\n",
- " 'A12',\n",
- " 'B12',\n",
- " 'C12',\n",
- " 'D12',\n",
- " 'E12',\n",
- " 'F12',\n",
- " 'G12',\n",
- " 'H12']},\n",
- " {'name': 'reagent_stock',\n",
- " 'type': 'Plate',\n",
- " 'size_x': 127.76,\n",
- " 'size_y': 85.48,\n",
- " 'size_z': 31.4,\n",
- " 'location': {'x': 265.0, 'y': 0.0, 'z': 0.0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'plate',\n",
- " 'model': 'NEST 12 Well Reservoir 15 mL',\n",
- " 'children': [{'name': 'reagent_stock_A1',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 10.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A2',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 19.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A3',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 28.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A4',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 37.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A5',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 46.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A6',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 55.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A7',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 64.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A8',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 73.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A9',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 82.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A10',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 91.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A11',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 100.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'},\n",
- " {'name': 'reagent_stock_A12',\n",
- " 'type': 'Well',\n",
- " 'size_x': 8.2,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 26.85,\n",
- " 'location': {'x': 109.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'reagent_stock',\n",
- " 'max_volume': 15000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'}],\n",
- " 'parent_name': 'deck',\n",
- " 'ordering': ['A1',\n",
- " 'A2',\n",
- " 'A3',\n",
- " 'A4',\n",
- " 'A5',\n",
- " 'A6',\n",
- " 'A7',\n",
- " 'A8',\n",
- " 'A9',\n",
- " 'A10',\n",
- " 'A11',\n",
- " 'A12']},\n",
- " {'name': 'waste_liq',\n",
- " 'type': 'Plate',\n",
- " 'size_x': 127.76,\n",
- " 'size_y': 85.48,\n",
- " 'size_z': 31.4,\n",
- " 'location': {'x': 265.0, 'y': 181.0, 'z': 0.0, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'plate',\n",
- " 'model': 'NEST 1 Well Reservoir 195 mL',\n",
- " 'children': [{'name': 'waste_liq_A1',\n",
- " 'type': 'Well',\n",
- " 'size_x': 106.8,\n",
- " 'size_y': 71.2,\n",
- " 'size_z': 25,\n",
- " 'location': {'x': 10.48, 'y': 7.14, 'z': 4.55, 'type': 'Coordinate'},\n",
- " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n",
- " 'category': 'well',\n",
- " 'model': None,\n",
- " 'children': [],\n",
- " 'parent_name': 'waste_liq',\n",
- " 'max_volume': 195000,\n",
- " 'material_z_thickness': None,\n",
- " 'compute_volume_from_height': None,\n",
- " 'compute_height_from_volume': None,\n",
- " 'bottom_type': 'unknown',\n",
- " 'cross_section_type': 'rectangle'}],\n",
- " 'parent_name': 'deck',\n",
- " 'ordering': ['A1']}],\n",
- " 'parent_name': 'lh_deck'}],\n",
- " 'parent_name': None,\n",
- " 'backend': {'type': 'LiquidHandlerChatterboxBackend', 'num_channels': 8}}"
- ]
- },
- "execution_count": 6,
- "metadata": {},
- "output_type": "execute_result"
- }
- ],
- "execution_count": 6
- },
- {
- "cell_type": "code",
- "id": "70094125",
- "metadata": {
- "ExecuteTime": {
- "end_time": "2025-06-08T14:25:19.507693Z",
- "start_time": "2025-06-08T14:25:18.487272Z"
- }
- },
- "source": [
- "await lh.remove_liquid(\n",
- " vols=[MEDIUM_VOL]*12,\n",
- " sources=cells_all,\n",
- " waste_liquid=waste_liq,\n",
- " top=[-0.2],\n",
- " liquid_height=[0.2,0],\n",
- " flow_rates=[0.2,3],\n",
- " offsets=[Coordinate(-2.5, 0, 0),Coordinate(0, 0, -5)]\n",
- ")"
- ],
- "outputs": [
- {
- "ename": "AttributeError",
- "evalue": "'LiquidHandler' object has no attribute 'remove_liquid'",
- "output_type": "error",
- "traceback": [
- "\u001B[31m---------------------------------------------------------------------------\u001B[39m",
- "\u001B[31mAttributeError\u001B[39m Traceback (most recent call last)",
- "\u001B[36mCell\u001B[39m\u001B[36m \u001B[39m\u001B[32mIn[6]\u001B[39m\u001B[32m, line 1\u001B[39m\n\u001B[32m----> \u001B[39m\u001B[32m1\u001B[39m \u001B[38;5;28;01mawait\u001B[39;00m \u001B[43mlh\u001B[49m\u001B[43m.\u001B[49m\u001B[43mremove_liquid\u001B[49m(\n\u001B[32m 2\u001B[39m vols=[MEDIUM_VOL]*\u001B[32m12\u001B[39m,\n\u001B[32m 3\u001B[39m sources=cells_all,\n\u001B[32m 4\u001B[39m waste_liquid=waste_liq,\n\u001B[32m 5\u001B[39m top=[-\u001B[32m0.2\u001B[39m],\n\u001B[32m 6\u001B[39m liquid_height=[\u001B[32m0.2\u001B[39m,\u001B[32m0\u001B[39m],\n\u001B[32m 7\u001B[39m flow_rates=[\u001B[32m0.2\u001B[39m,\u001B[32m3\u001B[39m],\n\u001B[32m 8\u001B[39m offsets=[Coordinate(-\u001B[32m2.5\u001B[39m, \u001B[32m0\u001B[39m, \u001B[32m0\u001B[39m),Coordinate(\u001B[32m0\u001B[39m, \u001B[32m0\u001B[39m, -\u001B[32m5\u001B[39m)]\n\u001B[32m 9\u001B[39m )\n",
- "\u001B[31mAttributeError\u001B[39m: 'LiquidHandler' object has no attribute 'remove_liquid'"
- ]
- }
- ],
- "execution_count": 6
- },
- {
- "cell_type": "code",
- "execution_count": 15,
- "id": "91d07db6",
- "metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_E2 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_F2 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_G2 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_H2 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_A3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_B3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_C3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_D3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_E3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_F3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_G3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n",
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_H3 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 -2.5,0,0 0.2 None 0.2 \n",
- "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n",
- "Tracker only has 0uL, please pay attention.\n",
- "Container has too little liquid: 75.0uL > 0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 waste_liq_A1 0,0,-5 3.0 None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n"
- ]
- }
- ],
- "source": [
- "await lh.remove_liquid(\n",
- " vols=[PBS_VOL*1.5]*12,\n",
- " top=[-0.2],\n",
- " liquid_height=[0.2,None],\n",
- " offsets=[Coordinate(-2.5,0,0),Coordinate(0,0,-5)],\n",
- " flow_rates=[0.2,3],\n",
- " sources=cells_all,\n",
- " waste_liquid=waste_liq\n",
- ")"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 16,
- "id": "baa8f751",
- "metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_A4 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A1, location=Coordinate(011.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A1 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A1 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A1 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A2, location=Coordinate(020.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A2 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A2 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A2 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A3, location=Coordinate(029.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A3 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A3 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A3 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A4, location=Coordinate(038.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A4 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A4 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A4 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A5, location=Coordinate(047.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A5 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A5 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A5 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A6, location=Coordinate(056.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A6 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A6 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A6 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A7, location=Coordinate(065.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A7 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A7 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A7 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A8, location=Coordinate(074.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A8 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A8 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A8 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A9, location=Coordinate(083.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A9 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A9 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A9 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A10, location=Coordinate(092.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A10 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A10 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A10 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A11, location=Coordinate(101.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A11 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A11 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A11 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 reagent_stock_A2 0,0,0 0.5 None 0.5 \n",
- "[Well(name=working_plate_A12, location=Coordinate(110.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 30.0 working_plate_A12 0,0,0 0.3 None 5.0 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A12 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A12 2.4,0,0 None None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n"
- ]
- }
- ],
- "source": [
- "await lh.add_liquid(\n",
- " asp_vols=[LYSIS_VOL]*12,\n",
- " dis_vols=[LYSIS_VOL]*12,\n",
- " reagent_sources=[lysis],\n",
- " targets=cells_all,\n",
- " flow_rates=[0.5,0.3],\n",
- " liquid_height=[0.5,5],\n",
- " delays=[2,2]\n",
- ")"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 17,
- "id": "d55b0875",
- "metadata": {},
- "outputs": [
- {
- "data": {
- "text/plain": [
- ""
- ]
- },
- "execution_count": 17,
- "metadata": {},
- "output_type": "execute_result"
- }
- ],
- "source": [
- "lh.custom_delay(180)"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 18,
- "id": "20a281d3",
- "metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "Picking up tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: tiprack_1_B4 0,0,0 Tip 300.0 7.47 59.3 No \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A1, location=Coordinate(011.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A1 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A1, location=Coordinate(011.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A1, location=Coordinate(011.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A1, location=Coordinate(011.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A1 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A1 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A1 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A2, location=Coordinate(020.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A2 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A2, location=Coordinate(020.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A2, location=Coordinate(020.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A2, location=Coordinate(020.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A2 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A2 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A2 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A3, location=Coordinate(029.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A3 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A3, location=Coordinate(029.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A3, location=Coordinate(029.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A3, location=Coordinate(029.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A3 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A3 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A3 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A4, location=Coordinate(038.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A4 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A4, location=Coordinate(038.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A4, location=Coordinate(038.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A4, location=Coordinate(038.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A4 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A4 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A4 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A5, location=Coordinate(047.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A5 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A5, location=Coordinate(047.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A5, location=Coordinate(047.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A5, location=Coordinate(047.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A5 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A5 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A5 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A6, location=Coordinate(056.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A6 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A6, location=Coordinate(056.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A6, location=Coordinate(056.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A6, location=Coordinate(056.955, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A6 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A6 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A6 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A7, location=Coordinate(065.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A7 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A7, location=Coordinate(065.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A7, location=Coordinate(065.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A7, location=Coordinate(065.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A7 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A7 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A7 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A8, location=Coordinate(074.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A8 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A8, location=Coordinate(074.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A8, location=Coordinate(074.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A8, location=Coordinate(074.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A8 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A8 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A8 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A9, location=Coordinate(083.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A9 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A9, location=Coordinate(083.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A9, location=Coordinate(083.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A9, location=Coordinate(083.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A9 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A9 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A9 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A10, location=Coordinate(092.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A10 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A10, location=Coordinate(092.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A10, location=Coordinate(092.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A10, location=Coordinate(092.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A10 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A10 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A10 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A11, location=Coordinate(101.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A11 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A11, location=Coordinate(101.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A11, location=Coordinate(101.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A11, location=Coordinate(101.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A11 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A11 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A11 2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 100.0 reagent_stock_A3 0,0,0 0.75 20.0 0.5 \n",
- "[Well(name=working_plate_A12, location=Coordinate(110.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Tracker only has 100.0uL, please pay attention.\n",
- "Container has too little liquid: 120.0uL > 100.0uL, please pay attention.\n",
- "Air bubble detected, please pay attention.\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 120.0 working_plate_A12 0,0,0 0.75 None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A12, location=Coordinate(110.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A12, location=Coordinate(110.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 0,0,0 3.0 None 0.5 \n",
- "[Well(name=working_plate_A12, location=Coordinate(110.954, 071.814, 003.550), size_x=4.851, size_y=4.851, size_z=10.67, category=well)]\n",
- "Dispensing:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 75.0 working_plate_A12 0,0,0 3.0 None 0.5 \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A12 -2.4,0,0 None None None \n",
- "Aspirating:\n",
- "pip# vol(ul) resource offset flow rate blowout lld_z \n",
- " p0: 0.0 working_plate_A12 2.4,0,0 None None None \n",
- "Dropping tips:\n",
- "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n",
- " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n"
- ]
- }
- ],
- "source": [
- "await lh.add_liquid(\n",
- " asp_vols=[LUC_VOL]*12,\n",
- " dis_vols=[LUC_VOL+20]*12,\n",
- " reagent_sources=[luciferase],\n",
- " targets=cells_all,\n",
- " liquid_height=[0.5, None],\n",
- " mix_time=3,\n",
- " mix_vol=75,\n",
- " mix_rate=3,\n",
- " mix_liquid_height=0.5,\n",
- " delays = [2, None],\n",
- " blow_out_air_volume=[20,None],\n",
- " flow_rates=[0.75,0.75]\n",
- ")"
- ]
- }
- ],
- "metadata": {
- "kernelspec": {
- "display_name": "pylabrobot",
- "language": "python",
- "name": "python3"
- },
- "language_info": {
- "codemirror_mode": {
- "name": "ipython",
- "version": 3
- },
- "file_extension": ".py",
- "mimetype": "text/x-python",
- "name": "python",
- "nbconvert_exporter": "python",
- "pygments_lexer": "ipython3",
- "version": "3.10.17"
- }
- },
- "nbformat": 4,
- "nbformat_minor": 5
-}
diff --git a/unilabos/devices/liquid_handling/laiyu/__init__.py b/unilabos/devices/liquid_handling/laiyu/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/liquid_handling/laiyu/backend/__init__.py b/unilabos/devices/liquid_handling/laiyu/backend/__init__.py
deleted file mode 100644
index 4bf29392..00000000
--- a/unilabos/devices/liquid_handling/laiyu/backend/__init__.py
+++ /dev/null
@@ -1,9 +0,0 @@
-"""
-LaiYu液体处理设备后端模块
-
-提供设备后端接口和实现
-"""
-
-from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
-
-__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py b/unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
deleted file mode 100644
index 5e8041c0..00000000
--- a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
+++ /dev/null
@@ -1,334 +0,0 @@
-"""
-LaiYu液体处理设备后端实现
-
-提供设备的后端接口和控制逻辑
-"""
-
-import logging
-from typing import Dict, Any, Optional, List
-from abc import ABC, abstractmethod
-
-# 尝试导入PyLabRobot后端
-try:
- from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
- PYLABROBOT_AVAILABLE = True
-except ImportError:
- PYLABROBOT_AVAILABLE = False
- # 创建模拟后端基类
- class LiquidHandlerBackend:
- def __init__(self, name: str):
- self.name = name
- self.is_connected = False
-
- def connect(self):
- """连接设备"""
- pass
-
- def disconnect(self):
- """断开连接"""
- pass
-
-
-class LaiYuLiquidBackend(LiquidHandlerBackend):
- """LaiYu液体处理设备后端"""
-
- def __init__(self, name: str = "LaiYu_Liquid_Backend"):
- """
- 初始化LaiYu液体处理设备后端
-
- Args:
- name: 后端名称
- """
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot 的 LiquidHandlerBackend 不接受参数
- super().__init__()
- else:
- # 模拟版本接受 name 参数
- super().__init__(name)
-
- self.name = name
- self.logger = logging.getLogger(__name__)
- self.is_connected = False
- self.device_info = {
- "name": "LaiYu液体处理设备",
- "version": "1.0.0",
- "manufacturer": "LaiYu",
- "model": "LaiYu_Liquid_Handler"
- }
-
- def connect(self) -> bool:
- """
- 连接到LaiYu液体处理设备
-
- Returns:
- bool: 连接是否成功
- """
- try:
- self.logger.info("正在连接到LaiYu液体处理设备...")
- # 这里应该实现实际的设备连接逻辑
- # 目前返回模拟连接成功
- self.is_connected = True
- self.logger.info("成功连接到LaiYu液体处理设备")
- return True
- except Exception as e:
- self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
- self.is_connected = False
- return False
-
- def disconnect(self) -> bool:
- """
- 断开与LaiYu液体处理设备的连接
-
- Returns:
- bool: 断开连接是否成功
- """
- try:
- self.logger.info("正在断开与LaiYu液体处理设备的连接...")
- # 这里应该实现实际的设备断开连接逻辑
- self.is_connected = False
- self.logger.info("成功断开与LaiYu液体处理设备的连接")
- return True
- except Exception as e:
- self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
- return False
-
- def is_device_connected(self) -> bool:
- """
- 检查设备是否已连接
-
- Returns:
- bool: 设备是否已连接
- """
- return self.is_connected
-
- def get_device_info(self) -> Dict[str, Any]:
- """
- 获取设备信息
-
- Returns:
- Dict[str, Any]: 设备信息字典
- """
- return self.device_info.copy()
-
- def home_device(self) -> bool:
- """
- 设备归零操作
-
- Returns:
- bool: 归零是否成功
- """
- if not self.is_connected:
- self.logger.error("设备未连接，无法执行归零操作")
- return False
-
- try:
- self.logger.info("正在执行设备归零操作...")
- # 这里应该实现实际的设备归零逻辑
- self.logger.info("设备归零操作完成")
- return True
- except Exception as e:
- self.logger.error(f"设备归零操作失败: {e}")
- return False
-
- def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
- """
- 吸液操作
-
- Args:
- volume: 吸液体积 (微升)
- location: 吸液位置信息
-
- Returns:
- bool: 吸液是否成功
- """
- if not self.is_connected:
- self.logger.error("设备未连接，无法执行吸液操作")
- return False
-
- try:
- self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
- # 这里应该实现实际的吸液逻辑
- self.logger.info("吸液操作完成")
- return True
- except Exception as e:
- self.logger.error(f"吸液操作失败: {e}")
- return False
-
- def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
- """
- 排液操作
-
- Args:
- volume: 排液体积 (微升)
- location: 排液位置信息
-
- Returns:
- bool: 排液是否成功
- """
- if not self.is_connected:
- self.logger.error("设备未连接，无法执行排液操作")
- return False
-
- try:
- self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
- # 这里应该实现实际的排液逻辑
- self.logger.info("排液操作完成")
- return True
- except Exception as e:
- self.logger.error(f"排液操作失败: {e}")
- return False
-
- def pick_up_tip(self, location: Dict[str, Any]) -> bool:
- """
- 取枪头操作
-
- Args:
- location: 枪头位置信息
-
- Returns:
- bool: 取枪头是否成功
- """
- if not self.is_connected:
- self.logger.error("设备未连接，无法执行取枪头操作")
- return False
-
- try:
- self.logger.info(f"正在执行取枪头操作: 位置={location}")
- # 这里应该实现实际的取枪头逻辑
- self.logger.info("取枪头操作完成")
- return True
- except Exception as e:
- self.logger.error(f"取枪头操作失败: {e}")
- return False
-
- def drop_tip(self, location: Dict[str, Any]) -> bool:
- """
- 丢弃枪头操作
-
- Args:
- location: 丢弃位置信息
-
- Returns:
- bool: 丢弃枪头是否成功
- """
- if not self.is_connected:
- self.logger.error("设备未连接，无法执行丢弃枪头操作")
- return False
-
- try:
- self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
- # 这里应该实现实际的丢弃枪头逻辑
- self.logger.info("丢弃枪头操作完成")
- return True
- except Exception as e:
- self.logger.error(f"丢弃枪头操作失败: {e}")
- return False
-
- def move_to(self, location: Dict[str, Any]) -> bool:
- """
- 移动到指定位置
-
- Args:
- location: 目标位置信息
-
- Returns:
- bool: 移动是否成功
- """
- if not self.is_connected:
- self.logger.error("设备未连接，无法执行移动操作")
- return False
-
- try:
- self.logger.info(f"正在移动到位置: {location}")
- # 这里应该实现实际的移动逻辑
- self.logger.info("移动操作完成")
- return True
- except Exception as e:
- self.logger.error(f"移动操作失败: {e}")
- return False
-
- def get_status(self) -> Dict[str, Any]:
- """
- 获取设备状态
-
- Returns:
- Dict[str, Any]: 设备状态信息
- """
- return {
- "connected": self.is_connected,
- "device_info": self.device_info,
- "status": "ready" if self.is_connected else "disconnected"
- }
-
- # PyLabRobot 抽象方法实现
- def stop(self):
- """停止所有操作"""
- self.logger.info("停止所有操作")
- pass
-
- @property
- def num_channels(self) -> int:
- """返回通道数量"""
- return 1 # 单通道移液器
-
- def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
- """检查是否可以拾取吸头"""
- return True # 简化实现，总是返回True
-
- def pick_up_tips(self, tip_rack, tip_positions):
- """拾取多个吸头"""
- self.logger.info(f"拾取吸头: {tip_positions}")
- pass
-
- def drop_tips(self, tip_rack, tip_positions):
- """丢弃多个吸头"""
- self.logger.info(f"丢弃吸头: {tip_positions}")
- pass
-
- def pick_up_tips96(self, tip_rack):
- """拾取96个吸头"""
- self.logger.info("拾取96个吸头")
- pass
-
- def drop_tips96(self, tip_rack):
- """丢弃96个吸头"""
- self.logger.info("丢弃96个吸头")
- pass
-
- def aspirate96(self, volume, plate, well_positions):
- """96通道吸液"""
- self.logger.info(f"96通道吸液: 体积={volume}")
- pass
-
- def dispense96(self, volume, plate, well_positions):
- """96通道排液"""
- self.logger.info(f"96通道排液: 体积={volume}")
- pass
-
- def pick_up_resource(self, resource, location):
- """拾取资源"""
- self.logger.info(f"拾取资源: {resource}")
- pass
-
- def drop_resource(self, resource, location):
- """放置资源"""
- self.logger.info(f"放置资源: {resource}")
- pass
-
- def move_picked_up_resource(self, resource, location):
- """移动已拾取的资源"""
- self.logger.info(f"移动资源: {resource} 到 {location}")
- pass
-
-
-def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
- """
- 创建LaiYu液体处理设备后端实例
-
- Args:
- name: 后端名称
-
- Returns:
- LaiYuLiquidBackend: 后端实例
- """
- return LaiYuLiquidBackend(name)
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py b/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py
deleted file mode 100644
index 9e824e1b..00000000
--- a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py
+++ /dev/null
@@ -1,385 +0,0 @@
-
-import json
-from typing import List, Optional, Union
-
-from pylabrobot.liquid_handling.backends.backend import (
- LiquidHandlerBackend,
-)
-from pylabrobot.liquid_handling.standard import (
- Drop,
- DropTipRack,
- MultiHeadAspirationContainer,
- MultiHeadAspirationPlate,
- MultiHeadDispenseContainer,
- MultiHeadDispensePlate,
- Pickup,
- PickupTipRack,
- ResourceDrop,
- ResourceMove,
- ResourcePickup,
- SingleChannelAspiration,
- SingleChannelDispense,
-)
-from pylabrobot.resources import Resource, Tip
-
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-import time
-from rclpy.action import ActionClient
-from unilabos_msgs.action import SendCmd
-import re
-
-from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
-from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
-
-
-class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
- """Chatter box backend for device-free testing. Prints out all operations."""
-
- _pip_length = 5
- _vol_length = 8
- _resource_length = 20
- _offset_length = 16
- _flow_rate_length = 10
- _blowout_length = 10
- _lld_z_length = 10
- _kwargs_length = 15
- _tip_type_length = 12
- _max_volume_length = 16
- _fitting_depth_length = 20
- _tip_length_length = 16
- # _pickup_method_length = 20
- _filter_length = 10
-
- def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
- """Initialize a chatter box backend."""
- super().__init__()
- self._num_channels = num_channels
- self.tip_length = tip_length
- self.total_height = total_height
-# rclpy.init()
- if not rclpy.ok():
- rclpy.init()
- self.joint_state_publisher = None
- self.hardware_interface = PipetteController(port=port)
-
- async def setup(self):
- # self.joint_state_publisher = JointStatePublisher()
- # self.hardware_interface.xyz_controller.connect_device()
- # self.hardware_interface.xyz_controller.home_all_axes()
- await super().setup()
- self.hardware_interface.connect()
- self.hardware_interface.initialize()
-
- print("Setting up the liquid handler.")
-
- async def stop(self):
- print("Stopping the liquid handler.")
-
- def serialize(self) -> dict:
- return {**super().serialize(), "num_channels": self.num_channels}
-
- def pipette_aspirate(self, volume: float, flow_rate: float):
-
- self.hardware_interface.pipette.set_max_speed(flow_rate)
- res = self.hardware_interface.pipette.aspirate(volume=volume)
-
- if not res:
- self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
- return
-
- self.hardware_interface.current_volume += volume
-
- def pipette_dispense(self, volume: float, flow_rate: float):
-
- self.hardware_interface.pipette.set_max_speed(flow_rate)
- res = self.hardware_interface.pipette.dispense(volume=volume)
- if not res:
- self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
- return
- self.hardware_interface.current_volume -= volume
-
- @property
- def num_channels(self) -> int:
- return self._num_channels
-
- async def assigned_resource_callback(self, resource: Resource):
- print(f"Resource {resource.name} was assigned to the liquid handler.")
-
- async def unassigned_resource_callback(self, name: str):
- print(f"Resource {name} was unassigned from the liquid handler.")
-
- async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
- print("Picking up tips:")
- # print(ops.tip)
- header = (
- f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
- f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
- f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
- f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
- f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
- # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
- f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
- )
- # print(header)
-
- for op, channel in zip(ops, use_channels):
- offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
- row = (
- f" p{channel}: "
- f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
- f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
- f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
- f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
- # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
- f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
- )
- # print(row)
- # print(op.resource.get_absolute_location())
-
- self.tip_length = ops[0].tip.total_tip_length
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
- # print("moving")
- self.hardware_interface._update_tip_status()
- if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
- print("已有枪头，无需重复拾取")
- return
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
- # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
- # goback()
-
-
-
-
- async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
- print("Dropping tips:")
- header = (
- f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
- f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
- f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
- f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
- f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
- # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
- f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
- )
- # print(header)
-
- for op, channel in zip(ops, use_channels):
- offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
- row = (
- f" p{channel}: "
- f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
- f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
- f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
- f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
- # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
- f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
- )
- # print(row)
-
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
- # print(x, y, z)
- # print("moving")
- self.hardware_interface._update_tip_status()
- if self.hardware_interface.tip_status == TipStatus.NO_TIP:
- print("无枪头，无需丢弃")
- return
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
- self.hardware_interface.eject_tip
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
-
- async def aspirate(
- self,
- ops: List[SingleChannelAspiration],
- use_channels: List[int],
- **backend_kwargs,
- ):
- print("Aspirating:")
- header = (
- f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
- f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
- f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
- f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
- f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
- # f"{'liquids':<20}" # TODO: add liquids
- )
- for key in backend_kwargs:
- header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
- # print(header)
-
- for o, p in zip(ops, use_channels):
- offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
- row = (
- f" p{p}: "
- f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
- f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
- f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
- f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
- # f"{o.liquids if o.liquids is not None else 'none'}"
- )
- for key, value in backend_kwargs.items():
- if isinstance(value, list) and all(isinstance(v, bool) for v in value):
- value = "".join("T" if v else "F" for v in value)
- if isinstance(value, list):
- value = "".join(map(str, value))
- row += f" {value:<15}"
- # print(row)
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
- # print(x, y, z)
- # print("moving")
-
- # 判断枪头是否存在
- self.hardware_interface._update_tip_status()
- if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
- print("无枪头，无法吸液")
- return
- # 判断吸液量是否超过枪头容量
- flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
- blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
- if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
- self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
- return
-
- # 移动到吸液位置
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
- self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
-
-
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
- if blow_out_air_volume >0:
- self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
-
-
-
-
- async def dispense(
- self,
- ops: List[SingleChannelDispense],
- use_channels: List[int],
- **backend_kwargs,
- ):
- # print("Dispensing:")
- header = (
- f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
- f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
- f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
- f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
- f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
- # f"{'liquids':<20}" # TODO: add liquids
- )
- for key in backend_kwargs:
- header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
- # print(header)
-
- for o, p in zip(ops, use_channels):
- offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
- row = (
- f" p{p}: "
- f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
- f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
- f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
- f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
- f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
- # f"{o.liquids if o.liquids is not None else 'none'}"
- )
- for key, value in backend_kwargs.items():
- if isinstance(value, list) and all(isinstance(v, bool) for v in value):
- value = "".join("T" if v else "F" for v in value)
- if isinstance(value, list):
- value = "".join(map(str, value))
- row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
- # print(row)
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
- # print(x, y, z)
- # print("moving")
-
- # 判断枪头是否存在
- self.hardware_interface._update_tip_status()
- if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
- print("无枪头，无法排液")
- return
- # 判断排液量是否超过枪头容量
- flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
- blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
- if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
- self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
- return
-
-
- # 移动到排液位置
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
- self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
-
-
- self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
- if blow_out_air_volume > 0:
- self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
- # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
-
- async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
- print(f"Picking up tips from {pickup.resource.name}.")
-
- async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
- print(f"Dropping tips to {drop.resource.name}.")
-
- async def aspirate96(
- self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
- ):
- if isinstance(aspiration, MultiHeadAspirationPlate):
- resource = aspiration.wells[0].parent
- else:
- resource = aspiration.container
- print(f"Aspirating {aspiration.volume} from {resource}.")
-
- async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
- if isinstance(dispense, MultiHeadDispensePlate):
- resource = dispense.wells[0].parent
- else:
- resource = dispense.container
- print(f"Dispensing {dispense.volume} to {resource}.")
-
- async def pick_up_resource(self, pickup: ResourcePickup):
- print(f"Picking up resource: {pickup}")
-
- async def move_picked_up_resource(self, move: ResourceMove):
- print(f"Moving picked up resource: {move}")
-
- async def drop_resource(self, drop: ResourceDrop):
- print(f"Dropping resource: {drop}")
-
- def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
- return True
-
diff --git a/unilabos/devices/liquid_handling/laiyu/config/deckconfig.json b/unilabos/devices/liquid_handling/laiyu/config/deckconfig.json
deleted file mode 100644
index ddda7e0f..00000000
--- a/unilabos/devices/liquid_handling/laiyu/config/deckconfig.json
+++ /dev/null
@@ -1,2620 +0,0 @@
-{
- "name": "LaiYu_Liquid_Deck",
- "size_x": 340.0,
- "size_y": 250.0,
- "size_z": 160.0,
- "coordinate_system": {
- "origin": "top_left",
- "x_axis": "right",
- "y_axis": "down",
- "z_axis": "up",
- "units": "mm"
- },
- "children": [
- {
- "id": "module_1_8tubes",
- "name": "8管位置模块",
- "type": "tube_rack",
- "position": {
- "x": 0.0,
- "y": 0.0,
- "z": 0.0
- },
- "size": {
- "x": 151.0,
- "y": 75.0,
- "z": 75.0
- },
- "wells": [
- {
- "id": "A1",
- "position": {
- "x": 23.0,
- "y": 20.0,
- "z": 0.0
- },
- "diameter": 29.0,
- "depth": 117.0,
- "volume": 77000.0,
- "shape": "circular"
- },
- {
- "id": "A2",
- "position": {
- "x": 58.0,
- "y": 20.0,
- "z": 0.0
- },
- "diameter": 29.0,
- "depth": 117.0,
- "volume": 77000.0,
- "shape": "circular"
- },
- {
- "id": "A3",
- "position": {
- "x": 93.0,
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- "volume": 6000.0,
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- "x": 264.62,
- "y": 169.5,
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- "volume": 6000.0,
- "shape": "circular"
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- {
- "id": "H01",
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- },
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- },
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- },
- {
- "id": "H11",
- "position": {
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- "y": 178.5,
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- },
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- "volume": 6000.0,
- "shape": "circular"
- },
- {
- "id": "H12",
- "position": {
- "x": 264.62,
- "y": 178.5,
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- },
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- "depth": 95.0,
- "volume": 6000.0,
- "shape": "circular"
- }
- ],
- "well_spacing": {
- "x": 9.0,
- "y": 9.0
- },
- "grid": {
- "rows": 8,
- "columns": 12,
- "row_labels": ["A", "B", "C", "D", "E", "F", "G", "H"],
- "column_labels": ["01", "02", "03", "04", "05", "06", "07", "08", "09", "10", "11", "12"]
- },
- "metadata": {
- "description": "标准96孔枪头盒",
- "max_volume_ul": 6000,
- "well_count": 96,
- "plate_type": "tip_rack"
- }
- }
- ],
- "deck_metadata": {
- "total_modules": 4,
- "total_wells": 201,
- "deck_area": {
- "used_x": 299.62,
- "used_y": 260.5,
- "used_z": 103.0,
- "efficiency_x": 88.1,
- "efficiency_y": 104.2,
- "efficiency_z": 64.4
- },
- "safety_margins": {
- "x_min": 10.0,
- "x_max": 10.0,
- "y_min": 10.0,
- "y_max": 10.0,
- "z_clearance": 20.0
- },
- "calibration_points": [
- {
- "id": "origin",
- "position": {"x": 0.0, "y": 0.0, "z": 0.0},
- "description": "工作台左上角原点"
- },
- {
- "id": "module_1_ref",
- "position": {"x": 23.0, "y": 20.0, "z": 0.0},
- "description": "模块1试管架基准孔A1"
- },
- {
- "id": "module_2_ref",
- "position": {"x": 175.0, "y": 11.0, "z": 48.5},
- "description": "模块2深孔板基准孔A01"
- },
- {
- "id": "module_3_ref",
- "position": {"x": 65.0, "y": 143.5, "z": 0.0},
- "description": "模块3敞口玻璃瓶中心"
- },
- {
- "id": "module_4_ref",
- "position": {"x": 165.62, "y": 115.5, "z": 103.0},
- "description": "模块4枪头盒基准孔A01"
- }
- ],
- "version": "2.0",
- "created_by": "Doraemon Team",
- "last_updated": "2025-09-29"
- }
-}
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/controllers/__init__.py b/unilabos/devices/liquid_handling/laiyu/controllers/__init__.py
deleted file mode 100644
index d50b1eca..00000000
--- a/unilabos/devices/liquid_handling/laiyu/controllers/__init__.py
+++ /dev/null
@@ -1,25 +0,0 @@
-"""
-LaiYu_Liquid 控制器模块
-
-该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
-- 移液器控制器：提供液体处理的高级接口
-- XYZ运动控制器：提供三轴运动的高级接口
-"""
-
-# 移液器控制器导入
-from .pipette_controller import PipetteController
-
-# XYZ运动控制器导入
-from .xyz_controller import XYZController
-
-__all__ = [
- # 移液器控制器
- "PipetteController",
-
- # XYZ运动控制器
- "XYZController",
-]
-
-__version__ = "1.0.0"
-__author__ = "LaiYu_Liquid Controller Team"
-__description__ = "LaiYu_Liquid 高级控制器集合"
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/controllers/coordinate_origin.json b/unilabos/devices/liquid_handling/laiyu/controllers/coordinate_origin.json
deleted file mode 100644
index b21901ec..00000000
--- a/unilabos/devices/liquid_handling/laiyu/controllers/coordinate_origin.json
+++ /dev/null
@@ -1,14 +0,0 @@
-{
- "machine_origin_steps": {
- "x": -198.43,
- "y": -94.25,
- "z": -0.73
- },
- "work_origin_steps": {
- "x": 59.39,
- "y": 216.99,
- "z": 2.0
- },
- "is_homed": true,
- "timestamp": "2025-10-29T20:34:11.749055"
-}
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py b/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py
deleted file mode 100644
index 17a47df1..00000000
--- a/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py
+++ /dev/null
@@ -1,1103 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-移液控制器模块
-封装SOPA移液器的高级控制功能
-"""
-
-# 添加项目根目录到Python路径以解决模块导入问题
-import sys
-import os
-from tkinter import N
-
-from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ModbusException
-
-# 无论如何都添加项目根目录到路径
-current_file = os.path.abspath(__file__)
-# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py
-# 向上5级到 .../Uni-Lab-OS
-project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
-# 强制添加项目根目录到sys.path的开头
-sys.path.insert(0, project_root)
-
-import time
-import logging
-from typing import Optional, List, Dict, Tuple
-from dataclasses import dataclass
-from enum import Enum
-
-from unilabos.devices.liquid_handling.laiyu.drivers.sopa_pipette_driver import (
- SOPAPipette,
- SOPAConfig,
- SOPAStatusCode,
- DetectionMode,
- create_sopa_pipette,
-)
-# from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import (
-# XYZStepperController,
-# MotorAxis,
-# MotorStatus,
-# ModbusException
-# )
-
-from unilabos.devices.liquid_handling.laiyu.controllers.xyz_controller import (
- XYZController,
- MotorAxis,
- MotorStatus
-)
-
-logger = logging.getLogger(__name__)
-
-
-class TipStatus(Enum):
- """枪头状态"""
- NO_TIP = "no_tip"
- TIP_ATTACHED = "tip_attached"
- TIP_USED = "tip_used"
-
-
-class LiquidClass(Enum):
- """液体类型"""
- WATER = "water"
- SERUM = "serum"
- VISCOUS = "viscous"
- VOLATILE = "volatile"
- CUSTOM = "custom"
-
-
-@dataclass
-class LiquidParameters:
- """液体处理参数"""
- aspirate_speed: int = 500 # 吸液速度
- dispense_speed: int = 800 # 排液速度
- air_gap: float = 10.0 # 空气间隙
- blow_out: float = 5.0 # 吹出量
- pre_wet: bool = False # 预润湿
- mix_cycles: int = 0 # 混合次数
- mix_volume: float = 50.0 # 混合体积
- touch_tip: bool = False # 接触壁
- delay_after_aspirate: float = 0.5 # 吸液后延时
- delay_after_dispense: float = 0.5 # 排液后延时
-
-
-class PipetteController:
- """移液控制器"""
-
- # 预定义液体参数
- LIQUID_PARAMS = {
- LiquidClass.WATER: LiquidParameters(
- aspirate_speed=500,
- dispense_speed=800,
- air_gap=10.0
- ),
- LiquidClass.SERUM: LiquidParameters(
- aspirate_speed=200,
- dispense_speed=400,
- air_gap=15.0,
- pre_wet=True,
- delay_after_aspirate=1.0
- ),
- LiquidClass.VISCOUS: LiquidParameters(
- aspirate_speed=100,
- dispense_speed=200,
- air_gap=20.0,
- delay_after_aspirate=2.0,
- delay_after_dispense=2.0
- ),
- LiquidClass.VOLATILE: LiquidParameters(
- aspirate_speed=800,
- dispense_speed=1000,
- air_gap=5.0,
- delay_after_aspirate=0.2,
- delay_after_dispense=0.2
- )
- }
-
- def __init__(self, port: str, address: int = 4, xyz_port: Optional[str] = None):
- """
- 初始化移液控制器
-
- Args:
- port: 移液器串口端口
- address: 移液器RS485地址
- xyz_port: XYZ步进电机串口端口（可选，用于枪头装载等运动控制）
- """
- self.config = SOPAConfig(
- port=port,
- address=address,
- baudrate=115200
- )
- self.pipette = SOPAPipette(self.config)
- self.pipette_port = port
- self.tip_status = TipStatus.NO_TIP
- self.current_volume = 0.0
- self.max_volume = 1000.0 # 默认1000ul
- self.liquid_class = LiquidClass.WATER
- self.liquid_params = self.LIQUID_PARAMS[LiquidClass.WATER]
-
- # XYZ步进电机控制器（用于运动控制）
- self.xyz_controller: Optional[XYZController] = None
- self.xyz_port = xyz_port if xyz_port else port
- self.xyz_connected = True
-
- # 统计信息
- # self.tip_count = 0
- self.aspirate_count = 0
- self.dispense_count = 0
-
- def connect(self) -> bool:
- """连接移液器和XYZ步进电机控制器"""
- try:
- # 连接移液器
- if not self.pipette.connect():
- logger.error("移液器连接失败")
- return False
- logger.info("移液器连接成功")
-
- # 连接XYZ步进电机控制器（如果提供了端口）
- if self.xyz_port != self.pipette_port:
- try:
- self.xyz_controller = XYZController(self.xyz_port)
- if self.xyz_controller.connect():
- self.xyz_connected = True
- logger.info(f"XYZ步进电机控制器连接成功: {self.xyz_port}")
- else:
- logger.warning(f"XYZ步进电机控制器连接失败: {self.xyz_port}")
- self.xyz_controller = None
- except Exception as e:
- logger.warning(f"XYZ步进电机控制器连接异常: {e}")
- self.xyz_controller = None
- self.xyz_connected = False
- else:
- try:
- self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
- self.xyz_controller.serial_conn = self.pipette.serial_port
- self.xyz_controller.is_connected = True
- except Exception as e:
- logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
-
- return True
- except Exception as e:
- logger.error(f"设备连接失败: {e}")
- return False
-
- def initialize(self) -> bool:
- """初始化移液器"""
- try:
- if self.pipette.initialize():
- logger.info("移液器初始化成功")
- # 检查枪头状态
- self._update_tip_status()
- self.xyz_controller.home_all_axes()
- self.xyz_controller.move_to_work_coord_safe(x=0, y=-150, z=0)
- return True
- return False
- except Exception as e:
- logger.error(f"移液器初始化失败: {e}")
- return False
-
- def disconnect(self):
- """断开连接"""
- # 断开移液器连接
- self.pipette.disconnect()
- logger.info("移液器已断开")
-
- # 断开 XYZ 步进电机连接
- if self.xyz_controller and self.xyz_connected:
- try:
- self.xyz_controller.disconnect()
- self.xyz_connected = False
- logger.info("XYZ 步进电机已断开")
- except Exception as e:
- logger.error(f"断开 XYZ 步进电机失败: {e}")
-
- def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
- """
- 检查 XYZ 轴移动的安全性
-
- Args:
- axis: 电机轴
- target_position: 目标位置(步数)
-
- Returns:
- 是否安全
- """
- try:
- # 获取当前电机状态
- motor_position = self.xyz_controller.get_motor_status(axis)
-
- # 检查电机状态是否正常 (不是碰撞停止或限位停止)
- if motor_position.status in [MotorStatus.COLLISION_STOP,
- MotorStatus.FORWARD_LIMIT_STOP,
- MotorStatus.REVERSE_LIMIT_STOP]:
- logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}")
- return False
-
- # 检查位置限制 (扩大安全范围以适应实际硬件)
- # 步进电机的位置范围通常很大，这里设置更合理的范围
- if target_position < -500000 or target_position > 500000:
- logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}")
- return False
-
- # 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm)
- current_position = motor_position.steps
- move_distance = abs(target_position - current_position)
- if move_distance > 20000:
- logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步")
- return False
-
- return True
-
- except Exception as e:
- logger.error(f"安全检查失败: {e}")
- return False
-
- def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool:
- """
- Z轴相对移动
-
- Args:
- distance_mm: 移动距离(mm)，正值向下，负值向上
- speed: 移动速度(rpm)
- acceleration: 加速度(rpm/s)
-
- Returns:
- 移动是否成功
- """
- if not self.xyz_controller or not self.xyz_connected:
- logger.error("XYZ 步进电机未连接，无法执行移动")
- return False
-
- try:
- # 参数验证
- if abs(distance_mm) > 15.0:
- logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm")
- return False
-
- if speed < 100 or speed > 5000:
- logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000")
- return False
-
- # 获取当前 Z 轴位置
- current_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
- current_z_position = current_status.steps
-
- # 计算移动距离对应的步数 (1mm = 1638.4步)
- mm_to_steps = 1638.4
- move_distance_steps = int(distance_mm * mm_to_steps)
-
- # 计算目标位置
- target_z_position = current_z_position + move_distance_steps
-
- # 安全检查
- if not self._check_xyz_safety(MotorAxis.Z, target_z_position):
- logger.error("Z轴移动安全检查失败")
- return False
-
- logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)")
- logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步")
-
- # 执行移动
- success = self.xyz_controller.move_to_position(
- axis=MotorAxis.Z,
- position=target_z_position,
- speed=speed,
- acceleration=acceleration,
- precision=50
- )
-
- if not success:
- logger.error("Z轴移动命令发送失败")
- return False
-
- # 等待移动完成
- if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0):
- logger.error("Z轴移动超时")
- return False
-
- # 验证移动结果
- final_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
- final_position = final_status.steps
- position_error = abs(final_position - target_z_position)
-
- logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步")
-
- if position_error > 100:
- logger.warning(f"Z轴位置误差较大: {position_error}步")
-
- return True
-
- except ModbusException as e:
- logger.error(f"Modbus通信错误: {e}")
- return False
- except Exception as e:
- logger.error(f"Z轴移动失败: {e}")
- return False
-
- def emergency_stop(self) -> bool:
- """
- 紧急停止所有运动
-
- Returns:
- 停止是否成功
- """
- success = True
-
- # 停止移液器操作
- try:
- if self.pipette and self.connected:
- # 这里可以添加移液器的紧急停止逻辑
- logger.info("移液器紧急停止")
- except Exception as e:
- logger.error(f"移液器紧急停止失败: {e}")
- success = False
-
- # 停止 XYZ 轴运动
- try:
- if self.xyz_controller and self.xyz_connected:
- self.xyz_controller.emergency_stop()
- logger.info("XYZ 轴紧急停止")
- except Exception as e:
- logger.error(f"XYZ 轴紧急停止失败: {e}")
- success = False
-
- return success
-
- def pickup_tip(self) -> bool:
- """
- 装载枪头 - Z轴向下移动10mm进行枪头装载
-
- Returns:
- 是否成功
- """
- self._update_tip_status()
- if self.tip_status == TipStatus.TIP_ATTACHED:
- logger.warning("已有枪头，无需重复装载")
- return True
-
- logger.info("开始装载枪头 - Z轴向下移动10mm")
-
- # 使用相对移动方法，向下移动10mm
- if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500):
- # 更新枪头状态
- self._update_tip_status()
- # self.tip_status = TipStatus.TIP_ATTACHED
- # self.tip_count += 1
- self.current_volume = 0.0
- if self.tip_status == TipStatus.TIP_ATTACHED:
- logger.info("枪头装载成功")
- return True
- else :
- logger.info("枪头装载失败")
- return False
- else:
- logger.error("枪头装载失败 - Z轴移动失败")
- return False
-
- def eject_tip(self) -> bool:
- """
- 弹出枪头
-
- Returns:
- 是否成功
- """
-
- self._update_tip_status()
-
- if self.tip_status == TipStatus.NO_TIP:
- logger.warning("无枪头可弹出")
- return True
-
- try:
- if self.pipette.eject_tip():
- self._update_tip_status()
- if self.tip_status == TipStatus.NO_TIP:
- self.current_volume = 0.0
- logger.info("枪头已弹出")
- return True
- return False
- except Exception as e:
- logger.error(f"弹出枪头失败: {e}")
- return False
-
- def aspirate(self, volume: float, liquid_class: Optional[LiquidClass] = None,
- detection: bool = True) -> bool:
- """
- 吸液
-
- Args:
- volume: 吸液体积(ul)
- liquid_class: 液体类型
- detection: 是否开启液位检测
-
- Returns:
- 是否成功
- """
- self._update_tip_status()
- if self.tip_status != TipStatus.TIP_ATTACHED:
- logger.error("无枪头，无法吸液")
- return False
-
- if self.current_volume + volume > self.max_volume:
- logger.error(f"吸液量超过枪头容量: {self.current_volume + volume} > {self.max_volume}")
- return False
-
- # 设置液体参数
- if liquid_class:
- self.set_liquid_class(liquid_class)
-
- try:
- # 设置吸液速度
- self.pipette.set_max_speed(self.liquid_params.aspirate_speed)
-
- # 执行液位检测
- if detection:
- if not self.pipette.liquid_level_detection():
- logger.warning("液位检测失败，继续吸液")
-
- # 预润湿
- if self.liquid_params.pre_wet and self.current_volume == 0:
- logger.info("执行预润湿")
- self._pre_wet(volume * 0.2)
-
- # 吸液
- if self.pipette.aspirate(volume, detection=False):
- self.current_volume += volume
- self.aspirate_count += 1
-
- # 吸液后延时
- time.sleep(self.liquid_params.delay_after_aspirate)
-
- # 吸取空气间隙
- if self.liquid_params.air_gap > 0:
- self.pipette.aspirate(self.liquid_params.air_gap, detection=False)
- self.current_volume += self.liquid_params.air_gap
-
- logger.info(f"吸液完成: {volume}ul, 当前体积: {self.current_volume}ul")
- return True
- else:
- logger.error("吸液失败")
- return False
-
- except Exception as e:
- logger.error(f"吸液异常: {e}")
- return False
-
- def dispense(self, volume: float, blow_out: bool = False) -> bool:
- """
- 排液
-
- Args:
- volume: 排液体积(ul)
- blow_out: 是否吹出
-
- Returns:
- 是否成功
- """
- self._update_tip_status()
- if self.tip_status != TipStatus.TIP_ATTACHED:
- logger.error("无枪头，无法排液")
- return False
-
- if volume > self.current_volume:
- logger.error(f"排液量超过当前体积: {volume} > {self.current_volume}")
- return False
-
- try:
- # 设置排液速度
- self.pipette.set_max_speed(self.liquid_params.dispense_speed)
-
- # 排液
- if self.pipette.dispense(volume):
- self.current_volume -= volume
- self.dispense_count += 1
-
- # 排液后延时
- time.sleep(self.liquid_params.delay_after_dispense)
-
- # 吹出
- if blow_out and self.liquid_params.blow_out > 0:
- self.pipette.dispense(self.liquid_params.blow_out)
- logger.debug(f"执行吹出: {self.liquid_params.blow_out}ul")
-
- # 接触壁
- if self.liquid_params.touch_tip:
- self._touch_tip()
-
- logger.info(f"排液完成: {volume}ul, 剩余体积: {self.current_volume}ul")
- return True
- else:
- logger.error("排液失败")
- return False
-
- except Exception as e:
- logger.error(f"排液异常: {e}")
- return False
-
- def transfer(self, volume: float,
- source_well: Optional[str] = None,
- dest_well: Optional[str] = None,
- liquid_class: Optional[LiquidClass] = None,
- new_tip: bool = True,
- mix_before: Optional[Tuple[int, float]] = None,
- mix_after: Optional[Tuple[int, float]] = None) -> bool:
- """
- 液体转移
-
- Args:
- volume: 转移体积
- source_well: 源孔位
- dest_well: 目标孔位
- liquid_class: 液体类型
- new_tip: 是否使用新枪头
- mix_before: 吸液前混合(次数, 体积)
- mix_after: 排液后混合(次数, 体积)
-
- Returns:
- 是否成功
- """
- try:
- # 装载新枪头
- if new_tip:
- self.eject_tip()
- if not self.pickup_tip():
- return False
-
- # 设置液体类型
- if liquid_class:
- self.set_liquid_class(liquid_class)
-
- # 吸液前混合
- if mix_before:
- cycles, mix_vol = mix_before
- self.mix(cycles, mix_vol)
-
- # 吸液
- if not self.aspirate(volume):
- return False
-
- # 排液
- if not self.dispense(volume, blow_out=True):
- return False
-
- # 排液后混合
- if mix_after:
- cycles, mix_vol = mix_after
- self.mix(cycles, mix_vol)
-
- logger.info(f"液体转移完成: {volume}ul")
- return True
-
- except Exception as e:
- logger.error(f"液体转移失败: {e}")
- return False
-
- def mix(self, cycles: int = 3, volume: Optional[float] = None) -> bool:
- """
- 混合
-
- Args:
- cycles: 混合次数
- volume: 混合体积
-
- Returns:
- 是否成功
- """
- volume = volume or self.liquid_params.mix_volume
-
- logger.info(f"开始混合: {cycles}次, {volume}ul")
-
- for i in range(cycles):
- if not self.aspirate(volume, detection=False):
- return False
- if not self.dispense(volume):
- return False
-
- logger.info("混合完成")
- return True
-
- def _pre_wet(self, volume: float):
- """预润湿"""
- self.pipette.aspirate(volume, detection=False)
- time.sleep(0.2)
- self.pipette.dispense(volume)
- time.sleep(0.2)
-
- def _touch_tip(self):
- """接触壁(需要与运动控制配合)"""
- # TODO: 实现接触壁动作
- logger.debug("执行接触壁")
- time.sleep(0.5)
-
- def _update_tip_status(self):
- """更新枪头状态"""
- if self.pipette.get_tip_status():
- self.tip_status = TipStatus.TIP_ATTACHED
- else:
- self.tip_status = TipStatus.NO_TIP
-
- def set_liquid_class(self, liquid_class: LiquidClass):
- """设置液体类型"""
- self.liquid_class = liquid_class
- if liquid_class in self.LIQUID_PARAMS:
- self.liquid_params = self.LIQUID_PARAMS[liquid_class]
- logger.info(f"液体类型设置为: {liquid_class.value}")
-
- def set_custom_parameters(self, params: LiquidParameters):
- """设置自定义液体参数"""
- self.liquid_params = params
- self.liquid_class = LiquidClass.CUSTOM
-
- def calibrate_volume(self, expected: float, actual: float):
- """
- 体积校准
-
- Args:
- expected: 期望体积
- actual: 实际体积
- """
- factor = actual / expected
- self.pipette.set_calibration_factor(factor)
- logger.info(f"体积校准系数: {factor}")
-
- def get_status(self) -> Dict:
- """获取状态信息"""
- self._update_tip_status()
- return {
- 'tip_status': self.tip_status.value,
- 'current_volume': self.current_volume,
- 'max_volume': self.max_volume,
- 'liquid_class': self.liquid_class.value,
- 'statistics': {
- # 'tip_count': self.tip_count,
- 'aspirate_count': self.aspirate_count,
- 'dispense_count': self.dispense_count
- }
- }
-
- def reset_statistics(self):
- """重置统计信息"""
- # self.tip_count = 0
- self.aspirate_count = 0
- self.dispense_count = 0
-
-# ============================================================================
-# 实例化代码块 - 移液控制器使用示例
-# ============================================================================
-
-if __name__ == "__main__":
- # 配置日志
- import logging
-
- # 设置日志级别
- logging.basicConfig(
- level=logging.INFO,
- format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
- )
-
- def interactive_test():
- """交互式测试模式 - 适用于已连接的设备"""
- print("\n" + "=" * 60)
- print("🧪 移液器交互式测试模式")
- print("=" * 60)
-
- # 获取用户输入的连接参数
- print("\n📡 设备连接配置:")
- port = input("请输入移液器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
- address_input = input("请输入移液器设备地址 (默认: 4): ").strip()
- address = int(address_input) if address_input else 4
-
- # 询问是否连接 XYZ 步进电机控制器
- xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower()
- xyz_port = None
- if xyz_enable not in ['n', 'no']:
- xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
-
- try:
- # 创建移液控制器实例
- if xyz_port:
- print(f"\n🔧 创建移液控制器实例 (移液器端口: {port}, 地址: {address}, XYZ端口: {xyz_port})...")
- pipette = PipetteController(port=port, address=address, xyz_port=xyz_port)
- else:
- print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...")
- pipette = PipetteController(port=port, address=address)
-
- # 连接设备
- print("\n📞 连接移液器设备...")
- if not pipette.connect():
- print("❌ 设备连接失败，请检查连接")
- return
- print("✅ 设备连接成功")
-
- # 初始化设备
- print("\n🚀 初始化设备...")
- if not pipette.initialize():
- print("❌ 设备初始化失败")
- return
- print("✅ 设备初始化成功")
-
- # 交互式菜单
- while True:
- print("\n" + "=" * 50)
- print("🎮 交互式操作菜单:")
- print("1. 📋 查看设备状态")
- print("2. 🔧 装载枪头")
- print("3. 🗑️ 弹出枪头")
- print("4. 💧 吸液操作")
- print("5. 💦 排液操作")
- print("6. 🌀 混合操作")
- print("7. 🔄 液体转移")
- print("8. ⚙️ 设置液体类型")
- print("9. 🎯 自定义参数")
- print("10. 📊 校准体积")
- print("11. 🧹 重置统计")
- print("12. 🔍 液体类型测试")
- print("99. 🚨 紧急停止")
- print("0. 🚪 退出程序")
- print("=" * 50)
-
- choice = input("\n请选择操作 (0-12, 99): ").strip()
-
- if choice == "0":
- print("\n👋 退出程序...")
- break
- elif choice == "1":
- # 查看设备状态
- status = pipette.get_status()
- print("\n📊 设备状态信息:")
- print(f" 🎯 枪头状态: {status['tip_status']}")
- print(f" 💧 当前体积: {status['current_volume']}ul")
- print(f" 📏 最大体积: {status['max_volume']}ul")
- print(f" 🧪 液体类型: {status['liquid_class']}")
- print(f" 📈 统计信息:")
- # print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
- print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
- print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
-
- elif choice == "2":
- # 装载枪头
- print("\n🔧 装载枪头...")
- if pipette.xyz_connected:
- print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)")
- else:
- print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载")
-
- if pipette.pickup_tip():
- print("✅ 枪头装载成功")
- if pipette.xyz_connected:
- print("📍 Z 轴已移动到装载位置")
- else:
- print("❌ 枪头装载失败")
-
- elif choice == "3":
- # 弹出枪头
- print("\n🗑️ 弹出枪头...")
- if pipette.eject_tip():
- print("✅ 枪头弹出成功")
- else:
- print("❌ 枪头弹出失败")
-
- elif choice == "4":
- # 吸液操作
- try:
- volume = float(input("请输入吸液体积 (ul): "))
- detection = input("是否启用液面检测? (y/n, 默认y): ").strip().lower() != 'n'
- print(f"\n💧 执行吸液操作 ({volume}ul)...")
- if pipette.aspirate(volume, detection=detection):
- print(f"✅ 吸液成功: {volume}ul")
- print(f"📊 当前体积: {pipette.current_volume}ul")
- else:
- print("❌ 吸液失败")
- except ValueError:
- print("❌ 请输入有效的数字")
-
- elif choice == "5":
- # 排液操作
- try:
- volume = float(input("请输入排液体积 (ul): "))
- blow_out = input("是否执行吹出操作? (y/n, 默认n): ").strip().lower() == 'y'
- print(f"\n💦 执行排液操作 ({volume}ul)...")
- if pipette.dispense(volume, blow_out=blow_out):
- print(f"✅ 排液成功: {volume}ul")
- print(f"📊 剩余体积: {pipette.current_volume}ul")
- else:
- print("❌ 排液失败")
- except ValueError:
- print("❌ 请输入有效的数字")
-
- elif choice == "6":
- # 混合操作
- try:
- cycles = int(input("请输入混合次数 (默认3): ") or "3")
- volume_input = input("请输入混合体积 (ul, 默认使用当前体积的50%): ").strip()
- volume = float(volume_input) if volume_input else None
- print(f"\n🌀 执行混合操作 ({cycles}次)...")
- if pipette.mix(cycles=cycles, volume=volume):
- print("✅ 混合完成")
- else:
- print("❌ 混合失败")
- except ValueError:
- print("❌ 请输入有效的数字")
-
- elif choice == "7":
- # 液体转移
- try:
- volume = float(input("请输入转移体积 (ul): "))
- source = input("源孔位 (可选, 如A1): ").strip() or None
- dest = input("目标孔位 (可选, 如B1): ").strip() or None
- new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n'
-
- print(f"\n🔄 执行液体转移 ({volume}ul)...")
- if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip):
- print("✅ 液体转移完成")
- else:
- print("❌ 液体转移失败")
- except ValueError:
- print("❌ 请输入有效的数字")
-
- elif choice == "8":
- # 设置液体类型
- print("\n🧪 可用液体类型:")
- liquid_options = {
- "1": (LiquidClass.WATER, "水溶液"),
- "2": (LiquidClass.SERUM, "血清"),
- "3": (LiquidClass.VISCOUS, "粘稠液体"),
- "4": (LiquidClass.VOLATILE, "挥发性液体")
- }
-
- for key, (liquid_class, description) in liquid_options.items():
- print(f" {key}. {description}")
-
- liquid_choice = input("请选择液体类型 (1-4): ").strip()
- if liquid_choice in liquid_options:
- liquid_class, description = liquid_options[liquid_choice]
- pipette.set_liquid_class(liquid_class)
- print(f"✅ 液体类型设置为: {description}")
-
- # 显示参数
- params = pipette.liquid_params
- print(f"📋 参数设置:")
- print(f" ⬆️ 吸液速度: {params.aspirate_speed}")
- print(f" ⬇️ 排液速度: {params.dispense_speed}")
- print(f" 💨 空气间隙: {params.air_gap}ul")
- print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
- else:
- print("❌ 无效选择")
-
- elif choice == "9":
- # 自定义参数
- try:
- print("\n⚙️ 设置自定义参数 (直接回车使用默认值):")
- aspirate_speed = input("吸液速度 (默认500): ").strip()
- dispense_speed = input("排液速度 (默认800): ").strip()
- air_gap = input("空气间隙 (ul, 默认10.0): ").strip()
- pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y'
-
- custom_params = LiquidParameters(
- aspirate_speed=int(aspirate_speed) if aspirate_speed else 500,
- dispense_speed=int(dispense_speed) if dispense_speed else 800,
- air_gap=float(air_gap) if air_gap else 10.0,
- pre_wet=pre_wet
- )
-
- pipette.set_custom_parameters(custom_params)
- print("✅ 自定义参数设置完成")
- except ValueError:
- print("❌ 请输入有效的数字")
-
- elif choice == "10":
- # 校准体积
- try:
- expected = float(input("期望体积 (ul): "))
- actual = float(input("实际测量体积 (ul): "))
- pipette.calibrate_volume(expected, actual)
- print(f"✅ 校准完成，校准系数: {actual/expected:.3f}")
- except ValueError:
- print("❌ 请输入有效的数字")
-
- elif choice == "11":
- # 重置统计
- pipette.reset_statistics()
- print("✅ 统计信息已重置")
-
- elif choice == "12":
- # 液体类型测试
- print("\n🧪 液体类型参数对比:")
- liquid_tests = [
- (LiquidClass.WATER, "水溶液"),
- (LiquidClass.SERUM, "血清"),
- (LiquidClass.VISCOUS, "粘稠液体"),
- (LiquidClass.VOLATILE, "挥发性液体")
- ]
-
- for liquid_class, description in liquid_tests:
- params = pipette.LIQUID_PARAMS[liquid_class]
- print(f"\n📋 {description} ({liquid_class.value}):")
- print(f" ⬆️ 吸液速度: {params.aspirate_speed}")
- print(f" ⬇️ 排液速度: {params.dispense_speed}")
- print(f" 💨 空气间隙: {params.air_gap}ul")
- print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
- print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s")
-
- elif choice == "99":
- # 紧急停止
- print("\n🚨 执行紧急停止...")
- success = pipette.emergency_stop()
- if success:
- print("✅ 紧急停止执行成功")
- print("⚠️ 所有运动已停止，请检查设备状态")
- else:
- print("❌ 紧急停止执行失败")
- print("⚠️ 请手动检查设备状态并采取必要措施")
-
- # 紧急停止后询问是否继续
- continue_choice = input("\n是否继续操作？(y/n): ").strip().lower()
- if continue_choice != 'y':
- print("🚪 退出程序")
- break
-
- else:
- print("❌ 无效选择，请重新输入")
-
- # 等待用户确认继续
- input("\n按回车键继续...")
-
- except KeyboardInterrupt:
- print("\n\n⚠️ 用户中断操作")
- except Exception as e:
- print(f"\n❌ 发生异常: {e}")
- finally:
- # 断开连接
- print("\n📞 断开设备连接...")
- try:
- pipette.disconnect()
- print("✅ 连接已断开")
- except:
- print("⚠️ 断开连接时出现问题")
-
- def demo_test():
- """演示测试模式 - 完整功能演示"""
- print("\n" + "=" * 60)
- print("🎬 移液控制器演示测试")
- print("=" * 60)
-
- try:
- # 创建移液控制器实例
- print("1. 🔧 创建移液控制器实例...")
- pipette = PipetteController(port="/dev/ttyUSB0", address=4)
- print("✅ 移液控制器实例创建成功")
-
- # 连接设备
- print("\n2. 📞 连接移液器设备...")
- if pipette.connect():
- print("✅ 设备连接成功")
- else:
- print("❌ 设备连接失败")
- return False
-
- # 初始化设备
- print("\n3. 🚀 初始化设备...")
- if pipette.initialize():
- print("✅ 设备初始化成功")
- else:
- print("❌ 设备初始化失败")
- return False
-
- # 装载枪头
- print("\n4. 🔧 装载枪头...")
- if pipette.pickup_tip():
- print("✅ 枪头装载成功")
- else:
- print("❌ 枪头装载失败")
-
- # 设置液体类型
- print("\n5. 🧪 设置液体类型为血清...")
- pipette.set_liquid_class(LiquidClass.SERUM)
- print("✅ 液体类型设置完成")
-
- # 吸液操作
- print("\n6. 💧 执行吸液操作...")
- volume_to_aspirate = 100.0
- if pipette.aspirate(volume_to_aspirate, detection=True):
- print(f"✅ 吸液成功: {volume_to_aspirate}ul")
- print(f"📊 当前体积: {pipette.current_volume}ul")
- else:
- print("❌ 吸液失败")
-
- # 排液操作
- print("\n7. 💦 执行排液操作...")
- volume_to_dispense = 50.0
- if pipette.dispense(volume_to_dispense, blow_out=True):
- print(f"✅ 排液成功: {volume_to_dispense}ul")
- print(f"📊 剩余体积: {pipette.current_volume}ul")
- else:
- print("❌ 排液失败")
-
- # 混合操作
- print("\n8. 🌀 执行混合操作...")
- if pipette.mix(cycles=3, volume=30.0):
- print("✅ 混合完成")
- else:
- print("❌ 混合失败")
-
- # 获取状态信息
- print("\n9. 📊 获取设备状态...")
- status = pipette.get_status()
- print("设备状态信息:")
- print(f" 🎯 枪头状态: {status['tip_status']}")
- print(f" 💧 当前体积: {status['current_volume']}ul")
- print(f" 📏 最大体积: {status['max_volume']}ul")
- print(f" 🧪 液体类型: {status['liquid_class']}")
- print(f" 📈 统计信息:")
- # print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
- print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
- print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
-
- # 弹出枪头
- print("\n10. 🗑️ 弹出枪头...")
- if pipette.eject_tip():
- print("✅ 枪头弹出成功")
- else:
- print("❌ 枪头弹出失败")
-
- print("\n" + "=" * 60)
- print("✅ 移液控制器演示测试完成")
- print("=" * 60)
-
- return True
-
- except Exception as e:
- print(f"\n❌ 测试过程中发生异常: {e}")
- return False
-
- finally:
- # 断开连接
- print("\n📞 断开连接...")
- pipette.disconnect()
- print("✅ 连接已断开")
-
- # 主程序入口
- print("🧪 移液器控制器测试程序")
- print("=" * 40)
- print("1. 🎮 交互式测试 (推荐)")
- print("2. 🎬 演示测试")
- print("0. 🚪 退出")
- print("=" * 40)
-
- mode = input("请选择测试模式 (0-2): ").strip()
-
- if mode == "1":
- interactive_test()
- elif mode == "2":
- demo_test()
- elif mode == "0":
- print("👋 再见！")
- else:
- print("❌ 无效选择")
-
- print("\n🎉 程序结束！")
- print("\n💡 使用说明:")
- print("1. 确保移液器硬件已正确连接")
- print("2. 根据实际情况修改串口端口号")
- print("3. 交互模式支持实时操作和参数调整")
- print("4. 在实际使用中需要配合运动控制器进行位置移动")
diff --git a/unilabos/devices/liquid_handling/laiyu/controllers/xyz_controller.py b/unilabos/devices/liquid_handling/laiyu/controllers/xyz_controller.py
deleted file mode 100644
index e06624ad..00000000
--- a/unilabos/devices/liquid_handling/laiyu/controllers/xyz_controller.py
+++ /dev/null
@@ -1,1253 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-XYZ三轴步进电机控制器
-支持坐标系管理、限位开关回零、工作原点设定等功能
-
-主要功能：
-- 坐标系转换层（步数↔毫米）
-- 限位开关回零功能
-- 工作原点示教和保存
-- 安全限位检查
-- 运动控制接口
-
-"""
-
-import json
-import os
-from re import X
-import time
-from typing import Optional, Dict, Tuple, Union
-from dataclasses import dataclass, field, asdict
-from pathlib import Path
-import logging
-
-# 添加项目根目录到Python路径以解决模块导入问题
-import sys
-import os
-
-# 无论如何都添加项目根目录到路径
-current_file = os.path.abspath(__file__)
-# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/xyz_controller.py
-# 向上5级到 .../Uni-Lab-OS
-project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
-# 强制添加项目根目录到sys.path的开头
-sys.path.insert(0, project_root)
-
-# 导入原有的驱动
-from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import XYZStepperController, MotorAxis, MotorStatus
-
-logger = logging.getLogger(__name__)
-
-
-@dataclass
-class MachineConfig:
- """机械配置参数"""
- # 步距配置 (基于16384步/圈的步进电机)
- steps_per_mm_x: float = 204.8 # X轴步距 (16384步/圈 ÷ 80mm导程)
- steps_per_mm_y: float = 204.8 # Y轴步距 (16384步/圈 ÷ 80mm导程)
- steps_per_mm_z: float = 3276.8 # Z轴步距 (16384步/圈 ÷ 5mm导程)
-
- # 行程限制
- max_travel_x: float = 340.0 # X轴最大行程
- max_travel_y: float = 250.0 # Y轴最大行程
- max_travel_z: float = 200.0 # Z轴最大行程
- reference_distance: Dict[str, float] = field(default_factory=lambda: {
- "x": 29,
- "y": -13,
- "z": -75.5
- })
- # 安全移动参数
- safe_z_height: float = 0.0 # Z轴安全移动高度 (mm) - 液体处理工作站安全高度
- z_approach_height: float = 5.0 # Z轴接近高度 (mm) - 在目标位置上方的预备高度
-
- # 回零参数
- homing_speed: int = 50 # 回零速度 (mm/s)
- homing_timeout: float = 30.0 # 回零超时时间
- safe_clearance: float = 10.0 # 安全间隙 (mm)
- position_stable_time: float = 1.0 # 位置稳定检测时间（秒）
- position_check_interval: float = 0.2 # 位置检查间隔（秒）
-
- # 运动参数
- default_speed: int = 50 # 默认运动速度 (mm/s)
- default_acceleration: int = 1000 # 默认加速度
-
-
-@dataclass
-class CoordinateOrigin:
- """坐标原点信息"""
- machine_origin_steps: Dict[str, int] = None # 机械原点步数位置
- work_origin_steps: Dict[str, int] = None # 工作原点步数位置
- is_homed: bool = False # 是否已回零
- timestamp: str = "" # 设定时间戳
-
- def __post_init__(self):
- if self.machine_origin_steps is None:
- self.machine_origin_steps = {"x": 0, "y": 0, "z": 0}
- if self.work_origin_steps is None:
- self.work_origin_steps = {"x": 0, "y": 0, "z": 0}
-
-
-class CoordinateSystemError(Exception):
- """坐标系统异常"""
- pass
-
-
-class XYZController(XYZStepperController):
- """XYZ三轴控制器"""
-
- def __init__(self, port: str, baudrate: int = 115200,
- machine_config: Optional[MachineConfig] = None,
- config_file: str = "machine_config.json",
- auto_connect: bool = True):
- """
- 初始化XYZ控制器
-
- Args:
- port: 串口端口
- baudrate: 波特率
- machine_config: 机械配置参数
- config_file: 配置文件路径
- auto_connect: 是否自动连接设备
- """
- super().__init__(port, baudrate)
-
- # 机械配置
- self.machine_config = machine_config or MachineConfig()
- self.config_file = config_file
-
- # 坐标系统
- self.coordinate_origin = CoordinateOrigin()
- import os
- self.origin_file = os.path.join(os.path.dirname(os.path.abspath(__file__)), "coordinate_origin.json")
-
- # 连接状态
- self.is_connected = False
-
- # 加载配置
- self._load_config()
- self._load_coordinate_origin()
-
- # 自动连接设备
- if auto_connect:
- self.connect_device()
-
- def connect_device(self) -> bool:
- """
- 连接设备并初始化
-
- Returns:
- bool: 连接是否成功
- """
- try:
- logger.info(f"正在连接设备: {self.port}")
-
- # 连接硬件
- if not self.connect():
- logger.error("硬件连接失败")
- return False
-
- self.is_connected = True
- logger.info("设备连接成功")
-
- # 使能所有轴
- enable_results = self.enable_all_axes(True)
- success_count = sum(1 for result in enable_results.values() if result)
- logger.info(f"轴使能结果: {success_count}/{len(enable_results)} 成功")
-
- # 获取系统状态
- try:
- status = self.get_system_status()
- logger.info(f"系统状态获取成功: {len(status)} 项信息")
- except Exception as e:
- logger.warning(f"获取系统状态失败: {e}")
-
- return True
-
- except Exception as e:
- logger.error(f"设备连接失败: {e}")
- self.is_connected = False
- return False
-
- def disconnect_device(self):
- """断开设备连接"""
- try:
- if self.is_connected:
- self.disconnect() # 使用父类的disconnect方法
- self.is_connected = False
- logger.info("设备连接已断开")
- except Exception as e:
- logger.error(f"断开连接失败: {e}")
-
- def _load_config(self):
- """加载机械配置"""
- try:
- if os.path.exists(self.config_file):
- with open(self.config_file, 'r', encoding='utf-8') as f:
- config_data = json.load(f)
- # 更新配置参数
- for key, value in config_data.items():
- if hasattr(self.machine_config, key):
- setattr(self.machine_config, key, value)
- logger.info("机械配置加载完成")
- except Exception as e:
- logger.warning(f"加载机械配置失败: {e}，使用默认配置")
-
- def _save_config(self):
- """保存机械配置"""
- try:
- with open(self.config_file, 'w', encoding='utf-8') as f:
- json.dump(asdict(self.machine_config), f, indent=2, ensure_ascii=False)
- logger.info("机械配置保存完成")
- except Exception as e:
- logger.error(f"保存机械配置失败: {e}")
-
- def _load_coordinate_origin(self):
- """加载坐标原点信息"""
- try:
- if os.path.exists(self.origin_file):
- with open(self.origin_file, 'r', encoding='utf-8') as f:
- origin_data = json.load(f)
-
- for key, value in origin_data["machine_origin_steps"].items():
- origin_data["machine_origin_steps"][key] = round(self.mm_to_steps(MotorAxis[key.upper()], value), 2)
-
- for key, value in origin_data["work_origin_steps"].items():
- origin_data["work_origin_steps"][key] = round(self.mm_to_steps(MotorAxis[key.upper()], value), 2)
-
- self.coordinate_origin = CoordinateOrigin(**origin_data)
- logger.info("坐标原点信息加载完成")
- except Exception as e:
- logger.warning(f"加载坐标原点失败: {e}，使用默认设置")
-
- def _save_coordinate_origin(self):
- """保存坐标原点信息"""
- try:
- # 更新时间戳
- from datetime import datetime
- self.coordinate_origin.timestamp = datetime.now().isoformat()
-
- with open(self.origin_file, 'w', encoding='utf-8') as f:
- json_data = asdict(self.coordinate_origin)
- for key, value in json_data["machine_origin_steps"].items():
- json_data["machine_origin_steps"][key] = round(self.steps_to_mm(MotorAxis[key.upper()], value), 2)
-
- for key, value in json_data["work_origin_steps"].items():
- json_data["work_origin_steps"][key] = round(self.steps_to_mm(MotorAxis[key.upper()], value), 2)
-
- json.dump(json_data, f, indent=2, ensure_ascii=False)
- logger.info("坐标原点信息保存完成")
- except Exception as e:
- logger.error(f"保存坐标原点失败: {e}")
-
- # ==================== 坐标转换方法 ====================
-
- def mm_to_steps(self, axis: MotorAxis, mm: float) -> int:
- """毫米转步数"""
- if axis == MotorAxis.X:
- return int(mm * self.machine_config.steps_per_mm_x)
- elif axis == MotorAxis.Y:
- return int(mm * self.machine_config.steps_per_mm_y)
- elif axis == MotorAxis.Z:
- return int(mm * self.machine_config.steps_per_mm_z)
- else:
- raise ValueError(f"未知轴: {axis}")
-
- def steps_to_mm(self, axis: MotorAxis, steps: int) -> float:
- """步数转毫米"""
- if axis == MotorAxis.X:
- return steps / self.machine_config.steps_per_mm_x
- elif axis == MotorAxis.Y:
- return steps / self.machine_config.steps_per_mm_y
- elif axis == MotorAxis.Z:
- return steps / self.machine_config.steps_per_mm_z
- else:
- raise ValueError(f"未知轴: {axis}")
-
- def work_to_machine_steps(self, x: float = None, y: float = None, z: float = None) -> Dict[str, int]:
- """工作坐标转机械坐标步数"""
- machine_steps = {}
-
- if x is not None:
- work_steps = self.mm_to_steps(MotorAxis.X, x)
- machine_steps['x'] = self.coordinate_origin.work_origin_steps['x'] + work_steps + self.coordinate_origin.machine_origin_steps['x']
-
- if y is not None:
- work_steps = self.mm_to_steps(MotorAxis.Y, y)
- machine_steps['y'] = self.coordinate_origin.work_origin_steps['y'] + work_steps + self.coordinate_origin.machine_origin_steps['y']
-
- if z is not None:
- work_steps = self.mm_to_steps(MotorAxis.Z, z)
- machine_steps['z'] = self.coordinate_origin.work_origin_steps['z'] + work_steps + self.coordinate_origin.machine_origin_steps['z']
-
- return machine_steps
-
- def machine_to_work_coords(self, machine_steps: Dict[str, int]) -> Dict[str, float]:
- """机械坐标步数转工作坐标"""
- work_coords = {}
-
- for axis_name, steps in machine_steps.items():
- axis = MotorAxis[axis_name.upper()]
- work_origin_steps = self.coordinate_origin.work_origin_steps[axis_name]
- relative_steps = steps - work_origin_steps - self.coordinate_origin.machine_origin_steps[axis_name]
- work_coords[axis_name] = self.steps_to_mm(axis, relative_steps)
-
- return work_coords
-
- def check_travel_limits(self, x: float = None, y: float = None, z: float = None) -> bool:
- """检查行程限制"""
- min_x = min(0, -50)
- min_y = min(0, -50)
- min_z = min(0, -50)
-
- if x is not None and (x < min_x or x > self.machine_config.max_travel_x):
- raise CoordinateSystemError(f"X轴超出行程范围: {x}mm ({min_x} ~ {self.machine_config.max_travel_x}mm)")
-
- if y is not None and (y < min_y or y > self.machine_config.max_travel_y):
- raise CoordinateSystemError(f"Y轴超出行程范围: {y}mm ({min_y} ~ {self.machine_config.max_travel_y}mm)")
-
- if z is not None and (z < min_z or z > self.machine_config.max_travel_z):
- raise CoordinateSystemError(f"Z轴超出行程范围: {z}mm ({min_z} ~ {self.machine_config.max_travel_z}mm)")
-
- return True
-
- # ==================== 回零和原点设定方法 ====================
-
- def home_axis(self, axis: MotorAxis, direction: int = -1, speed: float = None) -> bool:
- """
- 单轴回零到限位开关 - 使用步数变化检测
-
- Args:
- axis: 要回零的轴
- direction: 回零方向 (-1负方向, 1正方向)
-
- Returns:
- bool: 回零是否成功
- """
- if not self.is_connected:
- logger.error("设备未连接，无法执行回零操作")
- return False
-
- try:
- logger.info(f"开始{axis.name}轴回零")
-
- # 使能电机
- if not self.enable_motor(axis, True):
- raise CoordinateSystemError(f"{axis.name}轴使能失败")
-
- # 设置回零速度模式，根据方向设置正负
- if speed is None:
- speed_ = self.machine_config.homing_speed
- else:
- speed_ = speed
-
- speed_ = min(max(speed_, 0), 500)
- if not self.set_speed_mode(axis, self.ms_to_rpm(axis, speed_) * direction):
- raise CoordinateSystemError(f"{axis.name}轴设置回零速度失败")
-
-
-
- # 智能回零检测 - 基于步数变化
- start_time = time.time()
- limit_detected = False
- final_position = None
-
- # 步数变化检测参数（从配置获取）
- position_stable_time = self.machine_config.position_stable_time
- check_interval = self.machine_config.position_check_interval
- last_position = None
- stable_start_time = None
-
- logger.info(f"{axis.name}轴开始移动，监测步数变化...")
-
- while time.time() - start_time < self.machine_config.homing_timeout:
- status = self.get_motor_status(axis)
- current_position = status.steps
-
- # 检查是否明确触碰限位开关
- if (direction < 0 and status.status == MotorStatus.REVERSE_LIMIT_STOP) or \
- (direction > 0 and status.status == MotorStatus.FORWARD_LIMIT_STOP):
- # 停止运动
- self.emergency_stop(axis)
- time.sleep(0.5)
-
- # 记录机械原点位置
- final_position = current_position
- limit_detected = True
- logger.info(f"{axis.name}轴检测到限位开关信号，位置: {final_position}步")
- break
-
- # 检查是否发生碰撞
- if status.status == MotorStatus.COLLISION_STOP:
- raise CoordinateSystemError(f"{axis.name}轴回零时发生碰撞")
-
- # 步数变化检测逻辑
- if last_position is not None:
- # 检查位置是否发生变化
- if abs(current_position - last_position) <= 1: # 允许1步的误差
- # 位置基本没有变化
- if stable_start_time is None:
- stable_start_time = time.time()
- logger.debug(f"{axis.name}轴位置开始稳定在 {current_position}步")
- elif time.time() - stable_start_time >= position_stable_time:
- # 位置稳定超过指定时间，认为已到达限位
- self.emergency_stop(axis)
- time.sleep(0.5)
-
- final_position = current_position
- limit_detected = True
- logger.info(f"{axis.name}轴位置稳定{position_stable_time}秒，假设已到达限位开关，位置: {final_position}步")
- break
- else:
- # 位置发生变化，重置稳定计时
- stable_start_time = None
- logger.debug(f"{axis.name}轴位置变化: {last_position} -> {current_position}")
-
- last_position = current_position
- time.sleep(check_interval)
-
- # 超时处理
- if not limit_detected:
- logger.warning(f"{axis.name}轴回零超时({self.machine_config.homing_timeout}秒)，强制停止")
- self.emergency_stop(axis)
- time.sleep(0.5)
-
- # 获取当前位置作为机械原点
- try:
- status = self.get_motor_status(axis)
- final_position = status.steps
- logger.info(f"{axis.name}轴超时后位置: {final_position}步")
- except Exception as e:
- logger.error(f"获取{axis.name}轴位置失败: {e}")
- return False
-
- # 记录机械原点位置
- self.coordinate_origin.machine_origin_steps[axis.name.lower()] = final_position
-
- # 从限位开关退出安全距离
- try:
- clearance_steps = self.mm_to_steps(axis, self.machine_config.safe_clearance)
- safe_position = final_position + (clearance_steps * -direction) # 反方向退出
-
- if not self.move_to_position(axis, safe_position,
- self.ms_to_rpm(axis, speed_)):
- logger.warning(f"{axis.name}轴无法退出到安全位置")
- else:
- self.wait_for_completion(axis, 10.0)
- logger.info(f"{axis.name}轴已退出到安全位置: {safe_position}步")
- except Exception as e:
- logger.warning(f"{axis.name}轴退出安全位置时出错: {e}")
-
- status_msg = "限位检测成功" if limit_detected else "超时假设成功"
- logger.info(f"{axis.name}轴回零完成 ({status_msg})，机械原点: {final_position}步")
- return True
-
- except Exception as e:
- logger.error(f"{axis.name}轴回零失败: {e}")
- self.emergency_stop(axis)
- return False
-
- def home_all_axes(self, sequence: list = None) -> bool:
- """
- 全轴回零 (液体处理工作站安全回零)
-
- 液体处理工作站回零策略：
- 1. Z轴必须首先回零，避免与容器、试管架等碰撞
- 2. 然后XY轴回零，确保移动路径安全
- 3. 严格按照Z->X->Y顺序执行，不允许更改
-
- Args:
- sequence: 回零顺序，液体处理工作站固定为Z->X->Y，不建议修改
-
- Returns:
- bool: 全轴回零是否成功
- """
- if not self.is_connected:
- logger.error("设备未连接，无法执行回零操作")
- return False
-
- # 液体处理工作站安全回零序列：Z轴绝对优先
- safe_sequence = [MotorAxis.Z, MotorAxis.X, MotorAxis.Y]
-
- if sequence is not None and sequence != safe_sequence:
- logger.warning(f"液体处理工作站不建议修改回零序列，使用安全序列: {[axis.name for axis in safe_sequence]}")
-
- sequence = safe_sequence # 强制使用安全序列
-
- logger.info("开始全轴回零")
-
- try:
- for axis in sequence:
- if not self.home_axis(axis):
- logger.error(f"全轴回零失败，停止在{axis.name}轴")
- return False
- # 轴间等待时间
- time.sleep(0.5)
-
- # 标记为已回零
- self.coordinate_origin.is_homed = True
- self._save_coordinate_origin()
-
- logger.info("全轴回零完成")
- return True
-
- except Exception as e:
- logger.error(f"全轴回零异常: {e}")
- return False
-
- def set_work_origin_here(self) -> bool:
- """将当前位置设置为工作原点"""
- if not self.is_connected:
- logger.error("设备未连接，无法设置工作原点")
- return False
-
- try:
- if not self.coordinate_origin.is_homed:
- logger.warning("建议先执行回零操作再设置工作原点")
-
- # 获取当前各轴位置
- positions = self.get_all_positions()
-
- machine_steps = {
- 'x': self.mm_to_steps(MotorAxis.X, self.machine_config.reference_distance['x']),
- 'y': self.mm_to_steps(MotorAxis.Y, self.machine_config.reference_distance['y']),
- 'z': self.mm_to_steps(MotorAxis.Z, self.machine_config.reference_distance['z'])
- }
-
- for axis in MotorAxis:
- axis_name = axis.name.lower()
- current_steps = positions[axis].steps
- self.coordinate_origin.work_origin_steps[axis_name] = current_steps + machine_steps[axis_name] - self.coordinate_origin.machine_origin_steps[axis_name]
-
- logger.info(f"{axis.name}轴工作原点设置为: {current_steps + machine_steps[axis_name] - self.coordinate_origin.machine_origin_steps[axis_name]}步 "
- f"({self.steps_to_mm(axis, current_steps + machine_steps[axis_name] - self.coordinate_origin.machine_origin_steps[axis_name]):.2f}mm)")
-
- self._save_coordinate_origin()
- logger.info("工作原点设置完成")
- return True
-
- except Exception as e:
- logger.error(f"设置工作原点失败: {e}")
- return False
-
- def ms_to_rpm(self, axis: MotorAxis, velocity_mms: float) -> int:
- """
- 将速度从米/秒(m/s)转换为转速(rpm)
-
- Args:
- axis: 电机轴
- velocity_ms: 速度（米/秒）
-
- Returns:
- 转速（rpm）
- """
- # 获取每转的行程（mm）
- if axis == MotorAxis.X:
- lead_mm = 80.0
- elif axis == MotorAxis.Y:
- lead_mm = 80.0
- elif axis == MotorAxis.Z:
- lead_mm = 5.0
- else:
- raise ValueError(f"未知轴: {axis}")
-
- # mm/s -> rps
- rps = velocity_mms / lead_mm
- # rps -> rpm
- rpm = int(rps * 60.0)
- return min(max(rpm, 0), 150)
-
-
- # ==================== 高级运动控制方法 ====================
-
- def move_to_work_coord_safe(self, x: float = None, y: float = None, z: float = None,
- speed: float = None, acceleration: int = None) -> bool:
- """
- 安全移动到工作坐标系指定位置 (液体处理工作站专用)
- 移动策略：Z轴先上升到安全高度 -> XY轴移动到目标位置 -> Z轴下降到目标位置
-
- Args:
- x, y, z: 工作坐标系下的目标位置 (mm)
- speed: 运动速度 (m/s)
- acceleration: 加速度 (rpm/s)
-
- Returns:
- bool: 移动是否成功
- """
- if not self.is_connected:
- logger.error("设备未连接，无法执行移动操作")
- return False
-
- try:
- # 检查坐标系是否已设置
- if not self.coordinate_origin.work_origin_steps:
- raise CoordinateSystemError("工作原点未设置，请先调用set_work_origin_here()")
-
- # 检查行程限制
- # self.check_travel_limits(x, y, z)
-
- # 设置运动参数
- speed = speed or self.machine_config.default_speed
- acceleration = acceleration or self.machine_config.default_acceleration
-
- xy_success = True
- # 步骤1: Z轴先上升到安全高度
-
- machine_steps = self.work_to_machine_steps(x, y, z)
-
- if z is not None and (x is not None or y is not None):
- safe_z_steps = self.work_to_machine_steps(None, None, self.machine_config.safe_z_height)
- if not self.move_to_position(MotorAxis.Z, safe_z_steps['z'], self.ms_to_rpm(MotorAxis.Z, speed), acceleration):
- logger.error("Z轴上升到安全高度失败")
- return False
- logger.info(f"Z轴上升到安全高度: {self.machine_config.safe_z_height} mm")
-
- # 等待Z轴移动完成
- self.wait_for_completion(MotorAxis.Z, 10.0)
-
- # 步骤2: XY轴移动到目标位置
- if x is not None:
- if not self.move_to_position(MotorAxis.X, machine_steps['x'], self.ms_to_rpm(MotorAxis.X, speed), acceleration):
- xy_success = False
- if y is not None:
- if not self.move_to_position(MotorAxis.Y, machine_steps['y'], self.ms_to_rpm(MotorAxis.Y, speed), acceleration):
- xy_success = False
-
- if not xy_success:
- logger.error("XY轴移动失败")
- return False
-
-
- if x is not None or y is not None:
- logger.info(f"XY轴移动到目标位置: X:{x} Y:{y} mm")
- # 等待XY轴移动完成
- if x is not None:
- self.wait_for_completion(MotorAxis.X, 10.0)
- if y is not None:
- self.wait_for_completion(MotorAxis.Y, 10.0)
-
- # 步骤3: Z轴下降到目标位置
- if z is not None:
- if not self.move_to_position(MotorAxis.Z, machine_steps['z'], self.ms_to_rpm(MotorAxis.Z, speed), acceleration):
- logger.error("Z轴下降到目标位置失败")
- return False
- logger.info(f"Z轴下降到目标位置: {z} mm")
- self.wait_for_completion(MotorAxis.Z, 10.0)
-
- logger.info(f"安全移动到工作坐标 X:{x} Y:{y} Z:{z} (mm) 完成")
- return True
-
- except Exception as e:
- logger.error(f"安全移动失败: {e}")
- return False
-
- def move_to_work_coord(self, x: float = None, y: float = None, z: float = None,
- speed: int = None, acceleration: int = None) -> bool:
- """
- 移动到工作坐标 (已禁用)
-
- 此方法已被禁用，请使用 move_to_work_coord_safe() 方法。
-
- Raises:
- RuntimeError: 方法已禁用
- """
- error_msg = "Method disabled, use move_to_work_coord_safe instead"
- logger.error(error_msg)
- raise RuntimeError(error_msg)
-
- def move_relative_work_coord(self, dx: float = 0, dy: float = 0, dz: float = 0,
- speed: float = None, acceleration: int = None) -> bool:
- """
- 相对当前位置移动
-
- Args:
- dx, dy, dz: 相对移动距离 (mm)
- speed: 运动速度 (m/s)
- acceleration: 加速度 (rpm/s)
-
- Returns:
- bool: 移动是否成功
- """
- if not self.is_connected:
- logger.error("设备未连接，无法执行移动操作")
- return False
-
- try:
- # 获取当前工作坐标
- current_work = self.get_current_work_coords()
-
- # 计算目标坐标
- target_x = current_work['x'] + dx if dx != 0 else None
- target_y = current_work['y'] + dy if dy != 0 else None
- target_z = current_work['z'] + dz if dz != 0 else None
-
- return self.move_to_work_coord_safe(x=target_x, y=target_y, z=target_z, speed=speed, acceleration=acceleration)
-
- except Exception as e:
- logger.error(f"相对移动失败: {e}")
- return False
-
- def get_current_work_coords(self) -> Dict[str, float]:
- """获取当前工作坐标"""
- if not self.is_connected:
- logger.error("设备未连接，无法获取当前坐标")
- return {'x': 0.0, 'y': 0.0, 'z': 0.0}
-
- try:
- # 获取当前机械坐标
- positions = self.get_all_positions()
- machine_steps = {axis.name.lower(): pos.steps for axis, pos in positions.items()}
-
- # 转换为工作坐标
- return self.machine_to_work_coords(machine_steps)
-
- except Exception as e:
- logger.error(f"获取工作坐标失败: {e}")
- return {'x': 0.0, 'y': 0.0, 'z': 0.0}
-
- def get_current_position_mm(self) -> Dict[str, float]:
- """获取当前位置坐标（毫米单位）"""
- return self.get_current_work_coords()
-
- def wait_for_move_completion(self, timeout: float = 30.0) -> bool:
- """等待所有轴运动完成"""
- if not self.is_connected:
- return False
-
- for axis in MotorAxis:
- if not self.wait_for_completion(axis, timeout):
- return False
- return True
-
- # ==================== 系统状态和配置方法 ====================
-
- def get_system_status(self) -> Dict:
- """获取系统状态信息"""
- status = {
- "connection": {
- "is_connected": self.is_connected,
- "port": self.port,
- "baudrate": self.baudrate
- },
- "coordinate_system": {
- "is_homed": self.coordinate_origin.is_homed,
- "machine_origin": self.coordinate_origin.machine_origin_steps,
- "work_origin": self.coordinate_origin.work_origin_steps,
- "timestamp": self.coordinate_origin.timestamp
- },
- "machine_config": asdict(self.machine_config),
- "current_position": {}
- }
-
- if self.is_connected:
- try:
- # 获取当前位置
- positions = self.get_all_positions()
- for axis, pos in positions.items():
- axis_name = axis.name.lower()
- status["current_position"][axis_name] = {
- "steps": pos.steps,
- "mm": self.steps_to_mm(axis, pos.steps),
- "status": pos.status.name if hasattr(pos.status, 'name') else str(pos.status)
- }
-
- # 获取工作坐标
- work_coords = self.get_current_work_coords()
- status["current_work_coords"] = work_coords
-
- except Exception as e:
- status["position_error"] = str(e)
-
- return status
-
- def update_machine_config(self, **kwargs):
- """更新机械配置参数"""
- for key, value in kwargs.items():
- if hasattr(self.machine_config, key):
- setattr(self.machine_config, key, value)
- logger.info(f"更新配置参数 {key}: {value}")
- else:
- logger.warning(f"未知配置参数: {key}")
-
- # 保存配置
- self._save_config()
-
- def reset_coordinate_system(self):
- """重置坐标系统"""
- self.coordinate_origin = CoordinateOrigin()
- self._save_coordinate_origin()
- logger.info("坐标系统已重置")
-
- def __enter__(self):
- """上下文管理器入口"""
- return self
-
- def __exit__(self, exc_type, exc_val, exc_tb):
- """上下文管理器出口"""
- self.disconnect_device()
-
-
-def interactive_control(controller: XYZController):
- """
- 交互式控制模式
-
- Args:
- controller: 已连接的控制器实例
- """
- print("\n" + "="*60)
- print("进入交互式控制模式")
- print("="*60)
-
- # 显示当前状态
- def show_status():
- try:
- current_pos = controller.get_current_position_mm()
- print(f"\n当前位置: X={current_pos['x']:.2f}mm, Y={current_pos['y']:.2f}mm, Z={current_pos['z']:.2f}mm")
- except Exception as e:
- print(f"获取位置失败: {e}")
-
- # 显示帮助信息
- def show_help():
- print("\n可用命令:")
- print(" move <轴> <距离> - 相对移动，例: move x 10.5")
- print(" goto - 绝对移动到指定坐标，例: goto 10 20 5")
- print(" home [轴] - 回零操作，例: home 或 home x")
- print(" origin - 设置当前位置为工作原点")
- print(" status - 显示当前状态")
- print(" speed <速度> - 设置运动速度(mm/s)，例: speed 2000")
- print(" limits - 显示行程限制")
- print(" config - 显示机械配置")
- print(" help - 显示此帮助信息")
- print(" quit/exit - 退出交互模式")
- print("\n提示:")
- print(" - 轴名称: x, y, z")
- print(" - 距离单位: 毫米(mm)")
- print(" - 正数向正方向移动，负数向负方向移动")
-
-
-
- # 安全回零操作
- def safe_homing():
- print("\n系统安全初始化...")
- print("为确保操作安全，系统将执行回零操作")
- print("提示: 已安装限位开关，超时后将假设回零成功")
-
- # 询问用户是否继续
- while True:
- user_choice = input("是否继续执行回零操作? (y/n/skip): ").strip().lower()
- if user_choice in ['y', 'yes', '是']:
- print("\n开始执行全轴回零...")
- print("回零过程可能需要一些时间，请耐心等待...")
-
- # 执行回零操作
- homing_success = controller.home_all_axes()
-
- if homing_success:
- print("回零操作完成，系统已就绪")
- # 设置当前位置为工作原点
-
- # if controller.set_work_origin_here():
- # print("工作原点已设置为回零位置")
- # else:
- # print("工作原点设置失败，但可以继续操作")
- return True
- else:
- print("回零操作失败")
- print("这可能是由于通信问题，但限位开关应该已经起作用")
-
- # 询问是否继续
- retry_choice = input("是否仍要继续操作? (y/n): ").strip().lower()
- if retry_choice in ['y', 'yes', '是']:
- print("继续操作，请手动确认设备位置安全")
- return True
- else:
- return False
-
- elif user_choice in ['n', 'no', '否']:
- print("用户取消回零操作，退出交互模式")
- return False
- elif user_choice in ['skip', 's', '跳过']:
- print("跳过回零操作，请注意安全！")
- print("建议在开始操作前手动执行 'home' 命令")
- return True
- else:
- print("请输入 y(继续)/n(取消)/skip(跳过)")
-
- # 安全回原点操作
- def safe_return_home():
- print("\n系统安全关闭...")
- print("正在将所有轴移动到安全位置...")
-
- try:
- # 移动到工作原点 (0,0,0) - 使用安全移动方法
- if controller.move_to_work_coord_safe(0, 0, 0, speed=50):
- print("已安全返回工作原点")
- show_status()
- else:
- print("返回原点失败，请手动检查设备位置")
- except Exception as e:
- print(f"返回原点时出错: {e}")
-
- # 当前运动速度
- current_speed = controller.machine_config.default_speed
-
- try:
- # 1. 首先执行安全回零
- if not safe_homing():
- return
-
- # 2. 显示初始状态和帮助
- show_status()
- show_help()
-
- while True:
- try:
- # 获取用户输入
- user_input = input("\n请输入命令 (输入 help 查看帮助): ").strip().lower()
-
- if not user_input:
- continue
-
- # 解析命令
- parts = user_input.split()
- command = parts[0]
-
- if command in ['quit', 'exit', 'q']:
- print("准备退出交互模式...")
- # 执行安全回原点操作
- safe_return_home()
- print("退出交互模式")
- break
-
- elif command == 'help' or command == 'h':
- show_help()
-
- elif command == 'status' or command == 's':
- show_status()
- print(f"当前速度: {current_speed} m/s")
- print(f"是否已回零: {controller.coordinate_origin.is_homed}")
-
- elif command == 'move' or command == 'm':
- if len(parts) != 3:
- print("格式错误，正确格式: move <轴> <距离>")
- print(" 例如: move x 10.5")
- continue
-
- axis = parts[1].lower()
- try:
- distance = float(parts[2])
- except ValueError:
- print("距离必须是数字")
- continue
-
- if axis not in ['x', 'y', 'z']:
- print("轴名称必须是 x, y 或 z")
- continue
-
- print(f"{axis.upper()}轴移动 {distance:+.2f}mm...")
-
- # 执行移动
- kwargs = {f'd{axis}': distance, 'speed': current_speed}
- if controller.move_relative_work_coord(**kwargs):
- print(f"{axis.upper()}轴移动完成")
- show_status()
- else:
- print(f"{axis.upper()}轴移动失败")
-
- elif command == 'goto' or command == 'g':
- if len(parts) != 4:
- print("格式错误，正确格式: goto ")
- print(" 例如: goto 10 20 5")
- continue
-
- try:
- x = float(parts[1])
- y = float(parts[2])
- z = float(parts[3])
- except ValueError:
- print("坐标必须是数字")
- continue
-
- print(f"移动到坐标 ({x}, {y}, {z})...")
- print("使用安全移动策略: Z轴先上升 → XY移动 → Z轴下降")
-
- if controller.move_to_work_coord_safe(x, y, z, speed=current_speed):
- print("安全移动到目标位置完成")
- show_status()
- else:
- print("移动失败")
-
- elif command == 'home':
- if len(parts) == 1:
- # 全轴回零
- print("开始全轴回零...")
- if controller.home_all_axes():
- print("全轴回零完成")
- show_status()
- else:
- print("回零失败")
- elif len(parts) == 2:
- # 单轴回零
- axis_name = parts[1].lower()
- if axis_name not in ['x', 'y', 'z']:
- print("轴名称必须是 x, y 或 z")
- continue
-
- axis = MotorAxis[axis_name.upper()]
- print(f"{axis_name.upper()}轴回零...")
-
- if controller.home_axis(axis):
- print(f"{axis_name.upper()}轴回零完成")
- show_status()
- else:
- print(f"{axis_name.upper()}轴回零失败")
- else:
- print("格式错误，正确格式: home 或 home <轴>")
-
- elif command == 'origin' or command == 'o':
- print("设置当前位置为工作原点...")
- if controller.set_work_origin_here():
- print("工作原点设置完成")
- show_status()
- else:
- print("工作原点设置失败")
-
- elif command == 'speed':
- if len(parts) != 2:
- print("格式错误，正确格式: speed <速度>")
- print(" 例如: speed 200")
- continue
-
- try:
- new_speed = int(parts[1])
- if new_speed <= 0:
- print("速度必须大于0")
- continue
- if new_speed > 500:
- print("速度不能超过500 mm/s")
- continue
-
- current_speed = new_speed
- print(f"运动速度设置为: {current_speed} mm/s")
-
- except ValueError:
- print("速度必须是整数")
-
- elif command == 'limits' or command == 'l':
- config = controller.machine_config
- print("\n行程限制:")
- print(f" X轴: 0 ~ {config.max_travel_x} mm")
- print(f" Y轴: 0 ~ {config.max_travel_y} mm")
- print(f" Z轴: 0 ~ {config.max_travel_z} mm")
-
- elif command == 'config' or command == 'c':
- config = controller.machine_config
- print("\n机械配置:")
- print(f" X轴步距: {config.steps_per_mm_x:.1f} 步/mm")
- print(f" Y轴步距: {config.steps_per_mm_y:.1f} 步/mm")
- print(f" Z轴步距: {config.steps_per_mm_z:.1f} 步/mm")
- print(f" 回零速度: {config.homing_speed} mm/s")
- print(f" 默认速度: {config.default_speed} mm/s")
- print(f" 安全间隙: {config.safe_clearance} mm")
-
- else:
- print(f"未知命令: {command}")
- print("输入 help 查看可用命令")
-
- except KeyboardInterrupt:
- print("\n\n用户中断，退出交互模式")
- break
- except Exception as e:
- print(f"命令执行错误: {e}")
- print("输入 help 查看正确的命令格式")
-
- finally:
- # 确保正确断开连接
- try:
- controller.disconnect_device()
- print("设备连接已断开")
- except Exception as e:
- print(f"断开连接时出错: {e}")
-
-
-def run_tests():
- """运行测试函数"""
- print("=== XYZ控制器测试 ===")
-
- # 1. 测试机械配置
- print("\n1. 测试机械配置")
- config = MachineConfig(
- steps_per_mm_x=204.8, # 16384步/圈 ÷ 80mm导程
- steps_per_mm_y=204.8, # 16384步/圈 ÷ 80mm导程
- steps_per_mm_z=3276.8, # 16384步/圈 ÷ 5mm导程
- max_travel_x=340.0,
- max_travel_y=250.0,
- max_travel_z=160.0,
- homing_speed=50,
- default_speed=50
- )
- print(f"X轴步距: {config.steps_per_mm_x} 步/mm")
- print(f"Y轴步距: {config.steps_per_mm_y} 步/mm")
- print(f"Z轴步距: {config.steps_per_mm_z} 步/mm")
- print(f"行程限制: X={config.max_travel_x}mm, Y={config.max_travel_y}mm, Z={config.max_travel_z}mm")
-
- # 2. 测试坐标原点数据结构
- print("\n2. 测试坐标原点数据结构")
- origin = CoordinateOrigin()
- print(f"初始状态: 已回零={origin.is_homed}")
- print(f"机械原点: {origin.machine_origin_steps}")
- print(f"工作原点: {origin.work_origin_steps}")
-
- # 设置示例数据
- origin.machine_origin_steps = {'x': 0, 'y': 0, 'z': 0}
- origin.work_origin_steps = {'x': 16384, 'y': 16384, 'z': 13107} # 5mm, 5mm, 2mm (基于16384步/圈)
- origin.is_homed = True
- origin.timestamp = "2024-09-26 12:00:00"
- print(f"设置后: 已回零={origin.is_homed}")
- print(f"机械原点: {origin.machine_origin_steps}")
- print(f"工作原点: {origin.work_origin_steps}")
-
- # 3. 测试离线功能
- print("\n3. 测试离线功能")
-
- # 创建离线控制器（不自动连接）
- offline_controller = XYZController(
- port='/dev/ttyUSB_CH340',
- machine_config=config,
- auto_connect=False
- )
-
- # 测试单位转换
- print("\n单位转换测试:")
- test_distances = [1.0, 5.0, 10.0, 25.5]
- for distance in test_distances:
- x_steps = offline_controller.mm_to_steps(MotorAxis.X, distance)
- y_steps = offline_controller.mm_to_steps(MotorAxis.Y, distance)
- z_steps = offline_controller.mm_to_steps(MotorAxis.Z, distance)
- print(f"{distance}mm -> X:{x_steps}步, Y:{y_steps}步, Z:{z_steps}步")
-
- # 反向转换验证
- x_mm = offline_controller.steps_to_mm(MotorAxis.X, x_steps)
- y_mm = offline_controller.steps_to_mm(MotorAxis.Y, y_steps)
- z_mm = offline_controller.steps_to_mm(MotorAxis.Z, z_steps)
- print(f"反向转换: X:{x_mm:.2f}mm, Y:{y_mm:.2f}mm, Z:{z_mm:.2f}mm")
-
- # 测试坐标系转换
- print("\n坐标系转换测试:")
- offline_controller.coordinate_origin = origin # 使用示例原点
- work_coords = [(0, 0, 0), (10, 15, 5), (50, 30, 20)]
-
- for x, y, z in work_coords:
- try:
- machine_steps = offline_controller.work_to_machine_steps(x, y, z)
- print(f"工作坐标 ({x}, {y}, {z}) -> 机械步数 {machine_steps}")
-
- # 反向转换验证
- work_coords_back = offline_controller.machine_to_work_coords(machine_steps)
- print(f"反向转换: ({work_coords_back['x']:.2f}, {work_coords_back['y']:.2f}, {work_coords_back['z']:.2f})")
- except Exception as e:
- print(f"转换失败: {e}")
-
- # 测试行程限制检查
- print("\n行程限制检查测试:")
- test_positions = [
- (50, 50, 25, "正常位置"),
- (250, 50, 25, "X轴超限"),
- (50, 350, 25, "Y轴超限"),
- (50, 50, 150, "Z轴超限"),
- (-10, 50, 25, "X轴负超限"),
- (50, -10, 25, "Y轴负超限"),
- (50, 50, -5, "Z轴负超限")
- ]
-
- # for x, y, z, desc in test_positions:
- # try:
- # offline_controller.check_travel_limits(x, y, z)
- # print(f"{desc} ({x}, {y}, {z}): 有效")
- # except CoordinateSystemError as e:
- # print(f"{desc} ({x}, {y}, {z}): 超限 - {e}")
-
- print("\n=== 离线功能测试完成 ===")
-
- # 4. 硬件连接测试
- print("\n4. 硬件连接测试")
- print("尝试连接真实设备...")
-
- # 可能的串口列表
- possible_ports = [
- '/dev/ttyUSB_CH340'
- ]
-
- connected_controller = None
-
- for port in possible_ports:
- try:
- print(f"尝试连接端口: {port}")
- controller = XYZController(
- port=port,
- machine_config=config,
- auto_connect=True
- )
-
- if controller.is_connected:
- print(f"成功连接到 {port}")
- connected_controller = controller
-
- # 获取系统状态
- status = controller.get_system_status()
- print("\n系统状态:")
- print(f" 连接状态: {status['connection']['is_connected']}")
- print(f" 是否已回零: {status['coordinate_system']['is_homed']}")
-
- if 'current_position' in status:
- print(" 当前位置:")
- for axis, pos_info in status['current_position'].items():
- print(f" {axis.upper()}轴: {pos_info['steps']}步 ({pos_info['mm']:.2f}mm)")
-
- # 测试基本移动功能
- print("\n测试基本移动功能:")
- try:
- # 获取当前位置
- current_pos = controller.get_current_position_mm()
- print(f"当前工作坐标: {current_pos}")
-
- # 小幅移动测试
- print("执行小幅移动测试 (X+1mm)...")
- if controller.move_relative_work_coord(dx=1.0, speed=500):
- print("移动成功")
- time.sleep(1)
- new_pos = controller.get_current_position_mm()
- print(f"移动后坐标: {new_pos}")
- else:
- print("移动失败")
-
- except Exception as e:
- print(f"移动测试失败: {e}")
-
- break
-
- except Exception as e:
- print(f"连接 {port} 失败: {e}")
- continue
-
- if not connected_controller:
- print("未找到可用的设备端口")
- print("请检查:")
- print(" 1. 设备是否正确连接")
- print(" 2. 串口端口是否正确")
- print(" 3. 设备驱动是否安装")
- else:
- # 进入交互式控制模式
- interactive_control(connected_controller)
-
- print("\n=== XYZ控制器测试完成 ===")
-
-
-# ==================== 测试和示例代码 ====================
-if __name__ == "__main__":
- run_tests()
- # xyz_controller = XYZController(port='/dev/ttyUSB_CH340', auto_connect=True)
- # # xyz_controller.stop_all_axes()
- # xyz_controller.connect_device()
- # time.sleep(1)
- # xyz_controller.home_all_axes()
diff --git a/unilabos/devices/liquid_handling/laiyu/core/LaiYu_Liquid.py b/unilabos/devices/liquid_handling/laiyu/core/LaiYu_Liquid.py
deleted file mode 100644
index 96092556..00000000
--- a/unilabos/devices/liquid_handling/laiyu/core/LaiYu_Liquid.py
+++ /dev/null
@@ -1,881 +0,0 @@
-"""
-LaiYu_Liquid 液体处理工作站主要集成文件
-
-该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
-主要包含：
-- LaiYuLiquidBackend: 硬件通信后端
-- LaiYuLiquid: 主要接口类
-- 相关的异常类和容器类
-"""
-
-import asyncio
-import logging
-import time
-from typing import List, Optional, Dict, Any, Union, Tuple
-from dataclasses import dataclass
-from abc import ABC, abstractmethod
-
-# 基础导入
-try:
- from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
- PYLABROBOT_AVAILABLE = True
-except ImportError:
- # 如果 pylabrobot 不可用，创建基础的模拟类
- PYLABROBOT_AVAILABLE = False
-
- class Resource:
- def __init__(self, name: str):
- self.name = name
-
- class Deck(Resource):
- pass
-
- class Plate(Resource):
- pass
-
- class TipRack(Resource):
- pass
-
- class Tip(Resource):
- pass
-
- class Well(Resource):
- pass
-
-# LaiYu_Liquid 控制器导入
-try:
- from .controllers.pipette_controller import (
- PipetteController, TipStatus, LiquidClass, LiquidParameters
- )
- from .controllers.xyz_controller import (
- XYZController, MachineConfig, CoordinateOrigin, MotorAxis
- )
- CONTROLLERS_AVAILABLE = True
-except ImportError:
- CONTROLLERS_AVAILABLE = False
- # 创建模拟的控制器类
- class PipetteController:
- def __init__(self, *args, **kwargs):
- pass
-
- def connect(self):
- return True
-
- def initialize(self):
- return True
-
- class XYZController:
- def __init__(self, *args, **kwargs):
- pass
-
- def connect_device(self):
- return True
-
-logger = logging.getLogger(__name__)
-
-
-class LaiYuLiquidError(RuntimeError):
- """LaiYu_Liquid 设备异常"""
- pass
-
-
-@dataclass
-class LaiYuLiquidConfig:
- """LaiYu_Liquid 设备配置"""
- port: str = "/dev/cu.usbserial-3130" # RS485转USB端口
- address: int = 1 # 设备地址
- baudrate: int = 9600 # 波特率
- timeout: float = 5.0 # 通信超时时间
-
- # 工作台尺寸
- deck_width: float = 340.0 # 工作台宽度 (mm)
- deck_height: float = 250.0 # 工作台高度 (mm)
- deck_depth: float = 160.0 # 工作台深度 (mm)
-
- # 移液参数
- max_volume: float = 1000.0 # 最大体积 (μL)
- min_volume: float = 0.1 # 最小体积 (μL)
-
- # 运动参数
- max_speed: float = 100.0 # 最大速度 (mm/s)
- acceleration: float = 50.0 # 加速度 (mm/s²)
-
- # 安全参数
- safe_height: float = 50.0 # 安全高度 (mm)
- tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm)
- liquid_detection: bool = True # 液面检测
-
- # 取枪头相关参数
- tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm)
- tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s)
- tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm)
- tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm)
- tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm)
-
- # 丢弃枪头相关参数
- tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm)
- tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm)
- trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm)
-
- # 安全范围配置
- deck_width: float = 300.0 # 工作台宽度 (mm)
- deck_height: float = 200.0 # 工作台高度 (mm)
- deck_depth: float = 100.0 # 工作台深度 (mm)
- safe_height: float = 50.0 # 安全高度 (mm)
- position_validation: bool = True # 启用位置验证
- emergency_stop_enabled: bool = True # 启用紧急停止
-
-
-class LaiYuLiquidDeck:
- """LaiYu_Liquid 工作台管理"""
-
- def __init__(self, config: LaiYuLiquidConfig):
- self.config = config
- self.resources: Dict[str, Resource] = {}
- self.positions: Dict[str, Tuple[float, float, float]] = {}
-
- def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
- """添加资源到工作台"""
- self.resources[name] = resource
- self.positions[name] = position
-
- def get_resource(self, name: str) -> Optional[Resource]:
- """获取资源"""
- return self.resources.get(name)
-
- def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
- """获取资源位置"""
- return self.positions.get(name)
-
- def list_resources(self) -> List[str]:
- """列出所有资源"""
- return list(self.resources.keys())
-
-
-class LaiYuLiquidContainer:
- """LaiYu_Liquid 容器类"""
-
- def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
- self.name = name
- self.size_x = size_x
- self.size_y = size_y
- self.size_z = size_z
- self.lid_height = lid_height
- self.container_type = container_type
- self.volume = volume
- self.max_volume = max_volume
- self.last_updated = time.time()
- self.child_resources = {} # 存储子资源
-
- @property
- def is_empty(self) -> bool:
- return self.volume <= 0.0
-
- @property
- def is_full(self) -> bool:
- return self.volume >= self.max_volume
-
- @property
- def available_volume(self) -> float:
- return max(0.0, self.max_volume - self.volume)
-
- def add_volume(self, volume: float) -> bool:
- """添加体积"""
- if self.volume + volume <= self.max_volume:
- self.volume += volume
- self.last_updated = time.time()
- return True
- return False
-
- def remove_volume(self, volume: float) -> bool:
- """移除体积"""
- if self.volume >= volume:
- self.volume -= volume
- self.last_updated = time.time()
- return True
- return False
-
- def assign_child_resource(self, resource, location=None):
- """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
- if hasattr(resource, 'name'):
- self.child_resources[resource.name] = {
- 'resource': resource,
- 'location': location
- }
-
-
-class LaiYuLiquidTipRack:
- """LaiYu_Liquid 吸头架类"""
-
- def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
- self.name = name
- self.size_x = size_x
- self.size_y = size_y
- self.size_z = size_z
- self.tip_count = tip_count
- self.tip_volume = tip_volume
- self.tips_available = [True] * tip_count
- self.child_resources = {} # 存储子资源
-
- @property
- def available_tips(self) -> int:
- return sum(self.tips_available)
-
- @property
- def is_empty(self) -> bool:
- return self.available_tips == 0
-
- def pick_tip(self, position: int) -> bool:
- """拾取吸头"""
- if 0 <= position < self.tip_count and self.tips_available[position]:
- self.tips_available[position] = False
- return True
- return False
-
- def has_tip(self, position: int) -> bool:
- """检查位置是否有吸头"""
- if 0 <= position < self.tip_count:
- return self.tips_available[position]
- return False
-
- def assign_child_resource(self, resource, location=None):
- """分配子资源到指定位置"""
- self.child_resources[resource.name] = {
- 'resource': resource,
- 'location': location
- }
-
-
-def get_module_info():
- """获取模块信息"""
- return {
- "name": "LaiYu_Liquid",
- "version": "1.0.0",
- "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
- "author": "UniLabOS Team",
- "capabilities": [
- "移液器控制",
- "XYZ轴运动控制",
- "吸头架管理",
- "板和容器管理",
- "资源位置管理"
- ],
- "dependencies": {
- "required": ["serial"],
- "optional": ["pylabrobot"]
- }
- }
-
-
-class LaiYuLiquidBackend:
- """LaiYu_Liquid 硬件通信后端"""
-
- def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
- self.config = config
- self.deck = deck # 工作台引用，用于获取资源位置信息
- self.pipette_controller = None
- self.xyz_controller = None
- self.is_connected = False
- self.is_initialized = False
-
- # 状态跟踪
- self.current_position = (0.0, 0.0, 0.0)
- self.tip_attached = False
- self.current_volume = 0.0
-
- def _validate_position(self, x: float, y: float, z: float) -> bool:
- """验证位置是否在安全范围内"""
- try:
- # 检查X轴范围
- if not (0 <= x <= self.config.deck_width):
- logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
- return False
-
- # 检查Y轴范围
- if not (0 <= y <= self.config.deck_height):
- logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
- return False
-
- # 检查Z轴范围（负值表示向下，0为工作台表面）
- if not (-self.config.deck_depth <= z <= self.config.safe_height):
- logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
- return False
-
- return True
- except Exception as e:
- logger.error(f"位置验证失败: {e}")
- return False
-
- def _check_hardware_ready(self) -> bool:
- """检查硬件是否准备就绪"""
- if not self.is_connected:
- logger.error("设备未连接")
- return False
-
- if CONTROLLERS_AVAILABLE:
- if self.xyz_controller is None:
- logger.error("XYZ控制器未初始化")
- return False
-
- return True
-
- async def emergency_stop(self) -> bool:
- """紧急停止所有运动"""
- try:
- logger.warning("执行紧急停止")
-
- if CONTROLLERS_AVAILABLE and self.xyz_controller:
- # 停止XYZ控制器
- await self.xyz_controller.stop_all_motion()
- logger.info("XYZ控制器已停止")
-
- if self.pipette_controller:
- # 停止移液器控制器
- await self.pipette_controller.stop()
- logger.info("移液器控制器已停止")
-
- return True
- except Exception as e:
- logger.error(f"紧急停止失败: {e}")
- return False
-
- async def move_to_safe_position(self) -> bool:
- """移动到安全位置"""
- try:
- if not self._check_hardware_ready():
- return False
-
- safe_position = (
- self.config.deck_width / 2, # 工作台中心X
- self.config.deck_height / 2, # 工作台中心Y
- self.config.safe_height # 安全高度Z
- )
-
- if not self._validate_position(*safe_position):
- logger.error("安全位置无效")
- return False
-
- if CONTROLLERS_AVAILABLE and self.xyz_controller:
- await self.xyz_controller.move_to_work_coord(*safe_position)
- self.current_position = safe_position
- logger.info(f"已移动到安全位置: {safe_position}")
- return True
- else:
- # 模拟模式
- self.current_position = safe_position
- logger.info("模拟移动到安全位置")
- return True
-
- except Exception as e:
- logger.error(f"移动到安全位置失败: {e}")
- return False
-
- async def setup(self) -> bool:
- """设置硬件连接"""
- try:
- if CONTROLLERS_AVAILABLE:
- # 初始化移液器控制器
- self.pipette_controller = PipetteController(
- port=self.config.port,
- address=self.config.address
- )
-
- # 初始化XYZ控制器
- machine_config = MachineConfig()
- self.xyz_controller = XYZController(
- port=self.config.port,
- baudrate=self.config.baudrate,
- machine_config=machine_config
- )
-
- # 连接设备
- pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
- xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
-
- if pipette_connected and xyz_connected:
- self.is_connected = True
- logger.info("LaiYu_Liquid 硬件连接成功")
- return True
- else:
- logger.error("LaiYu_Liquid 硬件连接失败")
- return False
- else:
- # 模拟模式
- logger.info("LaiYu_Liquid 运行在模拟模式")
- self.is_connected = True
- return True
-
- except Exception as e:
- logger.error(f"LaiYu_Liquid 设置失败: {e}")
- return False
-
- async def stop(self):
- """停止设备"""
- try:
- if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
- await asyncio.to_thread(self.pipette_controller.disconnect)
-
- if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
- await asyncio.to_thread(self.xyz_controller.disconnect)
-
- self.is_connected = False
- self.is_initialized = False
- logger.info("LaiYu_Liquid 已停止")
-
- except Exception as e:
- logger.error(f"LaiYu_Liquid 停止失败: {e}")
-
- async def move_to(self, x: float, y: float, z: float) -> bool:
- """移动到指定位置"""
- try:
- if not self.is_connected:
- raise LaiYuLiquidError("设备未连接")
-
- # 模拟移动
- await asyncio.sleep(0.1) # 模拟移动时间
- self.current_position = (x, y, z)
- logger.debug(f"移动到位置: ({x}, {y}, {z})")
- return True
-
- except Exception as e:
- logger.error(f"移动失败: {e}")
- return False
-
- async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
- """拾取吸头 - 包含真正的Z轴下降控制"""
- try:
- # 硬件准备检查
- if not self._check_hardware_ready():
- return False
-
- if self.tip_attached:
- logger.warning("已有吸头附着，无法拾取新吸头")
- return False
-
- logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
-
- # 获取枪头架位置信息
- if self.deck is None:
- logger.error("工作台未初始化")
- return False
-
- tip_position = self.deck.get_position(tip_rack)
- if tip_position is None:
- logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
- return False
-
- # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
- tip_x, tip_y, tip_z = tip_position
-
- # 验证所有关键位置的安全性
- safe_z = tip_z + self.config.tip_approach_height
- pickup_z = tip_z - self.config.tip_pickup_force_depth
- retract_z = tip_z + self.config.tip_pickup_retract_height
-
- if not (self._validate_position(tip_x, tip_y, safe_z) and
- self._validate_position(tip_x, tip_y, pickup_z) and
- self._validate_position(tip_x, tip_y, retract_z)):
- logger.error("枪头拾取位置超出安全范围")
- return False
-
- if CONTROLLERS_AVAILABLE and self.xyz_controller:
- # 真实硬件控制流程
- logger.info("使用真实XYZ控制器进行枪头拾取")
-
- try:
- # 1. 移动到枪头上方的安全位置
- safe_z = tip_z + self.config.tip_approach_height
- logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
- move_success = await asyncio.to_thread(
- self.xyz_controller.move_to_work_coord,
- tip_x, tip_y, safe_z
- )
- if not move_success:
- logger.error("移动到枪头上方失败")
- return False
-
- # 2. Z轴下降到枪头位置
- pickup_z = tip_z - self.config.tip_pickup_force_depth
- logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
- z_down_success = await asyncio.to_thread(
- self.xyz_controller.move_to_work_coord,
- tip_x, tip_y, pickup_z
- )
- if not z_down_success:
- logger.error("Z轴下降到枪头位置失败")
- return False
-
- # 3. 等待一小段时间确保枪头牢固附着
- await asyncio.sleep(0.2)
-
- # 4. Z轴上升到回退高度
- retract_z = tip_z + self.config.tip_pickup_retract_height
- logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
- z_up_success = await asyncio.to_thread(
- self.xyz_controller.move_to_work_coord,
- tip_x, tip_y, retract_z
- )
- if not z_up_success:
- logger.error("Z轴上升失败")
- return False
-
- # 5. 更新当前位置
- self.current_position = (tip_x, tip_y, retract_z)
-
- except Exception as move_error:
- logger.error(f"枪头拾取过程中发生错误: {move_error}")
- # 尝试移动到安全位置
- if self.config.emergency_stop_enabled:
- await self.emergency_stop()
- await self.move_to_safe_position()
- return False
-
- else:
- # 模拟模式
- logger.info("模拟模式：执行枪头拾取动作")
- await asyncio.sleep(1.0) # 模拟整个拾取过程的时间
- self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
-
- # 6. 标记枪头已附着
- self.tip_attached = True
- logger.info("吸头拾取成功")
- return True
-
- except Exception as e:
- logger.error(f"拾取吸头失败: {e}")
- return False
-
- async def drop_tip(self, location: str = "trash") -> bool:
- """丢弃吸头 - 包含真正的Z轴控制"""
- try:
- # 硬件准备检查
- if not self._check_hardware_ready():
- return False
-
- if not self.tip_attached:
- logger.warning("没有吸头附着，无需丢弃")
- return True
-
- logger.info(f"开始丢弃吸头到 {location}")
-
- # 确定丢弃位置
- if location == "trash":
- # 使用配置中的垃圾桶位置
- drop_x, drop_y, drop_z = self.config.trash_position
- else:
- # 尝试从deck获取指定位置
- if self.deck is None:
- logger.error("工作台未初始化")
- return False
-
- drop_position = self.deck.get_position(location)
- if drop_position is None:
- logger.error(f"未找到丢弃位置 {location} 的信息")
- return False
- drop_x, drop_y, drop_z = drop_position
-
- # 验证丢弃位置的安全性
- safe_z = drop_z + self.config.safe_height
- drop_height_z = drop_z + self.config.tip_drop_height
-
- if not (self._validate_position(drop_x, drop_y, safe_z) and
- self._validate_position(drop_x, drop_y, drop_height_z)):
- logger.error("枪头丢弃位置超出安全范围")
- return False
-
- if CONTROLLERS_AVAILABLE and self.xyz_controller:
- # 真实硬件控制流程
- logger.info("使用真实XYZ控制器进行枪头丢弃")
-
- try:
- # 1. 移动到丢弃位置上方的安全高度
- safe_z = drop_z + self.config.tip_drop_height
- logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
- move_success = await asyncio.to_thread(
- self.xyz_controller.move_to_work_coord,
- drop_x, drop_y, safe_z
- )
- if not move_success:
- logger.error("移动到丢弃位置上方失败")
- return False
-
- # 2. Z轴下降到丢弃高度
- logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
- z_down_success = await asyncio.to_thread(
- self.xyz_controller.move_to_work_coord,
- drop_x, drop_y, drop_z
- )
- if not z_down_success:
- logger.error("Z轴下降到丢弃位置失败")
- return False
-
- # 3. 执行枪头弹出动作（如果有移液器控制器）
- if self.pipette_controller:
- try:
- # 发送弹出枪头命令
- await asyncio.to_thread(self.pipette_controller.eject_tip)
- logger.info("执行枪头弹出命令")
- except Exception as e:
- logger.warning(f"枪头弹出命令失败: {e}")
-
- # 4. 等待一小段时间确保枪头完全脱离
- await asyncio.sleep(0.3)
-
- # 5. Z轴上升到安全高度
- logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
- z_up_success = await asyncio.to_thread(
- self.xyz_controller.move_to_work_coord,
- drop_x, drop_y, safe_z
- )
- if not z_up_success:
- logger.error("Z轴上升失败")
- return False
-
- # 6. 更新当前位置
- self.current_position = (drop_x, drop_y, safe_z)
-
- except Exception as drop_error:
- logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
- # 尝试移动到安全位置
- if self.config.emergency_stop_enabled:
- await self.emergency_stop()
- await self.move_to_safe_position()
- return False
-
- else:
- # 模拟模式
- logger.info("模拟模式：执行枪头丢弃动作")
- await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间
- self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
-
- # 7. 标记枪头已脱离，清空体积
- self.tip_attached = False
- self.current_volume = 0.0
- logger.info("吸头丢弃成功")
- return True
-
- except Exception as e:
- logger.error(f"丢弃吸头失败: {e}")
- return False
-
- async def aspirate(self, volume: float, location: str) -> bool:
- """吸取液体"""
- try:
- if not self.is_connected:
- raise LaiYuLiquidError("设备未连接")
-
- if not self.tip_attached:
- raise LaiYuLiquidError("没有吸头附着")
-
- if volume <= 0 or volume > self.config.max_volume:
- raise LaiYuLiquidError(f"体积超出范围: {volume}")
-
- # 模拟吸取
- await asyncio.sleep(0.3)
- self.current_volume += volume
- logger.debug(f"从 {location} 吸取 {volume} μL")
- return True
-
- except Exception as e:
- logger.error(f"吸取失败: {e}")
- return False
-
- async def dispense(self, volume: float, location: str) -> bool:
- """分配液体"""
- try:
- if not self.is_connected:
- raise LaiYuLiquidError("设备未连接")
-
- if not self.tip_attached:
- raise LaiYuLiquidError("没有吸头附着")
-
- if volume <= 0 or volume > self.current_volume:
- raise LaiYuLiquidError(f"分配体积无效: {volume}")
-
- # 模拟分配
- await asyncio.sleep(0.3)
- self.current_volume -= volume
- logger.debug(f"向 {location} 分配 {volume} μL")
- return True
-
- except Exception as e:
- logger.error(f"分配失败: {e}")
- return False
-
-
-class LaiYuLiquid:
- """LaiYu_Liquid 主要接口类"""
-
- def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
- # 如果传入了关键字参数，创建配置对象
- if kwargs and config is None:
- # 从kwargs中提取配置参数
- config_params = {}
- for key, value in kwargs.items():
- if hasattr(LaiYuLiquidConfig, key):
- config_params[key] = value
- self.config = LaiYuLiquidConfig(**config_params)
- else:
- self.config = config or LaiYuLiquidConfig()
-
- # 先创建deck，然后传递给backend
- self.deck = LaiYuLiquidDeck(self.config)
- self.backend = LaiYuLiquidBackend(self.config, self.deck)
- self.is_setup = False
-
- @property
- def current_position(self) -> Tuple[float, float, float]:
- """获取当前位置"""
- return self.backend.current_position
-
- @property
- def current_volume(self) -> float:
- """获取当前体积"""
- return self.backend.current_volume
-
- @property
- def is_connected(self) -> bool:
- """获取连接状态"""
- return self.backend.is_connected
-
- @property
- def is_initialized(self) -> bool:
- """获取初始化状态"""
- return self.backend.is_initialized
-
- @property
- def tip_attached(self) -> bool:
- """获取吸头附着状态"""
- return self.backend.tip_attached
-
- async def setup(self) -> bool:
- """设置液体处理器"""
- try:
- success = await self.backend.setup()
- if success:
- self.is_setup = True
- logger.info("LaiYu_Liquid 设置完成")
- return success
- except Exception as e:
- logger.error(f"LaiYu_Liquid 设置失败: {e}")
- return False
-
- async def stop(self):
- """停止液体处理器"""
- await self.backend.stop()
- self.is_setup = False
-
- async def transfer(self, source: str, target: str, volume: float,
- tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
- """液体转移"""
- try:
- if not self.is_setup:
- raise LaiYuLiquidError("设备未设置")
-
- # 获取源和目标位置
- source_pos = self.deck.get_position(source)
- target_pos = self.deck.get_position(target)
- tip_pos = self.deck.get_position(tip_rack)
-
- if not all([source_pos, target_pos, tip_pos]):
- raise LaiYuLiquidError("位置信息不完整")
-
- # 执行转移步骤
- steps = [
- ("移动到吸头架", self.backend.move_to(*tip_pos)),
- ("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
- ("移动到源位置", self.backend.move_to(*source_pos)),
- ("吸取液体", self.backend.aspirate(volume, source)),
- ("移动到目标位置", self.backend.move_to(*target_pos)),
- ("分配液体", self.backend.dispense(volume, target)),
- ("丢弃吸头", self.backend.drop_tip())
- ]
-
- for step_name, step_coro in steps:
- logger.debug(f"执行步骤: {step_name}")
- success = await step_coro
- if not success:
- raise LaiYuLiquidError(f"步骤失败: {step_name}")
-
- logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
- return True
-
- except Exception as e:
- logger.error(f"液体转移失败: {e}")
- return False
-
- def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
- """添加资源到工作台"""
- if resource_type == "plate":
- resource = Plate(name)
- elif resource_type == "tip_rack":
- resource = TipRack(name)
- else:
- resource = Resource(name)
-
- self.deck.add_resource(name, resource, position)
-
- def get_status(self) -> Dict[str, Any]:
- """获取设备状态"""
- return {
- "connected": self.backend.is_connected,
- "setup": self.is_setup,
- "current_position": self.backend.current_position,
- "tip_attached": self.backend.tip_attached,
- "current_volume": self.backend.current_volume,
- "resources": self.deck.list_resources()
- }
-
-
-def create_quick_setup() -> LaiYuLiquidDeck:
- """
- 创建快速设置的LaiYu液体处理工作站
-
- Returns:
- LaiYuLiquidDeck: 配置好的工作台实例
- """
- # 创建默认配置
- config = LaiYuLiquidConfig()
-
- # 创建工作台
- deck = LaiYuLiquidDeck(config)
-
- # 导入资源创建函数
- try:
- from .laiyu_liquid_res import (
- create_tip_rack_1000ul,
- create_tip_rack_200ul,
- create_96_well_plate,
- create_waste_container
- )
-
- # 添加基本资源
- tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
- tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
- plate_96 = create_96_well_plate("plate_96")
- waste = create_waste_container("waste")
-
- # 添加到工作台
- deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
- deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
- deck.add_resource("plate_96", plate_96, (250, 50, 0))
- deck.add_resource("waste", waste, (50, 150, 0))
-
- except ImportError:
- # 如果资源模块不可用，创建空的工作台
- logger.warning("资源模块不可用，创建空的工作台")
-
- return deck
-
-
-__all__ = [
- "LaiYuLiquid",
- "LaiYuLiquidBackend",
- "LaiYuLiquidConfig",
- "LaiYuLiquidDeck",
- "LaiYuLiquidContainer",
- "LaiYuLiquidTipRack",
- "LaiYuLiquidError",
- "create_quick_setup",
- "get_module_info"
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/core/__init__.py b/unilabos/devices/liquid_handling/laiyu/core/__init__.py
deleted file mode 100644
index e4d2baa9..00000000
--- a/unilabos/devices/liquid_handling/laiyu/core/__init__.py
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-LaiYu液体处理设备核心模块
-
-该模块包含LaiYu液体处理设备的核心功能组件：
-- LaiYu_Liquid.py: 主设备类和配置管理
-- abstract_protocol.py: 抽象协议定义
-- laiyu_liquid_res.py: 设备资源管理
-
-作者: UniLab团队
-版本: 2.0.0
-"""
-
-from .LaiYu_Liquid import (
- LaiYuLiquid,
- LaiYuLiquidConfig,
- LaiYuLiquidDeck,
- LaiYuLiquidContainer,
- LaiYuLiquidTipRack,
- create_quick_setup
-)
-
-from .laiyu_liquid_res import (
- LaiYuLiquidDeck,
- LaiYuLiquidContainer,
- LaiYuLiquidTipRack
-)
-
-__all__ = [
- # 主设备类
- 'LaiYuLiquid',
- 'LaiYuLiquidConfig',
-
- # 设备资源
- 'LaiYuLiquidDeck',
- 'LaiYuLiquidContainer',
- 'LaiYuLiquidTipRack',
-
- # 工具函数
- 'create_quick_setup'
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/core/abstract_protocol.py b/unilabos/devices/liquid_handling/laiyu/core/abstract_protocol.py
deleted file mode 100644
index 9959c364..00000000
--- a/unilabos/devices/liquid_handling/laiyu/core/abstract_protocol.py
+++ /dev/null
@@ -1,529 +0,0 @@
-"""
-LaiYu_Liquid 抽象协议实现
-
-该模块提供了液体资源管理和转移的抽象协议，包括：
-- MaterialResource: 液体资源管理类
-- transfer_liquid: 液体转移函数
-- 相关的辅助类和函数
-
-主要功能：
-- 管理多孔位的液体资源
-- 计算和跟踪液体体积
-- 处理液体转移操作
-- 提供资源状态查询
-"""
-
-import logging
-from typing import Dict, List, Optional, Union, Any, Tuple
-from dataclasses import dataclass, field
-from enum import Enum
-import uuid
-import time
-
-# pylabrobot 导入
-from pylabrobot.resources import Resource, Well, Plate
-
-logger = logging.getLogger(__name__)
-
-
-class LiquidType(Enum):
- """液体类型枚举"""
- WATER = "water"
- ETHANOL = "ethanol"
- DMSO = "dmso"
- BUFFER = "buffer"
- SAMPLE = "sample"
- REAGENT = "reagent"
- WASTE = "waste"
- UNKNOWN = "unknown"
-
-
-@dataclass
-class LiquidInfo:
- """液体信息类"""
- liquid_type: LiquidType = LiquidType.UNKNOWN
- volume: float = 0.0 # 体积 (μL)
- concentration: Optional[float] = None # 浓度 (mg/ml, M等)
- ph: Optional[float] = None # pH值
- temperature: Optional[float] = None # 温度 (°C)
- viscosity: Optional[float] = None # 粘度 (cP)
- density: Optional[float] = None # 密度 (g/ml)
- description: str = "" # 描述信息
-
- def __str__(self) -> str:
- return f"{self.liquid_type.value}({self.description})"
-
-
-@dataclass
-class WellContent:
- """孔位内容类"""
- volume: float = 0.0 # 当前体积 (ul)
- max_volume: float = 1000.0 # 最大容量 (ul)
- liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
- last_updated: float = field(default_factory=time.time)
-
- @property
- def is_empty(self) -> bool:
- """检查是否为空"""
- return self.volume <= 0.0
-
- @property
- def is_full(self) -> bool:
- """检查是否已满"""
- return self.volume >= self.max_volume
-
- @property
- def available_volume(self) -> float:
- """可用体积"""
- return max(0.0, self.max_volume - self.volume)
-
- @property
- def fill_percentage(self) -> float:
- """填充百分比"""
- return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
-
- def can_add_volume(self, volume: float) -> bool:
- """检查是否可以添加指定体积"""
- return (self.volume + volume) <= self.max_volume
-
- def can_remove_volume(self, volume: float) -> bool:
- """检查是否可以移除指定体积"""
- return self.volume >= volume
-
- def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
- """
- 添加液体体积
-
- Args:
- volume: 要添加的体积 (ul)
- liquid_info: 液体信息
-
- Returns:
- bool: 是否成功添加
- """
- if not self.can_add_volume(volume):
- return False
-
- self.volume += volume
- if liquid_info:
- self.liquid_info = liquid_info
- self.last_updated = time.time()
- return True
-
- def remove_volume(self, volume: float) -> bool:
- """
- 移除液体体积
-
- Args:
- volume: 要移除的体积 (ul)
-
- Returns:
- bool: 是否成功移除
- """
- if not self.can_remove_volume(volume):
- return False
-
- self.volume -= volume
- self.last_updated = time.time()
-
- # 如果完全清空，重置液体信息
- if self.volume <= 0.0:
- self.volume = 0.0
- self.liquid_info = LiquidInfo()
-
- return True
-
-
-class MaterialResource:
- """
- 液体资源管理类
-
- 该类用于管理液体处理过程中的资源状态，包括：
- - 跟踪多个孔位的液体体积和类型
- - 计算总体积和可用体积
- - 处理液体的添加和移除
- - 提供资源状态查询
- """
-
- def __init__(
- self,
- resource: Resource,
- wells: Optional[List[Well]] = None,
- default_max_volume: float = 1000.0
- ):
- """
- 初始化材料资源
-
- Args:
- resource: pylabrobot 资源对象
- wells: 孔位列表，如果为None则自动获取
- default_max_volume: 默认最大体积 (ul)
- """
- self.resource = resource
- self.resource_id = str(uuid.uuid4())
- self.default_max_volume = default_max_volume
-
- # 获取孔位列表
- if wells is None:
- if hasattr(resource, 'get_wells'):
- self.wells = resource.get_wells()
- elif hasattr(resource, 'wells'):
- self.wells = resource.wells
- else:
- # 如果没有孔位，创建一个虚拟孔位
- self.wells = [resource]
- else:
- self.wells = wells
-
- # 初始化孔位内容
- self.well_contents: Dict[str, WellContent] = {}
- for well in self.wells:
- well_id = self._get_well_id(well)
- self.well_contents[well_id] = WellContent(
- max_volume=default_max_volume
- )
-
- logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
-
- def _get_well_id(self, well: Union[Well, Resource]) -> str:
- """获取孔位ID"""
- if hasattr(well, 'name'):
- return well.name
- else:
- return str(id(well))
-
- @property
- def name(self) -> str:
- """资源名称"""
- return self.resource.name
-
- @property
- def total_volume(self) -> float:
- """总液体体积"""
- return sum(content.volume for content in self.well_contents.values())
-
- @property
- def total_max_volume(self) -> float:
- """总最大容量"""
- return sum(content.max_volume for content in self.well_contents.values())
-
- @property
- def available_volume(self) -> float:
- """总可用体积"""
- return sum(content.available_volume for content in self.well_contents.values())
-
- @property
- def well_count(self) -> int:
- """孔位数量"""
- return len(self.wells)
-
- @property
- def empty_wells(self) -> List[str]:
- """空孔位列表"""
- return [well_id for well_id, content in self.well_contents.items()
- if content.is_empty]
-
- @property
- def full_wells(self) -> List[str]:
- """满孔位列表"""
- return [well_id for well_id, content in self.well_contents.items()
- if content.is_full]
-
- @property
- def occupied_wells(self) -> List[str]:
- """有液体的孔位列表"""
- return [well_id for well_id, content in self.well_contents.items()
- if not content.is_empty]
-
- def get_well_content(self, well_id: str) -> Optional[WellContent]:
- """获取指定孔位的内容"""
- return self.well_contents.get(well_id)
-
- def get_well_volume(self, well_id: str) -> float:
- """获取指定孔位的体积"""
- content = self.get_well_content(well_id)
- return content.volume if content else 0.0
-
- def set_well_volume(
- self,
- well_id: str,
- volume: float,
- liquid_info: Optional[LiquidInfo] = None
- ) -> bool:
- """
- 设置指定孔位的体积
-
- Args:
- well_id: 孔位ID
- volume: 体积 (ul)
- liquid_info: 液体信息
-
- Returns:
- bool: 是否成功设置
- """
- if well_id not in self.well_contents:
- logger.error(f"孔位 {well_id} 不存在")
- return False
-
- content = self.well_contents[well_id]
- if volume > content.max_volume:
- logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
- return False
-
- content.volume = max(0.0, volume)
- if liquid_info:
- content.liquid_info = liquid_info
- content.last_updated = time.time()
-
- logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
- return True
-
- def add_liquid(
- self,
- well_id: str,
- volume: float,
- liquid_info: Optional[LiquidInfo] = None
- ) -> bool:
- """
- 向指定孔位添加液体
-
- Args:
- well_id: 孔位ID
- volume: 添加的体积 (ul)
- liquid_info: 液体信息
-
- Returns:
- bool: 是否成功添加
- """
- if well_id not in self.well_contents:
- logger.error(f"孔位 {well_id} 不存在")
- return False
-
- content = self.well_contents[well_id]
- success = content.add_volume(volume, liquid_info)
-
- if success:
- logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
- else:
- logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
-
- return success
-
- def remove_liquid(self, well_id: str, volume: float) -> bool:
- """
- 从指定孔位移除液体
-
- Args:
- well_id: 孔位ID
- volume: 移除的体积 (ul)
-
- Returns:
- bool: 是否成功移除
- """
- if well_id not in self.well_contents:
- logger.error(f"孔位 {well_id} 不存在")
- return False
-
- content = self.well_contents[well_id]
- success = content.remove_volume(volume)
-
- if success:
- logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
- else:
- logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
-
- return success
-
- def find_wells_with_volume(self, min_volume: float) -> List[str]:
- """
- 查找具有指定最小体积的孔位
-
- Args:
- min_volume: 最小体积 (ul)
-
- Returns:
- List[str]: 符合条件的孔位ID列表
- """
- return [well_id for well_id, content in self.well_contents.items()
- if content.volume >= min_volume]
-
- def find_wells_with_space(self, min_space: float) -> List[str]:
- """
- 查找具有指定最小空间的孔位
-
- Args:
- min_space: 最小空间 (ul)
-
- Returns:
- List[str]: 符合条件的孔位ID列表
- """
- return [well_id for well_id, content in self.well_contents.items()
- if content.available_volume >= min_space]
-
- def get_status_summary(self) -> Dict[str, Any]:
- """获取资源状态摘要"""
- return {
- "resource_name": self.name,
- "resource_id": self.resource_id,
- "well_count": self.well_count,
- "total_volume": self.total_volume,
- "total_max_volume": self.total_max_volume,
- "available_volume": self.available_volume,
- "fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
- "empty_wells": len(self.empty_wells),
- "full_wells": len(self.full_wells),
- "occupied_wells": len(self.occupied_wells)
- }
-
- def get_detailed_status(self) -> Dict[str, Any]:
- """获取详细状态信息"""
- well_details = {}
- for well_id, content in self.well_contents.items():
- well_details[well_id] = {
- "volume": content.volume,
- "max_volume": content.max_volume,
- "available_volume": content.available_volume,
- "fill_percentage": content.fill_percentage,
- "liquid_type": content.liquid_info.liquid_type.value,
- "description": content.liquid_info.description,
- "last_updated": content.last_updated
- }
-
- return {
- "summary": self.get_status_summary(),
- "wells": well_details
- }
-
-
-def transfer_liquid(
- source: MaterialResource,
- target: MaterialResource,
- volume: float,
- source_well_id: Optional[str] = None,
- target_well_id: Optional[str] = None,
- liquid_info: Optional[LiquidInfo] = None
-) -> bool:
- """
- 在两个材料资源之间转移液体
-
- Args:
- source: 源资源
- target: 目标资源
- volume: 转移体积 (ul)
- source_well_id: 源孔位ID，如果为None则自动选择
- target_well_id: 目标孔位ID，如果为None则自动选择
- liquid_info: 液体信息
-
- Returns:
- bool: 转移是否成功
- """
- try:
- # 自动选择源孔位
- if source_well_id is None:
- available_wells = source.find_wells_with_volume(volume)
- if not available_wells:
- logger.error(f"源资源 {source.name} 没有足够体积的孔位")
- return False
- source_well_id = available_wells[0]
-
- # 自动选择目标孔位
- if target_well_id is None:
- available_wells = target.find_wells_with_space(volume)
- if not available_wells:
- logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
- return False
- target_well_id = available_wells[0]
-
- # 检查源孔位是否有足够液体
- if not source.get_well_content(source_well_id).can_remove_volume(volume):
- logger.error(f"源孔位 {source_well_id} 液体不足")
- return False
-
- # 检查目标孔位是否有足够空间
- if not target.get_well_content(target_well_id).can_add_volume(volume):
- logger.error(f"目标孔位 {target_well_id} 空间不足")
- return False
-
- # 获取源液体信息
- source_content = source.get_well_content(source_well_id)
- transfer_liquid_info = liquid_info or source_content.liquid_info
-
- # 执行转移
- if source.remove_liquid(source_well_id, volume):
- if target.add_liquid(target_well_id, volume, transfer_liquid_info):
- logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
- return True
- else:
- # 如果目标添加失败，回滚源操作
- source.add_liquid(source_well_id, volume, source_content.liquid_info)
- logger.error("目标添加失败，已回滚源操作")
- return False
- else:
- logger.error("源移除失败")
- return False
-
- except Exception as e:
- logger.error(f"液体转移失败: {e}")
- return False
-
-
-def create_material_resource(
- name: str,
- resource: Resource,
- initial_volumes: Optional[Dict[str, float]] = None,
- liquid_info: Optional[LiquidInfo] = None,
- max_volume: float = 1000.0
-) -> MaterialResource:
- """
- 创建材料资源的便捷函数
-
- Args:
- name: 资源名称
- resource: pylabrobot 资源对象
- initial_volumes: 初始体积字典 {well_id: volume}
- liquid_info: 液体信息
- max_volume: 最大体积
-
- Returns:
- MaterialResource: 创建的材料资源
- """
- material_resource = MaterialResource(
- resource=resource,
- default_max_volume=max_volume
- )
-
- # 设置初始体积
- if initial_volumes:
- for well_id, volume in initial_volumes.items():
- material_resource.set_well_volume(well_id, volume, liquid_info)
-
- return material_resource
-
-
-def batch_transfer_liquid(
- transfers: List[Tuple[MaterialResource, MaterialResource, float]],
- liquid_info: Optional[LiquidInfo] = None
-) -> List[bool]:
- """
- 批量液体转移
-
- Args:
- transfers: 转移列表 [(source, target, volume), ...]
- liquid_info: 液体信息
-
- Returns:
- List[bool]: 每个转移操作的结果
- """
- results = []
-
- for source, target, volume in transfers:
- result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
- results.append(result)
-
- if not result:
- logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
-
- success_count = sum(results)
- logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
-
- return results
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/core/laiyu_liquid_res.py b/unilabos/devices/liquid_handling/laiyu/core/laiyu_liquid_res.py
deleted file mode 100644
index 0c127539..00000000
--- a/unilabos/devices/liquid_handling/laiyu/core/laiyu_liquid_res.py
+++ /dev/null
@@ -1,954 +0,0 @@
-"""
-LaiYu_Liquid 资源定义模块
-
-该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
-- 各种规格的枪头架
-- 不同类型的板和容器
-- 特殊功能位置
-- 资源创建的便捷函数
-
-所有资源都基于 deck.json 中的配置参数创建。
-"""
-
-import json
-import os
-from typing import Dict, List, Optional, Tuple, Any
-from pathlib import Path
-
-# PyLabRobot 资源导入
-try:
- from pylabrobot.resources import (
- Resource, Deck, Plate, TipRack, Container, Tip,
- Coordinate
- )
- from pylabrobot.resources.tip_rack import TipSpot
- from pylabrobot.resources.well import Well as PlateWell
- PYLABROBOT_AVAILABLE = True
-except ImportError:
- # 如果 PyLabRobot 不可用，创建模拟类
- PYLABROBOT_AVAILABLE = False
-
- class Resource:
- def __init__(self, name: str):
- self.name = name
-
- class Deck(Resource):
- pass
-
- class Plate(Resource):
- pass
-
- class TipRack(Resource):
- pass
-
- class Container(Resource):
- pass
-
- class Tip(Resource):
- pass
-
- class TipSpot(Resource):
- def __init__(self, name: str, **kwargs):
- super().__init__(name)
- # 忽略其他参数
-
- class PlateWell(Resource):
- pass
-
- class Coordinate:
- def __init__(self, x: float, y: float, z: float):
- self.x = x
- self.y = y
- self.z = z
-
-# 本地导入
-from .LaiYu_Liquid import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
-
-
-def load_deck_config() -> Dict[str, Any]:
- """
- 加载工作台配置文件
-
- Returns:
- Dict[str, Any]: 配置字典
- """
- # 优先使用最新的deckconfig.json文件
- config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
-
- # 如果最新配置文件不存在，回退到旧配置文件
- if not config_path.exists():
- config_path = Path(__file__).parent / "config" / "deck.json"
-
- try:
- with open(config_path, 'r', encoding='utf-8') as f:
- return json.load(f)
- except FileNotFoundError:
- # 如果找不到配置文件，返回默认配置
- return {
- "name": "LaiYu_Liquid_Deck",
- "size_x": 340.0,
- "size_y": 250.0,
- "size_z": 160.0
- }
-
-
-# 加载配置
-DECK_CONFIG = load_deck_config()
-
-
-class LaiYuTipRack1000(LaiYuLiquidTipRack):
- """1000μL 枪头架"""
-
- def __init__(self, name: str):
- """
- 初始化1000μL枪头架
-
- Args:
- name: 枪头架名称
- """
- super().__init__(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=30.0,
- tip_count=96,
- tip_volume=1000.0
- )
-
- # 创建枪头位置
- self._create_tip_spots(
- tip_count=96,
- tip_spacing=9.0,
- tip_type="1000ul"
- )
-
- def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
- """
- 创建枪头位置 - 从配置文件中读取绝对坐标
-
- Args:
- tip_count: 枪头数量
- tip_spacing: 枪头间距
- tip_type: 枪头类型
- """
- # 从配置文件中获取枪头架的孔位信息
- config = DECK_CONFIG
- tip_module = None
-
- # 查找枪头架模块
- for module in config.get("children", []):
- if module.get("type") == "tip_rack":
- tip_module = module
- break
-
- if not tip_module:
- # 如果配置文件中没有找到，使用默认的相对坐标计算
- rows = 8
- cols = 12
-
- for row in range(rows):
- for col in range(cols):
- spot_name = f"{chr(65 + row)}{col + 1:02d}"
- x = col * tip_spacing + tip_spacing / 2
- y = row * tip_spacing + tip_spacing / 2
-
- # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot的Tip需要特定参数
- tip = Tip(
- has_filter=False,
- total_tip_length=95.0, # 1000ul枪头长度
- maximal_volume=1000.0, # 最大体积
- fitting_depth=8.0 # 安装深度
- )
- else:
- # 模拟类只需要name
- tip = Tip(name=f"tip_{spot_name}")
-
- # 创建枪头位置
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot的TipSpot需要特定参数
- tip_spot = TipSpot(
- name=spot_name,
- size_x=9.0, # 枪头位置宽度
- size_y=9.0, # 枪头位置深度
- size_z=95.0, # 枪头位置高度
- make_tip=lambda: tip # 创建枪头的函数
- )
- else:
- # 模拟类只需要name
- tip_spot = TipSpot(name=spot_name)
-
- # 将吸头位置分配到吸头架
- self.assign_child_resource(
- tip_spot,
- location=Coordinate(x, y, 0)
- )
- return
-
- # 使用配置文件中的绝对坐标
- module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
-
- for well_config in tip_module.get("wells", []):
- spot_name = well_config["id"]
- well_pos = well_config["position"]
-
- # 计算相对于模块的坐标（绝对坐标减去模块位置）
- relative_x = well_pos["x"] - module_position["x"]
- relative_y = well_pos["y"] - module_position["y"]
- relative_z = well_pos["z"] - module_position["z"]
-
- # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot的Tip需要特定参数
- tip = Tip(
- has_filter=False,
- total_tip_length=95.0, # 1000ul枪头长度
- maximal_volume=1000.0, # 最大体积
- fitting_depth=8.0 # 安装深度
- )
- else:
- # 模拟类只需要name
- tip = Tip(name=f"tip_{spot_name}")
-
- # 创建枪头位置
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot的TipSpot需要特定参数
- tip_spot = TipSpot(
- name=spot_name,
- size_x=well_config.get("diameter", 9.0), # 使用配置中的直径
- size_y=well_config.get("diameter", 9.0),
- size_z=well_config.get("depth", 95.0), # 使用配置中的深度
- make_tip=lambda: tip # 创建枪头的函数
- )
- else:
- # 模拟类只需要name
- tip_spot = TipSpot(name=spot_name)
-
- # 将吸头位置分配到吸头架
- self.assign_child_resource(
- tip_spot,
- location=Coordinate(relative_x, relative_y, relative_z)
- )
-
- # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
- # TipSpot的make_tip函数会在需要时创建Tip
-
-
-class LaiYuTipRack200(LaiYuLiquidTipRack):
- """200μL 枪头架"""
-
- def __init__(self, name: str):
- """
- 初始化200μL枪头架
-
- Args:
- name: 枪头架名称
- """
- super().__init__(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=30.0,
- tip_count=96,
- tip_volume=200.0
- )
-
- # 创建枪头位置
- self._create_tip_spots(
- tip_count=96,
- tip_spacing=9.0,
- tip_type="200ul"
- )
-
- def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
- """
- 创建枪头位置
-
- Args:
- tip_count: 枪头数量
- tip_spacing: 枪头间距
- tip_type: 枪头类型
- """
- rows = 8
- cols = 12
-
- for row in range(rows):
- for col in range(cols):
- spot_name = f"{chr(65 + row)}{col + 1:02d}"
- x = col * tip_spacing + tip_spacing / 2
- y = row * tip_spacing + tip_spacing / 2
-
- # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot的Tip需要特定参数
- tip = Tip(
- has_filter=False,
- total_tip_length=72.0, # 200ul枪头长度
- maximal_volume=200.0, # 最大体积
- fitting_depth=8.0 # 安装深度
- )
- else:
- # 模拟类只需要name
- tip = Tip(name=f"tip_{spot_name}")
-
- # 创建枪头位置
- if PYLABROBOT_AVAILABLE:
- # PyLabRobot的TipSpot需要特定参数
- tip_spot = TipSpot(
- name=spot_name,
- size_x=9.0, # 枪头位置宽度
- size_y=9.0, # 枪头位置深度
- size_z=72.0, # 枪头位置高度
- make_tip=lambda: tip # 创建枪头的函数
- )
- else:
- # 模拟类只需要name
- tip_spot = TipSpot(name=spot_name)
-
- # 将吸头位置分配到吸头架
- self.assign_child_resource(
- tip_spot,
- location=Coordinate(x, y, 0)
- )
-
- # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
- # TipSpot的make_tip函数会在需要时创建Tip
-
-
-class LaiYu96WellPlate(LaiYuLiquidContainer):
- """96孔板"""
-
- def __init__(self, name: str, lid_height: float = 0.0):
- """
- 初始化96孔板
-
- Args:
- name: 板名称
- lid_height: 盖子高度
- """
- super().__init__(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=14.22,
- container_type="96_well_plate",
- volume=0.0,
- max_volume=200.0,
- lid_height=lid_height
- )
-
- # 创建孔位
- self._create_wells(
- well_count=96,
- well_volume=200.0,
- well_spacing=9.0
- )
-
- def get_size_z(self) -> float:
- """获取孔位深度"""
- return 10.0 # 96孔板孔位深度
-
- def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
- """
- 创建孔位 - 从配置文件中读取绝对坐标
-
- Args:
- well_count: 孔位数量
- well_volume: 孔位体积
- well_spacing: 孔位间距
- """
- # 从配置文件中获取96孔板的孔位信息
- config = DECK_CONFIG
- plate_module = None
-
- # 查找96孔板模块
- for module in config.get("children", []):
- if module.get("type") == "96_well_plate":
- plate_module = module
- break
-
- if not plate_module:
- # 如果配置文件中没有找到，使用默认的相对坐标计算
- rows = 8
- cols = 12
-
- for row in range(rows):
- for col in range(cols):
- well_name = f"{chr(65 + row)}{col + 1:02d}"
- x = col * well_spacing + well_spacing / 2
- y = row * well_spacing + well_spacing / 2
-
- # 创建孔位
- well = PlateWell(
- name=well_name,
- size_x=well_spacing * 0.8,
- size_y=well_spacing * 0.8,
- size_z=self.get_size_z(),
- max_volume=well_volume
- )
-
- # 添加到板
- self.assign_child_resource(
- well,
- location=Coordinate(x, y, 0)
- )
- return
-
- # 使用配置文件中的绝对坐标
- module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
-
- for well_config in plate_module.get("wells", []):
- well_name = well_config["id"]
- well_pos = well_config["position"]
-
- # 计算相对于模块的坐标（绝对坐标减去模块位置）
- relative_x = well_pos["x"] - module_position["x"]
- relative_y = well_pos["y"] - module_position["y"]
- relative_z = well_pos["z"] - module_position["z"]
-
- # 创建孔位
- well = PlateWell(
- name=well_name,
- size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
- size_y=well_config.get("diameter", 8.2) * 0.8,
- size_z=well_config.get("depth", self.get_size_z()),
- max_volume=well_config.get("volume", well_volume)
- )
-
- # 添加到板
- self.assign_child_resource(
- well,
- location=Coordinate(relative_x, relative_y, relative_z)
- )
-
-
-class LaiYuDeepWellPlate(LaiYuLiquidContainer):
- """深孔板"""
-
- def __init__(self, name: str, lid_height: float = 0.0):
- """
- 初始化深孔板
-
- Args:
- name: 板名称
- lid_height: 盖子高度
- """
- super().__init__(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=41.3,
- container_type="deep_well_plate",
- volume=0.0,
- max_volume=2000.0,
- lid_height=lid_height
- )
-
- # 创建孔位
- self._create_wells(
- well_count=96,
- well_volume=2000.0,
- well_spacing=9.0
- )
-
- def get_size_z(self) -> float:
- """获取孔位深度"""
- return 35.0 # 深孔板孔位深度
-
- def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
- """
- 创建孔位 - 从配置文件中读取绝对坐标
-
- Args:
- well_count: 孔位数量
- well_volume: 孔位体积
- well_spacing: 孔位间距
- """
- # 从配置文件中获取深孔板的孔位信息
- config = DECK_CONFIG
- plate_module = None
-
- # 查找深孔板模块（通常是第二个96孔板模块）
- plate_modules = []
- for module in config.get("children", []):
- if module.get("type") == "96_well_plate":
- plate_modules.append(module)
-
- # 如果有多个96孔板模块，选择第二个作为深孔板
- if len(plate_modules) > 1:
- plate_module = plate_modules[1]
- elif len(plate_modules) == 1:
- plate_module = plate_modules[0]
-
- if not plate_module:
- # 如果配置文件中没有找到，使用默认的相对坐标计算
- rows = 8
- cols = 12
-
- for row in range(rows):
- for col in range(cols):
- well_name = f"{chr(65 + row)}{col + 1:02d}"
- x = col * well_spacing + well_spacing / 2
- y = row * well_spacing + well_spacing / 2
-
- # 创建孔位
- well = PlateWell(
- name=well_name,
- size_x=well_spacing * 0.8,
- size_y=well_spacing * 0.8,
- size_z=self.get_size_z(),
- max_volume=well_volume
- )
-
- # 添加到板
- self.assign_child_resource(
- well,
- location=Coordinate(x, y, 0)
- )
- return
-
- # 使用配置文件中的绝对坐标
- module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
-
- for well_config in plate_module.get("wells", []):
- well_name = well_config["id"]
- well_pos = well_config["position"]
-
- # 计算相对于模块的坐标（绝对坐标减去模块位置）
- relative_x = well_pos["x"] - module_position["x"]
- relative_y = well_pos["y"] - module_position["y"]
- relative_z = well_pos["z"] - module_position["z"]
-
- # 创建孔位
- well = PlateWell(
- name=well_name,
- size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
- size_y=well_config.get("diameter", 8.2) * 0.8,
- size_z=well_config.get("depth", self.get_size_z()),
- max_volume=well_config.get("volume", well_volume)
- )
-
- # 添加到板
- self.assign_child_resource(
- well,
- location=Coordinate(relative_x, relative_y, relative_z)
- )
-
-
-class LaiYuWasteContainer(Container):
- """废液容器"""
-
- def __init__(self, name: str):
- """
- 初始化废液容器
-
- Args:
- name: 容器名称
- """
- super().__init__(
- name=name,
- size_x=100.0,
- size_y=100.0,
- size_z=50.0,
- max_volume=5000.0
- )
-
-
-class LaiYuWashContainer(Container):
- """清洗容器"""
-
- def __init__(self, name: str):
- """
- 初始化清洗容器
-
- Args:
- name: 容器名称
- """
- super().__init__(
- name=name,
- size_x=100.0,
- size_y=100.0,
- size_z=50.0,
- max_volume=5000.0
- )
-
-
-class LaiYuReagentContainer(Container):
- """试剂容器"""
-
- def __init__(self, name: str):
- """
- 初始化试剂容器
-
- Args:
- name: 容器名称
- """
- super().__init__(
- name=name,
- size_x=50.0,
- size_y=50.0,
- size_z=100.0,
- max_volume=2000.0
- )
-
-
-class LaiYu8TubeRack(LaiYuLiquidContainer):
- """8管试管架"""
-
- def __init__(self, name: str):
- """
- 初始化8管试管架
-
- Args:
- name: 试管架名称
- """
- super().__init__(
- name=name,
- size_x=151.0,
- size_y=75.0,
- size_z=75.0,
- container_type="tube_rack",
- volume=0.0,
- max_volume=77000.0
- )
-
- # 创建孔位
- self._create_wells(
- well_count=8,
- well_volume=77000.0,
- well_spacing=35.0
- )
-
- def get_size_z(self) -> float:
- """获取孔位深度"""
- return 117.0 # 试管深度
-
- def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
- """
- 创建孔位 - 从配置文件中读取绝对坐标
-
- Args:
- well_count: 孔位数量
- well_volume: 孔位体积
- well_spacing: 孔位间距
- """
- # 从配置文件中获取8管试管架的孔位信息
- config = DECK_CONFIG
- tube_module = None
-
- # 查找8管试管架模块
- for module in config.get("children", []):
- if module.get("type") == "tube_rack":
- tube_module = module
- break
-
- if not tube_module:
- # 如果配置文件中没有找到，使用默认的相对坐标计算
- rows = 2
- cols = 4
-
- for row in range(rows):
- for col in range(cols):
- well_name = f"{chr(65 + row)}{col + 1}"
- x = col * well_spacing + well_spacing / 2
- y = row * well_spacing + well_spacing / 2
-
- # 创建孔位
- well = PlateWell(
- name=well_name,
- size_x=29.0,
- size_y=29.0,
- size_z=self.get_size_z(),
- max_volume=well_volume
- )
-
- # 添加到试管架
- self.assign_child_resource(
- well,
- location=Coordinate(x, y, 0)
- )
- return
-
- # 使用配置文件中的绝对坐标
- module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
-
- for well_config in tube_module.get("wells", []):
- well_name = well_config["id"]
- well_pos = well_config["position"]
-
- # 计算相对于模块的坐标（绝对坐标减去模块位置）
- relative_x = well_pos["x"] - module_position["x"]
- relative_y = well_pos["y"] - module_position["y"]
- relative_z = well_pos["z"] - module_position["z"]
-
- # 创建孔位
- well = PlateWell(
- name=well_name,
- size_x=well_config.get("diameter", 29.0),
- size_y=well_config.get("diameter", 29.0),
- size_z=well_config.get("depth", self.get_size_z()),
- max_volume=well_config.get("volume", well_volume)
- )
-
- # 添加到试管架
- self.assign_child_resource(
- well,
- location=Coordinate(relative_x, relative_y, relative_z)
- )
-
-
-class LaiYuTipDisposal(Resource):
- """枪头废料位置"""
-
- def __init__(self, name: str):
- """
- 初始化枪头废料位置
-
- Args:
- name: 位置名称
- """
- super().__init__(
- name=name,
- size_x=100.0,
- size_y=100.0,
- size_z=50.0
- )
-
-
-class LaiYuMaintenancePosition(Resource):
- """维护位置"""
-
- def __init__(self, name: str):
- """
- 初始化维护位置
-
- Args:
- name: 位置名称
- """
- super().__init__(
- name=name,
- size_x=50.0,
- size_y=50.0,
- size_z=100.0
- )
-
-
-# 资源创建函数
-def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
- """
- 创建1000μL枪头架
-
- Args:
- name: 枪头架名称
-
- Returns:
- LaiYuTipRack1000: 1000μL枪头架实例
- """
- return LaiYuTipRack1000(name)
-
-
-def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
- """
- 创建200μL枪头架
-
- Args:
- name: 枪头架名称
-
- Returns:
- LaiYuTipRack200: 200μL枪头架实例
- """
- return LaiYuTipRack200(name)
-
-
-def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
- """
- 创建96孔板
-
- Args:
- name: 板名称
- lid_height: 盖子高度
-
- Returns:
- LaiYu96WellPlate: 96孔板实例
- """
- return LaiYu96WellPlate(name, lid_height)
-
-
-def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
- """
- 创建深孔板
-
- Args:
- name: 板名称
- lid_height: 盖子高度
-
- Returns:
- LaiYuDeepWellPlate: 深孔板实例
- """
- return LaiYuDeepWellPlate(name, lid_height)
-
-
-def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
- """
- 创建8管试管架
-
- Args:
- name: 试管架名称
-
- Returns:
- LaiYu8TubeRack: 8管试管架实例
- """
- return LaiYu8TubeRack(name)
-
-
-def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
- """
- 创建废液容器
-
- Args:
- name: 容器名称
-
- Returns:
- LaiYuWasteContainer: 废液容器实例
- """
- return LaiYuWasteContainer(name)
-
-
-def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
- """
- 创建清洗容器
-
- Args:
- name: 容器名称
-
- Returns:
- LaiYuWashContainer: 清洗容器实例
- """
- return LaiYuWashContainer(name)
-
-
-def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
- """
- 创建试剂容器
-
- Args:
- name: 容器名称
-
- Returns:
- LaiYuReagentContainer: 试剂容器实例
- """
- return LaiYuReagentContainer(name)
-
-
-def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
- """
- 创建枪头废料位置
-
- Args:
- name: 位置名称
-
- Returns:
- LaiYuTipDisposal: 枪头废料位置实例
- """
- return LaiYuTipDisposal(name)
-
-
-def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
- """
- 创建维护位置
-
- Args:
- name: 位置名称
-
- Returns:
- LaiYuMaintenancePosition: 维护位置实例
- """
- return LaiYuMaintenancePosition(name)
-
-
-def create_standard_deck() -> LaiYuLiquidDeck:
- """
- 创建标准工作台配置
-
- Returns:
- LaiYuLiquidDeck: 配置好的工作台实例
- """
- # 从配置文件创建工作台
- deck = LaiYuLiquidDeck(config=DECK_CONFIG)
-
- return deck
-
-
-def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
- """
- 根据名称获取资源
-
- Args:
- deck: 工作台实例
- name: 资源名称
-
- Returns:
- Optional[Resource]: 找到的资源，如果不存在则返回None
- """
- for child in deck.children:
- if child.name == name:
- return child
- return None
-
-
-def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
- """
- 根据类型获取资源列表
-
- Args:
- deck: 工作台实例
- resource_type: 资源类型
-
- Returns:
- List[Resource]: 匹配类型的资源列表
- """
- return [child for child in deck.children if isinstance(child, resource_type)]
-
-
-def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
- """
- 列出所有资源
-
- Args:
- deck: 工作台实例
-
- Returns:
- Dict[str, List[str]]: 按类型分组的资源名称字典
- """
- resources = {
- "tip_racks": [],
- "plates": [],
- "containers": [],
- "positions": []
- }
-
- for child in deck.children:
- if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
- resources["tip_racks"].append(child.name)
- elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
- resources["plates"].append(child.name)
- elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
- resources["containers"].append(child.name)
- elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
- resources["positions"].append(child.name)
-
- return resources
-
-
-# 导出的类别名（向后兼容）
-TipRack1000ul = LaiYuTipRack1000
-TipRack200ul = LaiYuTipRack200
-Plate96Well = LaiYu96WellPlate
-Plate96DeepWell = LaiYuDeepWellPlate
-TubeRack8 = LaiYu8TubeRack
-WasteContainer = LaiYuWasteContainer
-WashContainer = LaiYuWashContainer
-ReagentContainer = LaiYuReagentContainer
-TipDisposal = LaiYuTipDisposal
-MaintenancePosition = LaiYuMaintenancePosition
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/docs/CHANGELOG.md b/unilabos/devices/liquid_handling/laiyu/docs/CHANGELOG.md
deleted file mode 100644
index a0f2b632..00000000
--- a/unilabos/devices/liquid_handling/laiyu/docs/CHANGELOG.md
+++ /dev/null
@@ -1,69 +0,0 @@
-# 更新日志
-
-本文档记录了 LaiYu_Liquid 模块的所有重要变更。
-
-## [1.0.0] - 2024-01-XX
-
-### 新增功能
-- ✅ 完整的液体处理工作站集成
-- ✅ RS485 通信协议支持
-- ✅ SOPA 气动式移液器驱动
-- ✅ XYZ 三轴步进电机控制
-- ✅ PyLabRobot 兼容后端
-- ✅ 标准化资源管理系统
-- ✅ 96孔板、离心管架、枪头架支持
-- ✅ RViz 可视化后端
-- ✅ 完整的配置管理系统
-- ✅ 抽象协议实现
-- ✅ 生产级错误处理和日志记录
-
-### 技术特性
-- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
-- **通信协议**: RS485总线，波特率115200
-- **坐标系统**: 机械坐标与工作坐标自动转换
-- **安全机制**: 限位保护、紧急停止、错误恢复
-- **兼容性**: 完全兼容 PyLabRobot 框架
-
-### 文件结构
-```
-LaiYu_Liquid/
-├── core/
-│ └── LaiYu_Liquid.py # 主模块文件
-├── __init__.py # 模块初始化
-├── abstract_protocol.py # 抽象协议
-├── laiyu_liquid_res.py # 资源管理
-├── rviz_backend.py # RViz后端
-├── backend/ # 后端驱动
-├── config/ # 配置文件
-├── controllers/ # 控制器
-├── docs/ # 技术文档
-└── drivers/ # 底层驱动
-```
-
-### 已知问题
-- 无
-
-### 依赖要求
-- Python 3.8+
-- PyLabRobot
-- pyserial
-- asyncio
-
----
-
-## 版本说明
-
-### 版本号格式
-采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
-
-- **MAJOR**: 不兼容的API变更
-- **MINOR**: 向后兼容的功能新增
-- **PATCH**: 向后兼容的问题修复
-
-### 变更类型
-- **新增功能**: 新的功能特性
-- **变更**: 现有功能的变更
-- **弃用**: 即将移除的功能
-- **移除**: 已移除的功能
-- **修复**: 问题修复
-- **安全**: 安全相关的修复
\ No newline at end of file
diff --git "a/unilabos/devices/liquid_handling/laiyu/docs/hardware/SOPA\346\260\224\345\212\250\345\274\217\347\247\273\346\266\262\345\231\250RS485\346\216\247\345\210\266\346\214\207\344\273\244.md" "b/unilabos/devices/liquid_handling/laiyu/docs/hardware/SOPA\346\260\224\345\212\250\345\274\217\347\247\273\346\266\262\345\231\250RS485\346\216\247\345\210\266\346\214\207\344\273\244.md"
deleted file mode 100644
index 6db19eb1..00000000
--- "a/unilabos/devices/liquid_handling/laiyu/docs/hardware/SOPA\346\260\224\345\212\250\345\274\217\347\247\273\346\266\262\345\231\250RS485\346\216\247\345\210\266\346\214\207\344\273\244.md"
+++ /dev/null
@@ -1,267 +0,0 @@
-# SOPA气动式移液器RS485控制指令合集
-
-## 1. RS485通信基本配置
-
-### 1.1 支持的设备型号
-- **仅SC-STxxx-00-13支持RS485通信**
-- 其他型号主要使用CAN通信
-
-### 1.2 通信参数
-- **波特率**: 9600, 115200（默认值）
-- **地址范围**: 1~254个设备，255为广播地址
-- **通信接口**: RS485差分信号
-
-### 1.3 引脚分配（10位LIF连接器）
-- **引脚7**: RS485+ (RS485通信正极)
-- **引脚8**: RS485- (RS485通信负极)
-
-## 2. RS485通信协议格式
-
-### 2.1 发送数据格式
-```
-头码 | 地址 | 命令/数据 | 尾码 | 校验和
-```
-
-### 2.2 从机回应格式
-```
-头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
-```
-
-### 2.3 格式详细说明
-- **头码**:
- - 终端调试: '/' (0x2F)
- - OEM通信: '[' (0x5B)
-- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
-- **命令/数据**: ASCII格式的命令字符串
-- **尾码**: 'E' (0x45)
-- **校验和**: 以上数据的累加值，1字节
-
-## 3. 初始化和基本控制指令
-
-### 3.1 初始化指令
-```bash
-# 初始化活塞驱动机构
-HE
-
-# 示例（OEM通信）：
-# 主机发送: 5B 32 48 45 1A
-# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
-# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
-```
-
-### 3.2 枪头操作指令
-```bash
-# 顶出枪头
-RE
-
-# 枪头检测状态报告
-Q28 # 返回枪头存在状态（0=不存在，1=存在）
-```
-
-## 4. 移液控制指令
-
-### 4.1 位置控制指令
-```bash
-# 绝对位置移动（微升）
-A[n]E
-# 示例：移动到位置0
-A0E
-
-# 相对抽吸（向上移动）
-P[n]E
-# 示例：抽吸200微升
-P200E
-
-# 相对分配（向下移动）
-D[n]E
-# 示例：分配200微升
-D200E
-```
-
-### 4.2 速度设置指令
-```bash
-# 设置最高速度（0.1ul/秒为单位）
-s[n]E
-# 示例：设置最高速度为2000（200ul/秒）
-s2000E
-
-# 设置启动速度
-b[n]E
-# 示例：设置启动速度为100（10ul/秒）
-b100E
-
-# 设置断流速度
-c[n]E
-# 示例：设置断流速度为100（10ul/秒）
-c100E
-
-# 设置加速度
-a[n]E
-# 示例：设置加速度为30000
-a30000E
-```
-
-## 5. 液体检测和安全控制指令
-
-### 5.1 吸排液检测控制
-```bash
-# 开启吸排液检测
-f1E # 开启
-f0E # 关闭
-
-# 设置空吸门限
-$[n]E
-# 示例：设置空吸门限为4
-$4E
-
-# 设置泡沫门限
-![n]E
-# 示例：设置泡沫门限为20
-!20E
-
-# 设置堵塞门限
-%[n]E
-# 示例：设置堵塞门限为350
-%350E
-```
-
-### 5.2 液位检测指令
-```bash
-# 压力式液位检测
-m0E # 设置为压力探测模式
-L[n]E # 执行液位检测，[n]为灵敏度(3~40)
-k[n]E # 设置检测速度(100~2000)
-
-# 电容式液位检测
-m1E # 设置为电容探测模式
-```
-
-## 6. 状态查询和报告指令
-
-### 6.1 基本状态查询
-```bash
-# 查询固件版本
-V
-
-# 查询设备状态
-Q[n]
-# 常用查询参数：
-Q01 # 报告加速度
-Q02 # 报告启动速度
-Q03 # 报告断流速度
-Q06 # 报告最大速度
-Q08 # 报告节点地址
-Q11 # 报告波特率
-Q18 # 报告当前位置
-Q28 # 报告枪头存在状态
-Q29 # 报告校准系数
-Q30 # 报告空吸门限
-Q31 # 报告堵针门限
-Q32 # 报告泡沫门限
-```
-
-## 7. 配置和校准指令
-
-### 7.1 校准参数设置
-```bash
-# 设置校准系数
-j[n]E
-# 示例：设置校准系数为1.04
-j1.04E
-
-# 设置补偿偏差
-e[n]E
-# 示例：设置补偿偏差为2.03
-e2.03E
-
-# 设置吸头容量
-C[n]E
-# 示例：设置1000ul吸头
-C1000E
-```
-
-### 7.2 高级控制参数
-```bash
-# 设置回吸粘度
-][n]E
-# 示例：设置回吸粘度为30
-]30E
-
-# 延时控制
-M[n]E
-# 示例：延时1000毫秒
-M1000E
-```
-
-## 8. 复合操作指令示例
-
-### 8.1 标准移液操作
-```bash
-# 完整的200ul移液操作
-a30000b200c200s2000P200E
-# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
-```
-
-### 8.2 带检测的移液操作
-```bash
-# 带空吸检测的200ul抽吸
-a30000b200c200s2000f1P200f0E
-# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
-```
-
-### 8.3 液面检测操作
-```bash
-# 压力式液面检测
-m0k200L5E
-# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
-
-# 电容式液面检测
-m1L3E
-# 解析：电容模式 + 灵敏度3 + 执行检测
-```
-
-## 9. 错误处理
-
-### 9.1 状态字节说明
-- **00h**: 无错误
-- **01h**: 上次动作未完成
-- **02h**: 设备未初始化
-- **03h**: 设备过载
-- **04h**: 无效指令
-- **05h**: 液位探测故障
-- **0Dh**: 空吸
-- **0Eh**: 堵针
-- **10h**: 泡沫
-- **11h**: 吸液超过吸头容量
-
-### 9.2 错误查询
-```bash
-# 查询当前错误状态
-Q # 返回状态字节和错误代码
-```
-
-## 10. 通信示例
-
-### 10.1 基本通信流程
-1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
-2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
-
-### 10.2 快速指令表
-| 操作 | 指令 | 说明 |
-|------|------|------|
-| 初始化 | `HE` | 初始化设备 |
-| 退枪头 | `RE` | 顶出枪头 |
-| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
-| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
-| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
-| 压力液面检测 | `m0k200L5E` | pLLD检测 |
-| 电容液面检测 | `m1L3E` | cLLD检测 |
-
-## 11. 注意事项
-
-1. **地址限制**: RS485地址不可设为47、69、91
-2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
-3. **ASCII格式**: 所有命令和参数都使用ASCII字符
-4. **执行指令**: 大部分命令需要以'E'结尾才能执行
-5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
-6. **波特率设置**: 默认115200，可设置为9600
\ No newline at end of file
diff --git "a/unilabos/devices/liquid_handling/laiyu/docs/hardware/\346\255\245\350\277\233\347\224\265\346\234\272\346\216\247\345\210\266\346\214\207\344\273\244.md" "b/unilabos/devices/liquid_handling/laiyu/docs/hardware/\346\255\245\350\277\233\347\224\265\346\234\272\346\216\247\345\210\266\346\214\207\344\273\244.md"
deleted file mode 100644
index e7013484..00000000
--- "a/unilabos/devices/liquid_handling/laiyu/docs/hardware/\346\255\245\350\277\233\347\224\265\346\234\272\346\216\247\345\210\266\346\214\207\344\273\244.md"
+++ /dev/null
@@ -1,162 +0,0 @@
-# 步进电机B系列控制指令详解
-
-## 基本通信参数
-- **通信方式**: RS485
-- **协议**: Modbus
-- **波特率**: 115200 (默认)
-- **数据位**: 8位
-- **停止位**: 1位
-- **校验位**: 无
-- **默认站号**: 1 (可设置1-254)
-
-## 支持的功能码
-- **03H**: 读取寄存器
-- **06H**: 写入单个寄存器
-- **10H**: 写入多个寄存器
-
-## 寄存器地址表
-
-### 状态监控寄存器 (只读)
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
-| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
-| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
-| 03H | 03H | 实际速度 | 当前转速 (rpm) |
-| 05H | 03H | 电流 | 当前工作电流 (mA) |
-
-### 控制寄存器 (读写)
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
-| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
-| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
-| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
-| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
-
-### 位置模式寄存器
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
-| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
-| 12H | 03H/06H/10H | 保留 | - |
-| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
-| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
-| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
-
-### 速度模式寄存器
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| 60H | 03H/06H/10H | 保留 | - |
-| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
-| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
-
-### 设备参数寄存器
-| 地址 | 功能码 | 内容 | 默认值 | 说明 |
-|------|--------|------|--------|------|
-| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
-| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
-| E2H | 03H/06H/10H | 保留 | 0258H | - |
-| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
-| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
-| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
-| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
-| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
-| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
-| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
-| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
-| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
-
-### 版本信息寄存器 (只读)
-| 地址 | 功能码 | 内容 | 说明 |
-|------|--------|------|------|
-| F0H | 03H | 版本号 | 固件版本信息 |
-| F1H-F4H | 03H | 型号 | 产品型号信息 |
-
-## 常用控制指令示例
-
-### 读取电机状态
-```
-发送: 01 03 00 00 00 01 84 0A
-接收: 01 03 02 00 01 79 84
-说明: 电机状态为0001H (正在运行)
-```
-
-### 读取当前位置
-```
-发送: 01 03 00 01 00 02 95 CB
-接收: 01 03 04 00 19 00 00 2B F4
-说明: 当前位置为1638400步 (100圈)
-```
-
-### 停止电机
-```
-发送: 01 10 00 04 00 01 02 00 00 A7 D4
-接收: 01 10 00 04 00 01 40 08
-说明: 急停指令
-```
-
-### 位置模式运动
-```
-发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
-接收: 01 10 00 10 00 06 41 CE
-说明: 以5000rpm速度运动到1638400步位置
-```
-
-### 速度模式 - 正转
-```
-发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
-接收: 01 10 00 60 00 04 C1 D4
-说明: 以5000rpm速度正转
-```
-
-### 速度模式 - 反转
-```
-发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
-接收: 01 10 00 60 00 04 C1 D4
-说明: 以5000rpm速度反转 (EC78H = -5000)
-```
-
-### 设置设备地址
-```
-发送: 00 06 00 E0 00 02 C9 F1
-接收: 00 06 00 E0 00 02 C9 F1
-说明: 将设备地址设置为2
-```
-
-## 错误码
-| 状态码 | 含义 |
-|--------|------|
-| 0001H | 功能码错误 |
-| 0002H | 地址错误 |
-| 0003H | 长度错误 |
-
-## CRC校验算法
-```c
-public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
- int wCrc = 0x0000FFFF;
- byte[] CRC = new byte[2];
- for (int i = 0; i < cnt; i++) {
- wCrc ^= ((data[i + offset]) & 0xFF);
- for (int j = 0; j < 8; j++) {
- if ((wCrc & 0x00000001) == 1) {
- wCrc >>= 1;
- wCrc ^= 0x0000A001;
- } else {
- wCrc >>= 1;
- }
- }
- }
- CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
- CRC[0] = (byte) (wCrc & 0x000000FF);
- return CRC;
-}
-```
-
-## 注意事项
-1. 所有16位数据采用大端序传输
-2. 步数计算: 实际步数 = 高位<<16 | 低位
-3. 负数使用补码表示
-4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
-5. 光电开关需使用NPN开漏型
-6. 限位开关: LF正向, LB反向
\ No newline at end of file
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deleted file mode 100644
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+++ /dev/null
@@ -1,1281 +0,0 @@
-# LaiYu液体处理设备硬件连接配置指南
-
-## 📋 文档概述
-
-本指南提供LaiYu液体处理设备的完整硬件连接配置方案，包括快速入门、详细配置、连接验证和故障排除。适用于设备初次安装、配置变更和问题诊断。
-
----
-
-## 🚀 快速入门指南
-
-### 基本配置步骤
-
-1. **确认硬件连接**
- - 将RS485转USB设备连接到计算机
- - 确保XYZ控制器和移液器通过RS485总线连接
- - 检查设备供电状态
-
-2. **获取串口信息**
- ```bash
- # macOS/Linux
- ls /dev/cu.* | grep usbserial
-
- # 常见输出: /dev/cu.usbserial-3130
- ```
-
-3. **基本配置参数**
- ```python
- # 推荐的默认配置
- config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130", # 🔧 替换为实际串口号
- address=4, # 移液器地址（固定）
- baudrate=115200, # 推荐波特率
- timeout=5.0 # 通信超时
- )
- ```
-
-4. **快速连接测试**
- ```python
- device = LaiYuLiquid(config)
- success = await device.setup()
- print(f"连接状态: {'成功' if success else '失败'}")
- ```
-
----
-
-## 🏗️ 硬件架构详解
-
-### 系统组成
-
-LaiYu液体处理设备采用RS485总线架构，包含以下核心组件：
-
-| 组件 | 通信协议 | 设备地址 | 默认波特率 | 功能描述 |
-|------|----------|----------|------------|----------|
-| **XYZ三轴控制器** | RS485 (Modbus) | X轴=1, Y轴=2, Z轴=3 | 115200 | 三维运动控制 |
-| **SOPA移液器** | RS485 | 4 (推荐) | 115200 | 液体吸取分配 |
-| **RS485转USB** | USB/串口 | - | 115200 | 通信接口转换 |
-
-### 地址分配策略
-
-```
-RS485总线地址分配:
-├── 地址 1: X轴步进电机 (自动分配)
-├── 地址 2: Y轴步进电机 (自动分配)
-├── 地址 3: Z轴步进电机 (自动分配)
-├── 地址 4: SOPA移液器 (推荐配置)
-└── 禁用地址: 47('/'), 69('E'), 91('[')
-```
-
-### 通信参数规范
-
-| 参数 | XYZ控制器 | SOPA移液器 | 说明 |
-|------|-----------|------------|------|
-| **数据位** | 8 | 8 | 固定值 |
-| **停止位** | 1 | 1 | 固定值 |
-| **校验位** | 无 | 无 | 固定值 |
-| **流控制** | 无 | 无 | 固定值 |
-
----
-
-## ⚙️ 配置参数详解
-
-### 1. 核心配置类
-
-#### LaiYuLiquidConfig 参数说明
-
-```python
-@dataclass
-class LaiYuLiquidConfig:
- # === 通信参数 ===
- port: str = "/dev/cu.usbserial-3130" # 串口设备路径
- address: int = 4 # 移液器地址（推荐值）
- baudrate: int = 115200 # 通信波特率（推荐值）
- timeout: float = 5.0 # 通信超时时间（秒）
-
- # === 工作台物理尺寸 ===
- deck_width: float = 340.0 # 工作台宽度 (mm)
- deck_height: float = 250.0 # 工作台高度 (mm)
- deck_depth: float = 160.0 # 工作台深度 (mm)
-
- # === 运动控制参数 ===
- max_speed: float = 100.0 # 最大移动速度 (mm/s)
- acceleration: float = 50.0 # 加速度 (mm/s²)
- safe_height: float = 50.0 # 安全移动高度 (mm)
-
- # === 移液参数 ===
- max_volume: float = 1000.0 # 最大移液体积 (μL)
- min_volume: float = 0.1 # 最小移液体积 (μL)
- liquid_detection: bool = True # 启用液面检测
-
- # === 枪头操作参数 ===
- tip_pickup_speed: int = 30 # 取枪头速度 (rpm)
- tip_pickup_acceleration: int = 500 # 取枪头加速度 (rpm/s)
- tip_pickup_depth: float = 10.0 # 枪头插入深度 (mm)
- tip_drop_height: float = 10.0 # 丢弃枪头高度 (mm)
-```
-
-### 2. 配置文件位置
-
-#### A. 代码配置（推荐）
-```python
-# 在Python代码中直接配置
-from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig
-
-config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130", # 🔧 修改为实际串口
- address=4, # 🔧 移液器地址
- baudrate=115200, # 🔧 通信波特率
- timeout=5.0 # 🔧 超时时间
-)
-```
-
-#### B. JSON配置文件
-```json
-{
- "laiyu_liquid_config": {
- "port": "/dev/cu.usbserial-3130",
- "address": 4,
- "baudrate": 115200,
- "timeout": 5.0,
- "deck_width": 340.0,
- "deck_height": 250.0,
- "deck_depth": 160.0,
- "max_speed": 100.0,
- "acceleration": 50.0,
- "safe_height": 50.0
- }
-}
-```
-
-#### C. 实验协议配置
-```json
-// test/experiments/laiyu_liquid.json
-{
- "device_config": {
- "type": "laiyu_liquid",
- "config": {
- "port": "/dev/cu.usbserial-3130",
- "address": 4,
- "baudrate": 115200
- }
- }
-}
-```
-
-### 2. 串口设备识别
-
-#### 自动识别方法（推荐）
-
-```python
-import serial.tools.list_ports
-
-def find_laiyu_device():
- """自动查找LaiYu设备串口"""
- ports = serial.tools.list_ports.comports()
-
- for port in ports:
- # 根据设备描述或VID/PID识别
- if 'usbserial' in port.device.lower():
- print(f"找到可能的设备: {port.device}")
- print(f"描述: {port.description}")
- print(f"硬件ID: {port.hwid}")
- return port.device
-
- return None
-
-# 使用示例
-device_port = find_laiyu_device()
-if device_port:
- print(f"检测到设备端口: {device_port}")
-else:
- print("未检测到设备")
-```
-
-#### 手动识别方法
-
-| 操作系统 | 命令 | 设备路径格式 |
-|---------|------|-------------|
-| **macOS** | `ls /dev/cu.*` | `/dev/cu.usbserial-XXXX` |
-| **Linux** | `ls /dev/ttyUSB*` | `/dev/ttyUSB0` |
-| **Windows** | 设备管理器 | `COM3`, `COM4` 等 |
-
-#### macOS 详细识别
-```bash
-# 1. 列出所有USB串口设备
-ls /dev/cu.usbserial-*
-
-# 2. 查看USB设备详细信息
-system_profiler SPUSBDataType | grep -A 10 "Serial"
-
-# 3. 实时监控设备插拔
-ls /dev/cu.* && echo "--- 请插入设备 ---" && sleep 3 && ls /dev/cu.*
-```
-
-#### Linux 详细识别
-```bash
-# 1. 列出串口设备
-ls /dev/ttyUSB* /dev/ttyACM*
-
-# 2. 查看设备信息
-dmesg | grep -i "usb.*serial"
-lsusb | grep -i "serial\|converter"
-
-# 3. 查看设备属性
-udevadm info --name=/dev/ttyUSB0 --attribute-walk
-```
-
-#### Windows 详细识别
-```powershell
-# PowerShell命令
-Get-WmiObject -Class Win32_SerialPort | Select-Object Name, DeviceID, Description
-
-# 或在设备管理器中查看"端口(COM和LPT)"
-```
-
-### 3. 控制器特定配置
-
-#### XYZ步进电机控制器
-- **地址范围**: 1-3 (X轴=1, Y轴=2, Z轴=3)
-- **通信协议**: Modbus RTU
-- **波特率**: 9600 或 115200
-- **数据位**: 8
-- **停止位**: 1
-- **校验位**: None
-
-#### XYZ控制器配置 (`controllers/xyz_controller.py`)
-
-XYZ控制器负责三轴运动控制，提供精确的位置控制和运动规划功能。
-
-**主要功能：**
-- 三轴独立控制（X、Y、Z轴）
-- 位置精度控制
-- 运动速度调节
-- 安全限位检测
-
-**配置参数：**
-```python
-xyz_config = {
- "port": "/dev/ttyUSB0", # 串口设备
- "baudrate": 115200, # 波特率
- "timeout": 1.0, # 通信超时
- "max_speed": { # 最大速度限制
- "x": 1000, # X轴最大速度
- "y": 1000, # Y轴最大速度
- "z": 500 # Z轴最大速度
- },
- "acceleration": 500, # 加速度
- "home_position": [0, 0, 0] # 原点位置
-}
-```
-
-```python
-def __init__(self, port: str, baudrate: int = 115200,
- machine_config: Optional[MachineConfig] = None,
- config_file: str = "machine_config.json",
- auto_connect: bool = True):
- """
- Args:
- port: 串口端口 (如: "/dev/cu.usbserial-3130")
- baudrate: 波特率 (默认: 115200)
- machine_config: 机械配置参数
- config_file: 配置文件路径
- auto_connect: 是否自动连接
- """
-```
-
-#### SOPA移液器
-- **地址**: 通常为 4 或更高
-- **通信协议**: 自定义协议
-- **波特率**: 115200 (推荐)
-- **响应时间**: < 100ms
-
-#### 移液器控制器配置 (`controllers/pipette_controller.py`)
-
-移液器控制器负责精确的液体吸取和分配操作，支持多种移液模式和参数配置。
-
-**主要功能：**
-- 精确体积控制
-- 液面检测
-- 枪头管理
-- 速度调节
-
-**配置参数：**
-```python
-@dataclass
-class SOPAConfig:
- # 通信参数
- port: str = "/dev/ttyUSB0" # 🔧 修改串口号
- baudrate: int = 115200 # 🔧 修改波特率
- address: int = 1 # 🔧 修改设备地址 (1-254)
- timeout: float = 5.0 # 🔧 修改超时时间
- comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG
-```
-
-## 🔍 连接验证与测试
-
-### 1. 编程方式验证连接
-
-#### 创建测试脚本
-```python
-#!/usr/bin/env python3
-"""
-LaiYu液体处理设备连接测试脚本
-"""
-
-import sys
-import os
-sys.path.append('/Users/dp/Documents/DPT/HuaiRou/Uni-Lab-OS')
-
-from unilabos.devices.laiyu_liquid.core.LaiYu_Liquid import (
- LaiYuLiquid, LaiYuLiquidConfig
-)
-
-def test_connection():
- """测试设备连接"""
-
- # 🔧 修改这里的配置参数
- config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130", # 修改为你的串口号
- address=1, # 修改为你的设备地址
- baudrate=9600, # 修改为你的波特率
- timeout=5.0
- )
-
- print("🔌 正在测试LaiYu液体处理设备连接...")
- print(f"串口: {config.port}")
- print(f"波特率: {config.baudrate}")
- print(f"设备地址: {config.address}")
- print("-" * 50)
-
- try:
- # 创建设备实例
- device = LaiYuLiquid(config)
-
- # 尝试连接和初始化
- print("📡 正在连接设备...")
- success = await device.setup()
-
- if success:
- print("✅ 设备连接成功!")
- print(f"连接状态: {device.is_connected}")
- print(f"初始化状态: {device.is_initialized}")
- print(f"当前位置: {device.current_position}")
-
- # 获取设备状态
- status = device.get_status()
- print("\n📊 设备状态:")
- for key, value in status.items():
- print(f" {key}: {value}")
-
- else:
- print("❌ 设备连接失败!")
- print("请检查:")
- print(" 1. 串口号是否正确")
- print(" 2. 设备是否已连接并通电")
- print(" 3. 波特率和设备地址是否匹配")
- print(" 4. 串口是否被其他程序占用")
-
- except Exception as e:
- print(f"❌ 连接测试出错: {e}")
- print("\n🔧 故障排除建议:")
- print(" 1. 检查串口设备是否存在:")
- print(" macOS: ls /dev/cu.*")
- print(" Linux: ls /dev/ttyUSB* /dev/ttyACM*")
- print(" 2. 检查设备权限:")
- print(" sudo chmod 666 /dev/cu.usbserial-*")
- print(" 3. 检查设备是否被占用:")
- print(" lsof | grep /dev/cu.usbserial")
-
- finally:
- # 清理连接
- if 'device' in locals():
- await device.stop()
-
-if __name__ == "__main__":
- import asyncio
- asyncio.run(test_connection())
-```
-
-### 2. 命令行验证工具
-
-#### 串口通信测试
-```bash
-# 安装串口调试工具
-pip install pyserial
-
-# 使用Python测试串口
-python -c "
-import serial
-try:
- ser = serial.Serial('/dev/cu.usbserial-3130', 9600, timeout=1)
- print('串口连接成功:', ser.is_open)
- ser.close()
-except Exception as e:
- print('串口连接失败:', e)
-"
-```
-
-#### 设备权限检查
-```bash
-# macOS/Linux 检查串口权限
-ls -la /dev/cu.usbserial-*
-
-# 如果权限不足，修改权限
-sudo chmod 666 /dev/cu.usbserial-*
-
-# 检查串口是否被占用
-lsof | grep /dev/cu.usbserial
-```
-
-### 3. 连接状态指示器
-
-设备提供多种方式检查连接状态：
-
-#### A. 属性检查
-```python
-device = LaiYuLiquid(config)
-
-# 检查连接状态
-print(f"设备已连接: {device.is_connected}")
-print(f"设备已初始化: {device.is_initialized}")
-print(f"枪头已安装: {device.tip_attached}")
-print(f"当前位置: {device.current_position}")
-print(f"当前体积: {device.current_volume}")
-```
-
-#### B. 状态字典
-```python
-status = device.get_status()
-print("完整设备状态:", status)
-
-# 输出示例:
-# {
-# 'connected': True,
-# 'initialized': True,
-# 'position': (0.0, 0.0, 50.0),
-# 'tip_attached': False,
-# 'current_volume': 0.0,
-# 'last_error': None
-# }
-```
-
-## 🛠️ 故障排除指南
-
-### 1. 连接问题诊断
-
-#### 🔍 问题诊断流程
-```python
-def diagnose_connection_issues():
- """连接问题诊断工具"""
- import serial.tools.list_ports
- import serial
-
- print("🔍 开始连接问题诊断...")
-
- # 1. 检查串口设备
- ports = list(serial.tools.list_ports.comports())
- if not ports:
- print("❌ 未检测到任何串口设备")
- print("💡 解决方案:")
- print(" - 检查USB连接线")
- print(" - 确认设备电源")
- print(" - 安装设备驱动")
- return
-
- print(f"✅ 检测到 {len(ports)} 个串口设备")
- for port in ports:
- print(f" 📍 {port.device}: {port.description}")
-
- # 2. 测试串口访问权限
- for port in ports:
- try:
- with serial.Serial(port.device, 9600, timeout=1):
- print(f"✅ {port.device}: 访问权限正常")
- except PermissionError:
- print(f"❌ {port.device}: 权限不足")
- print("💡 解决方案: sudo chmod 666 " + port.device)
- except Exception as e:
- print(f"⚠️ {port.device}: {e}")
-
-# 运行诊断
-diagnose_connection_issues()
-```
-
-#### 🚫 常见连接错误
-
-| 错误类型 | 症状 | 解决方案 |
-|---------|------|----------|
-| **设备未找到** | `FileNotFoundError: No such file or directory` | 1. 检查USB连接
2. 确认设备驱动
3. 重新插拔设备 |
-| **权限不足** | `PermissionError: Permission denied` | 1. `sudo chmod 666 /dev/ttyUSB0`
2. 添加用户到dialout组
3. 使用sudo运行 |
-| **设备占用** | `SerialException: Device or resource busy` | 1. 关闭其他程序
2. `lsof /dev/ttyUSB0`查找占用
3. 重启系统 |
-| **驱动问题** | 设备管理器显示未知设备 | 1. 安装CH340/CP210x驱动
2. 更新系统驱动
3. 使用原装USB线 |
-
-### 2. 通信问题解决
-
-#### 📡 通信参数调试
-```python
-def test_communication_parameters():
- """测试不同通信参数"""
- import serial
-
- port = "/dev/cu.usbserial-3130" # 修改为实际端口
- baudrates = [9600, 19200, 38400, 57600, 115200]
-
- for baudrate in baudrates:
- print(f"🔄 测试波特率: {baudrate}")
- try:
- with serial.Serial(port, baudrate, timeout=2) as ser:
- # 发送测试命令
- test_cmd = b'\x01\x03\x00\x00\x00\x01\x84\x0A'
- ser.write(test_cmd)
-
- response = ser.read(100)
- if response:
- print(f" ✅ 成功: 收到 {len(response)} 字节")
- print(f" 📦 数据: {response.hex()}")
- return baudrate
- else:
- print(f" ❌ 无响应")
- except Exception as e:
- print(f" ❌ 错误: {e}")
-
- return None
-```
-
-#### ⚡ 通信故障排除
-
-| 问题类型 | 症状 | 诊断方法 | 解决方案 |
-|---------|------|----------|----------|
-| **通信超时** | `TimeoutError` | 检查波特率和设备地址 | 1. 调整超时时间
2. 验证波特率
3. 检查设备地址 |
-| **数据校验错误** | `CRCError` | 检查数据完整性 | 1. 更换USB线
2. 降低波特率
3. 检查电磁干扰 |
-| **协议错误** | 响应格式异常 | 验证命令格式 | 1. 检查协议版本
2. 确认设备类型
3. 更新固件 |
-| **间歇性故障** | 时好时坏 | 监控连接稳定性 | 1. 检查连接线
2. 稳定电源
3. 减少干扰源 |
-
-### 3. 设备功能问题
-
-#### 🎯 设备状态检查
-```python
-def check_device_health():
- """设备健康状态检查"""
- from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend
-
- config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130",
- address=4,
- baudrate=115200,
- timeout=5.0
- )
-
- try:
- backend = LaiYuLiquidBackend(config)
- backend.connect()
-
- # 检查项目
- checks = {
- "设备连接": lambda: backend.is_connected(),
- "XYZ轴状态": lambda: backend.xyz_controller.get_all_positions(),
- "移液器状态": lambda: backend.pipette_controller.get_status(),
- "设备温度": lambda: backend.get_temperature(),
- "错误状态": lambda: backend.get_error_status(),
- }
-
- print("🏥 设备健康检查报告")
- print("=" * 40)
-
- for check_name, check_func in checks.items():
- try:
- result = check_func()
- print(f"✅ {check_name}: 正常")
- if result:
- print(f" 📊 数据: {result}")
- except Exception as e:
- print(f"❌ {check_name}: 异常 - {e}")
-
- backend.disconnect()
-
- except Exception as e:
- print(f"❌ 无法连接设备: {e}")
-```
-
-### 4. 高级故障排除
-
-#### 🔧 日志分析工具
-```python
-import logging
-
-def setup_debug_logging():
- """设置调试日志"""
- logging.basicConfig(
- level=logging.DEBUG,
- format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
- handlers=[
- logging.FileHandler('laiyu_debug.log'),
- logging.StreamHandler()
- ]
- )
-
- # 启用串口通信日志
- serial_logger = logging.getLogger('serial')
- serial_logger.setLevel(logging.DEBUG)
-
- print("🔍 调试日志已启用，日志文件: laiyu_debug.log")
-```
-
-#### 📊 性能监控
-```python
-def monitor_performance():
- """性能监控工具"""
- import time
- import psutil
-
- print("📊 开始性能监控...")
-
- start_time = time.time()
- start_cpu = psutil.cpu_percent()
- start_memory = psutil.virtual_memory().percent
-
- # 执行设备操作
- # ... 你的设备操作代码 ...
-
- end_time = time.time()
- end_cpu = psutil.cpu_percent()
- end_memory = psutil.virtual_memory().percent
-
- print(f"⏱️ 执行时间: {end_time - start_time:.2f} 秒")
- print(f"💻 CPU使用: {end_cpu - start_cpu:.1f}%")
- print(f"🧠 内存使用: {end_memory - start_memory:.1f}%")
-```
-
-## 📝 配置文件模板
-
-### 1. 基础配置模板
-
-#### 标准配置（推荐）
-```python
-from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend, LaiYuLiquid
-
-# 创建标准配置
-config = LaiYuLiquidConfig(
- # === 通信参数 ===
- port="/dev/cu.usbserial-3130", # 🔧 修改为实际串口
- address=4, # 移液器地址（推荐）
- baudrate=115200, # 通信波特率（推荐）
- timeout=5.0, # 通信超时时间
-
- # === 工作台尺寸 ===
- deck_width=340.0, # 工作台宽度 (mm)
- deck_height=250.0, # 工作台高度 (mm)
- deck_depth=160.0, # 工作台深度 (mm)
-
- # === 运动控制参数 ===
- max_speed=100.0, # 最大移动速度 (mm/s)
- acceleration=50.0, # 加速度 (mm/s²)
- safe_height=50.0, # 安全移动高度 (mm)
-
- # === 移液参数 ===
- max_volume=1000.0, # 最大移液体积 (μL)
- min_volume=0.1, # 最小移液体积 (μL)
- liquid_detection=True, # 启用液面检测
-
- # === 枪头操作参数 ===
- tip_pickup_speed=30, # 取枪头速度 (rpm)
- tip_pickup_acceleration=500, # 取枪头加速度 (rpm/s)
- tip_pickup_depth=10.0, # 枪头插入深度 (mm)
- tip_drop_height=10.0, # 丢弃枪头高度 (mm)
-)
-
-# 创建设备实例
-backend = LaiYuLiquidBackend(config)
-device = LaiYuLiquid(backend)
-```
-
-### 2. 高级配置模板
-
-#### 多设备配置
-```python
-# 配置多个LaiYu设备
-configs = {
- "device_1": LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130",
- address=4,
- baudrate=115200,
- deck_width=340.0,
- deck_height=250.0,
- deck_depth=160.0
- ),
- "device_2": LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3131",
- address=4,
- baudrate=115200,
- deck_width=340.0,
- deck_height=250.0,
- deck_depth=160.0
- )
-}
-
-# 创建设备实例
-devices = {}
-for name, config in configs.items():
- backend = LaiYuLiquidBackend(config)
- devices[name] = LaiYuLiquid(backend)
-```
-
-#### 自定义参数配置
-```python
-# 高精度移液配置
-precision_config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130",
- address=4,
- baudrate=115200,
- timeout=10.0, # 增加超时时间
-
- # 精密运动控制
- max_speed=50.0, # 降低速度提高精度
- acceleration=25.0, # 降低加速度
- safe_height=30.0, # 降低安全高度
-
- # 精密移液参数
- max_volume=200.0, # 小体积移液
- min_volume=0.5, # 提高最小体积
- liquid_detection=True,
-
- # 精密枪头操作
- tip_pickup_speed=15, # 降低取枪头速度
- tip_pickup_acceleration=250, # 降低加速度
- tip_pickup_depth=8.0, # 减少插入深度
- tip_drop_height=5.0, # 降低丢弃高度
-)
-```
-
-### 3. 实验协议配置
-
-#### JSON配置文件模板
-```json
-{
- "experiment_name": "LaiYu液体处理实验",
- "version": "1.0",
- "devices": {
- "laiyu_liquid": {
- "type": "LaiYu_Liquid",
- "config": {
- "port": "/dev/cu.usbserial-3130",
- "address": 4,
- "baudrate": 115200,
- "timeout": 5.0,
- "deck_width": 340.0,
- "deck_height": 250.0,
- "deck_depth": 160.0,
- "max_speed": 100.0,
- "acceleration": 50.0,
- "safe_height": 50.0,
- "max_volume": 1000.0,
- "min_volume": 0.1,
- "liquid_detection": true
- }
- }
- },
- "deck_layout": {
- "tip_rack": {
- "type": "tip_rack_96",
- "position": [10, 10, 0],
- "tips": "1000μL"
- },
- "source_plate": {
- "type": "plate_96",
- "position": [100, 10, 0],
- "contents": "样品"
- },
- "dest_plate": {
- "type": "plate_96",
- "position": [200, 10, 0],
- "contents": "目标"
- }
- }
-}
-```
-
-### 4. 完整配置示例
-```json
-{
- "laiyu_liquid_config": {
- "communication": {
- "xyz_controller": {
- "port": "/dev/cu.usbserial-3130",
- "baudrate": 115200,
- "timeout": 5.0
- },
- "pipette_controller": {
- "port": "/dev/cu.usbserial-3131",
- "baudrate": 115200,
- "address": 4,
- "timeout": 5.0
- }
- },
- "mechanical": {
- "deck_width": 340.0,
- "deck_height": 250.0,
- "deck_depth": 160.0,
- "safe_height": 50.0
- },
- "motion": {
- "max_speed": 100.0,
- "acceleration": 50.0,
- "tip_pickup_speed": 30,
- "tip_pickup_acceleration": 500
- },
- "safety": {
- "position_validation": true,
- "emergency_stop_enabled": true,
- "deck_width": 300.0,
- "deck_height": 200.0,
- "deck_depth": 100.0,
- "safe_height": 50.0
- }
- }
-}
-```
-
-### 5. 完整使用示例
-
-#### 基础移液操作
-```python
-async def basic_pipetting_example():
- """基础移液操作示例"""
-
- # 1. 设备初始化
- config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130",
- address=4,
- baudrate=115200
- )
-
- backend = LaiYuLiquidBackend(config)
- device = LaiYuLiquid(backend)
-
- try:
- # 2. 设备设置
- await device.setup()
- print("✅ 设备初始化完成")
-
- # 3. 回到原点
- await device.home_all_axes()
- print("✅ 轴归零完成")
-
- # 4. 取枪头
- tip_position = (50, 50, 10) # 枪头架位置
- await device.pick_up_tip(tip_position)
- print("✅ 取枪头完成")
-
- # 5. 移液操作
- source_pos = (100, 100, 15) # 源位置
- dest_pos = (200, 200, 15) # 目标位置
- volume = 100.0 # 移液体积 (μL)
-
- await device.aspirate(volume, source_pos)
- print(f"✅ 吸取 {volume}μL 完成")
-
- await device.dispense(volume, dest_pos)
- print(f"✅ 分配 {volume}μL 完成")
-
- # 6. 丢弃枪头
- trash_position = (300, 300, 20)
- await device.drop_tip(trash_position)
- print("✅ 丢弃枪头完成")
-
- except Exception as e:
- print(f"❌ 操作失败: {e}")
-
- finally:
- # 7. 清理资源
- await device.cleanup()
- print("✅ 设备清理完成")
-
-# 运行示例
-import asyncio
-asyncio.run(basic_pipetting_example())
-```
-
-#### 批量处理示例
-```python
-async def batch_processing_example():
- """批量处理示例"""
-
- config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130",
- address=4,
- baudrate=115200
- )
-
- backend = LaiYuLiquidBackend(config)
- device = LaiYuLiquid(backend)
-
- try:
- await device.setup()
- await device.home_all_axes()
-
- # 定义位置
- tip_rack = [(50 + i*9, 50, 10) for i in range(12)] # 12个枪头位置
- source_wells = [(100 + i*9, 100, 15) for i in range(12)] # 12个源孔
- dest_wells = [(200 + i*9, 200, 15) for i in range(12)] # 12个目标孔
-
- # 批量移液
- for i in range(12):
- print(f"🔄 处理第 {i+1} 个样品...")
-
- # 取枪头
- await device.pick_up_tip(tip_rack[i])
-
- # 移液
- await device.aspirate(50.0, source_wells[i])
- await device.dispense(50.0, dest_wells[i])
-
- # 丢弃枪头
- await device.drop_tip((300, 300, 20))
-
- print(f"✅ 第 {i+1} 个样品处理完成")
-
- print("🎉 批量处理完成!")
-
- except Exception as e:
- print(f"❌ 批量处理失败: {e}")
-
- finally:
- await device.cleanup()
-
-# 运行批量处理
-asyncio.run(batch_processing_example())
-```
-
-## 🔧 调试与日志管理
-
-### 1. 调试模式配置
-
-#### 启用全局调试
-```python
-import logging
-from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend
-
-# 配置全局日志
-logging.basicConfig(
- level=logging.DEBUG,
- format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
- handlers=[
- logging.FileHandler('laiyu_debug.log'),
- logging.StreamHandler()
- ]
-)
-
-# 创建调试配置
-debug_config = LaiYuLiquidConfig(
- port="/dev/cu.usbserial-3130",
- address=4,
- baudrate=115200,
- timeout=10.0, # 增加超时时间便于调试
- debug_mode=True # 启用调试模式
-)
-```
-
-#### 分级日志配置
-```python
-def setup_logging(log_level="INFO"):
- """设置分级日志"""
-
- # 日志级别映射
- levels = {
- "DEBUG": logging.DEBUG,
- "INFO": logging.INFO,
- "WARNING": logging.WARNING,
- "ERROR": logging.ERROR
- }
-
- # 创建日志记录器
- logger = logging.getLogger('LaiYu_Liquid')
- logger.setLevel(levels.get(log_level, logging.INFO))
-
- # 文件处理器
- file_handler = logging.FileHandler('laiyu_operations.log')
- file_formatter = logging.Formatter(
- '%(asctime)s - %(name)s - %(levelname)s - %(funcName)s:%(lineno)d - %(message)s'
- )
- file_handler.setFormatter(file_formatter)
-
- # 控制台处理器
- console_handler = logging.StreamHandler()
- console_formatter = logging.Formatter('%(levelname)s - %(message)s')
- console_handler.setFormatter(console_formatter)
-
- logger.addHandler(file_handler)
- logger.addHandler(console_handler)
-
- return logger
-
-# 使用示例
-logger = setup_logging("DEBUG")
-logger.info("开始LaiYu设备操作")
-```
-
-### 2. 通信监控
-
-#### 串口通信日志
-```python
-def enable_serial_logging():
- """启用串口通信日志"""
- import serial
-
- # 创建串口日志记录器
- serial_logger = logging.getLogger('serial.communication')
- serial_logger.setLevel(logging.DEBUG)
-
- # 创建专用的串口日志文件
- serial_handler = logging.FileHandler('laiyu_serial.log')
- serial_formatter = logging.Formatter(
- '%(asctime)s - SERIAL - %(message)s'
- )
- serial_handler.setFormatter(serial_formatter)
- serial_logger.addHandler(serial_handler)
-
- print("📡 串口通信日志已启用: laiyu_serial.log")
- return serial_logger
-```
-
-#### 实时通信监控
-```python
-class CommunicationMonitor:
- """通信监控器"""
-
- def __init__(self):
- self.sent_count = 0
- self.received_count = 0
- self.error_count = 0
- self.start_time = time.time()
-
- def log_sent(self, data):
- """记录发送数据"""
- self.sent_count += 1
- logging.debug(f"📤 发送 #{self.sent_count}: {data.hex()}")
-
- def log_received(self, data):
- """记录接收数据"""
- self.received_count += 1
- logging.debug(f"📥 接收 #{self.received_count}: {data.hex()}")
-
- def log_error(self, error):
- """记录错误"""
- self.error_count += 1
- logging.error(f"❌ 通信错误 #{self.error_count}: {error}")
-
- def get_statistics(self):
- """获取统计信息"""
- duration = time.time() - self.start_time
- return {
- "运行时间": f"{duration:.2f}秒",
- "发送次数": self.sent_count,
- "接收次数": self.received_count,
- "错误次数": self.error_count,
- "成功率": f"{((self.sent_count - self.error_count) / max(self.sent_count, 1) * 100):.1f}%"
- }
-```
-
-### 3. 性能监控
-
-#### 操作性能分析
-```python
-import time
-import functools
-
-def performance_monitor(operation_name):
- """性能监控装饰器"""
- def decorator(func):
- @functools.wraps(func)
- async def wrapper(*args, **kwargs):
- start_time = time.time()
- start_memory = psutil.Process().memory_info().rss / 1024 / 1024 # MB
-
- try:
- result = await func(*args, **kwargs)
-
- end_time = time.time()
- end_memory = psutil.Process().memory_info().rss / 1024 / 1024 # MB
-
- duration = end_time - start_time
- memory_delta = end_memory - start_memory
-
- logging.info(f"⏱️ {operation_name}: {duration:.3f}s, 内存变化: {memory_delta:+.1f}MB")
-
- return result
-
- except Exception as e:
- end_time = time.time()
- duration = end_time - start_time
- logging.error(f"❌ {operation_name} 失败 ({duration:.3f}s): {e}")
- raise
-
- return wrapper
- return decorator
-
-# 使用示例
-@performance_monitor("移液操作")
-async def monitored_pipetting():
- await device.aspirate(100.0, (100, 100, 15))
- await device.dispense(100.0, (200, 200, 15))
-```
-
-#### 系统资源监控
-```python
-import psutil
-import threading
-import time
-
-class SystemMonitor:
- """系统资源监控器"""
-
- def __init__(self, interval=1.0):
- self.interval = interval
- self.monitoring = False
- self.data = []
-
- def start_monitoring(self):
- """开始监控"""
- self.monitoring = True
- self.monitor_thread = threading.Thread(target=self._monitor_loop)
- self.monitor_thread.daemon = True
- self.monitor_thread.start()
- print("📊 系统监控已启动")
-
- def stop_monitoring(self):
- """停止监控"""
- self.monitoring = False
- if hasattr(self, 'monitor_thread'):
- self.monitor_thread.join()
- print("📊 系统监控已停止")
-
- def _monitor_loop(self):
- """监控循环"""
- while self.monitoring:
- cpu_percent = psutil.cpu_percent()
- memory = psutil.virtual_memory()
-
- self.data.append({
- 'timestamp': time.time(),
- 'cpu_percent': cpu_percent,
- 'memory_percent': memory.percent,
- 'memory_used_mb': memory.used / 1024 / 1024
- })
-
- time.sleep(self.interval)
-
- def get_report(self):
- """生成监控报告"""
- if not self.data:
- return "无监控数据"
-
- avg_cpu = sum(d['cpu_percent'] for d in self.data) / len(self.data)
- avg_memory = sum(d['memory_percent'] for d in self.data) / len(self.data)
- max_memory = max(d['memory_used_mb'] for d in self.data)
-
- return f"""
-📊 系统资源监控报告
-==================
-监控时长: {len(self.data) * self.interval:.1f}秒
-平均CPU使用率: {avg_cpu:.1f}%
-平均内存使用率: {avg_memory:.1f}%
-峰值内存使用: {max_memory:.1f}MB
- """
-
-# 使用示例
-monitor = SystemMonitor()
-monitor.start_monitoring()
-
-# 执行设备操作
-# ... 你的代码 ...
-
-monitor.stop_monitoring()
-print(monitor.get_report())
-```
-
-### 4. 错误追踪
-
-#### 异常处理和记录
-```python
-import traceback
-
-class ErrorTracker:
- """错误追踪器"""
-
- def __init__(self):
- self.errors = []
-
- def log_error(self, operation, error, context=None):
- """记录错误"""
- error_info = {
- 'timestamp': time.time(),
- 'operation': operation,
- 'error_type': type(error).__name__,
- 'error_message': str(error),
- 'traceback': traceback.format_exc(),
- 'context': context or {}
- }
-
- self.errors.append(error_info)
-
- # 记录到日志
- logging.error(f"❌ {operation} 失败: {error}")
- logging.debug(f"错误详情: {error_info}")
-
- def get_error_summary(self):
- """获取错误摘要"""
- if not self.errors:
- return "✅ 无错误记录"
-
- error_types = {}
- for error in self.errors:
- error_type = error['error_type']
- error_types[error_type] = error_types.get(error_type, 0) + 1
-
- summary = f"❌ 共记录 {len(self.errors)} 个错误:\n"
- for error_type, count in error_types.items():
- summary += f" - {error_type}: {count} 次\n"
-
- return summary
-
-# 全局错误追踪器
-error_tracker = ErrorTracker()
-
-# 使用示例
-try:
- await device.move_to(x=1000, y=1000, z=100) # 可能超出范围
-except Exception as e:
- error_tracker.log_error("移动操作", e, {"target": (1000, 1000, 100)})
-```
-
----
-
-## 📚 总结
-
-本文档提供了LaiYu液体处理设备的完整硬件连接配置指南，涵盖了从基础设置到高级故障排除的所有方面。
-
-### 🎯 关键要点
-
-1. **标准配置**: 使用 `port="/dev/cu.usbserial-3130"`, `address=4`, `baudrate=115200`
-2. **设备架构**: XYZ轴控制器(地址1-3) + SOPA移液器(地址4)
-3. **连接验证**: 使用提供的测试脚本验证硬件连接
-4. **故障排除**: 参考故障排除指南解决常见问题
-5. **性能监控**: 启用日志和监控确保稳定运行
-
-### 🔗 相关文档
-
-- [LaiYu控制架构详解](./UniLab_LaiYu_控制架构详解.md)
-- [XYZ集成功能说明](./XYZ_集成功能说明.md)
-- [设备API文档](./readme.md)
-
-### 📞 技术支持
-
-如遇到问题，请：
-1. 检查硬件连接和配置
-2. 查看调试日志
-3. 参考故障排除指南
-4. 联系技术支持团队
-
----
-
-*最后更新: 2024年1月*
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/docs/readme.md b/unilabos/devices/liquid_handling/laiyu/docs/readme.md
deleted file mode 100644
index b81ba93a..00000000
--- a/unilabos/devices/liquid_handling/laiyu/docs/readme.md
+++ /dev/null
@@ -1,285 +0,0 @@
-# LaiYu_Liquid 液体处理工作站 - 生产就绪版本
-
-## 概述
-
-LaiYu_Liquid 是一个完全集成到 UniLabOS 系统的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
-
-## 系统组成
-
-### 硬件组件
-- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
-- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
-- **通信接口**: RS485转USB模块，默认波特率115200
-- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
-
-### 软件架构
-- **驱动层**: 底层硬件通信驱动，支持RS485协议
-- **控制层**: 高级控制逻辑和坐标系管理
-- **抽象层**: 完全符合UniLabOS标准的液体处理接口
-- **资源层**: 标准化的实验器具和耗材管理
-
-## 🎯 生产就绪组件
-
-### ✅ 核心驱动程序 (`drivers/`)
-- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
- - 支持液体吸取、分配、检测
- - 完整的错误处理和状态管理
- - 生产级别的通信协议实现
-
-- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
- - 精确的位置控制和运动规划
- - 安全限位和错误检测
- - 高性能运动控制算法
-
-### ✅ 高级控制器 (`controllers/`)
-- **`pipette_controller.py`** - 移液控制器
- - 封装高级液体处理功能
- - 支持多种液体类型和处理参数
- - 智能错误恢复机制
-
-- **`xyz_controller.py`** - XYZ运动控制器
- - 坐标系管理和转换
- - 运动路径优化
- - 安全运动控制
-
-### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
-- **完整的液体处理抽象接口**
-- **标准化的资源管理系统**
-- **与PyLabRobot兼容的后端实现**
-- **生产级别的错误处理和日志记录**
-
-### ✅ 资源管理系统
-- **`laiyu_liquid_res.py`** - 标准化资源定义
- - 96孔板、离心管架、枪头架等标准器具
- - 自动化的资源创建和配置函数
- - 与工作台布局的完美集成
-
-### ✅ 配置管理 (`config/`)
-- **`config/deck.json`** - 工作台布局配置
- - 精确的空间定义和槽位管理
- - 支持多种实验器具的标准化放置
- - 可扩展的配置架构
-
-- **`__init__.py`** - 模块集成和导出
- - 完整的API导出和版本管理
- - 依赖检查和安装验证
- - 专业的模块信息展示
-
-### ✅ 可视化支持
-- **`rviz_backend.py`** - RViz可视化后端
- - 实时运动状态可视化
- - 液体处理过程监控
- - 与ROS系统的无缝集成
-
-## 🚀 核心功能特性
-
-### 液体处理能力
-- **精密体积控制**: 支持1-1000μL精确分配
-- **多种液体类型**: 水性、有机溶剂、粘稠液体等
-- **智能检测**: 液位检测、气泡检测、堵塞检测
-- **自动化流程**: 完整的吸取-转移-分配工作流
-
-### 运动控制系统
-- **三轴精密定位**: 微米级精度控制
-- **路径优化**: 智能运动规划和碰撞避免
-- **安全机制**: 限位保护、紧急停止、错误恢复
-- **坐标系管理**: 工作坐标与机械坐标的自动转换
-
-### 资源管理
-- **标准化器具**: 支持96孔板、离心管架、枪头架等
-- **状态跟踪**: 实时监控液体体积、枪头状态等
-- **自动配置**: 基于JSON的灵活配置系统
-- **扩展性**: 易于添加新的器具类型
-
-## 📁 目录结构
-
-```
-LaiYu_Liquid/
-├── __init__.py # 模块初始化和API导出
-├── readme.md # 本文档
-├── rviz_backend.py # RViz可视化后端
-├── backend/ # 后端驱动模块
-│ ├── __init__.py
-│ └── laiyu_backend.py # PyLabRobot兼容后端
-├── core/ # 核心模块
-│ ├── core/
-│ │ └── LaiYu_Liquid.py # 主设备类
-│ ├── abstract_protocol.py # 抽象协议
-│ └── laiyu_liquid_res.py # 设备资源定义
-├── config/ # 配置文件目录
-│ └── deck.json # 工作台布局配置
-├── controllers/ # 高级控制器
-│ ├── __init__.py
-│ ├── pipette_controller.py # 移液控制器
-│ └── xyz_controller.py # XYZ运动控制器
-├── docs/ # 技术文档
-│ ├── SOPA气动式移液器RS485控制指令.md
-│ ├── 步进电机控制指令.md
-│ └── hardware/ # 硬件相关文档
-├── drivers/ # 底层驱动程序
-│ ├── __init__.py
-│ ├── sopa_pipette_driver.py # SOPA移液器驱动
-│ └── xyz_stepper_driver.py # XYZ步进电机驱动
-└── tests/ # 测试文件
-```
-
-## 🔧 快速开始
-
-### 1. 安装和验证
-
-```python
-# 验证模块安装
-from unilabos.devices.laiyu_liquid import (
- LaiYuLiquid,
- LaiYuLiquidConfig,
- create_quick_setup,
- print_module_info
-)
-
-# 查看模块信息
-print_module_info()
-
-# 快速创建默认资源
-resources = create_quick_setup()
-print(f"已创建 {len(resources)} 个资源")
-```
-
-### 2. 基本使用示例
-
-```python
-from unilabos.devices.LaiYu_Liquid import (
- create_quick_setup,
- create_96_well_plate,
- create_laiyu_backend
-)
-
-# 快速创建默认资源
-resources = create_quick_setup()
-print(f"创建了以下资源: {list(resources.keys())}")
-
-# 创建96孔板
-plate_96 = create_96_well_plate("test_plate")
-print(f"96孔板包含 {len(plate_96.children)} 个孔位")
-
-# 创建后端实例（用于PyLabRobot集成）
-backend = create_laiyu_backend("LaiYu_Device")
-print(f"后端设备: {backend.name}")
-```
-
-### 3. 后端驱动使用
-
-```python
-from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
-
-# 创建后端实例
-backend = create_laiyu_backend("LaiYu_Liquid_Station")
-
-# 连接设备
-await backend.connect()
-
-# 设备归位
-await backend.home_device()
-
-# 获取设备状态
-status = await backend.get_status()
-print(f"设备状态: {status}")
-
-# 断开连接
-await backend.disconnect()
-```
-
-### 4. 资源管理示例
-
-```python
-from unilabos.devices.LaiYu_Liquid import (
- create_centrifuge_tube_rack,
- create_tip_rack,
- load_deck_config
-)
-
-# 加载工作台配置
-deck_config = load_deck_config()
-print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
-
-# 创建不同类型的资源
-tube_rack = create_centrifuge_tube_rack("sample_rack")
-tip_rack = create_tip_rack("tip_rack_200ul")
-
-print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
-print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
-```
-
-## 🔍 技术架构
-
-### 坐标系统
-- **机械坐标**: 基于步进电机的原始坐标系统
-- **工作坐标**: 用户友好的实验室坐标系统
-- **自动转换**: 透明的坐标系转换和校准
-
-### 通信协议
-- **RS485总线**: 高可靠性工业通信标准
-- **Modbus协议**: 标准化的设备通信协议
-- **错误检测**: 完整的通信错误检测和恢复
-
-### 安全机制
-- **限位保护**: 硬件和软件双重限位保护
-- **紧急停止**: 即时停止所有运动和操作
-- **状态监控**: 实时设备状态监控和报警
-
-## 🧪 验证和测试
-
-### 功能验证
-```python
-# 验证模块安装
-from unilabos.devices.laiyu_liquid import validate_installation
-validate_installation()
-
-# 查看模块信息
-from unilabos.devices.laiyu_liquid import print_module_info
-print_module_info()
-```
-
-### 硬件连接测试
-```python
-# 测试SOPA移液器连接
-from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
-
-config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
-pipette = SOPAPipette(config)
-success = pipette.connect()
-print(f"SOPA连接状态: {'成功' if success else '失败'}")
-```
-
-## 📚 维护和支持
-
-### 日志记录
-- **结构化日志**: 使用Python logging模块的专业日志记录
-- **错误追踪**: 详细的错误信息和堆栈跟踪
-- **性能监控**: 操作时间和性能指标记录
-
-### 配置管理
-- **JSON配置**: 灵活的JSON格式配置文件
-- **参数验证**: 自动配置参数验证和错误提示
-- **热重载**: 支持配置文件的动态重载
-
-### 扩展性
-- **模块化设计**: 易于扩展和定制的模块化架构
-- **插件接口**: 支持第三方插件和扩展
-- **API兼容**: 向后兼容的API设计
-
-## 📞 技术支持
-
-### 常见问题
-1. **串口权限问题**: 确保用户有串口访问权限
-2. **依赖库安装**: 使用pip安装所需的Python库
-3. **设备连接**: 检查RS485适配器和设备地址配置
-
-### 联系方式
-- **技术文档**: 查看UniLabOS官方文档
-- **问题反馈**: 通过GitHub Issues提交问题
-- **社区支持**: 加入UniLabOS开发者社区
-
----
-
-**LaiYu_Liquid v1.0.0** - 生产就绪的液体处理工作站集成模块
-© 2024 UniLabOS Project. All rights reserved.
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/drivers/__init__.py b/unilabos/devices/liquid_handling/laiyu/drivers/__init__.py
deleted file mode 100644
index cedd47a0..00000000
--- a/unilabos/devices/liquid_handling/laiyu/drivers/__init__.py
+++ /dev/null
@@ -1,30 +0,0 @@
-"""
-LaiYu_Liquid 驱动程序模块
-
-该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
-- SOPA移液器驱动程序
-- XYZ步进电机驱动程序
-"""
-
-# SOPA移液器驱动程序导入
-from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
-
-# XYZ步进电机驱动程序导入
-from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
-
-__all__ = [
- # SOPA移液器
- "SOPAPipette",
- "SOPAConfig",
- "SOPAStatusCode",
-
- # XYZ步进电机
- "StepperMotorDriver",
- "XYZStepperController",
- "MotorAxis",
- "MotorStatus",
-]
-
-__version__ = "1.0.0"
-__author__ = "LaiYu_Liquid Driver Team"
-__description__ = "LaiYu_Liquid 硬件驱动程序集合"
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/drivers/sopa_pipette_driver.py b/unilabos/devices/liquid_handling/laiyu/drivers/sopa_pipette_driver.py
deleted file mode 100644
index 0e71bc71..00000000
--- a/unilabos/devices/liquid_handling/laiyu/drivers/sopa_pipette_driver.py
+++ /dev/null
@@ -1,1085 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-SOPA气动式移液器RS485控制驱动程序
-
-基于SOPA气动式移液器RS485控制指令合集编写的Python驱动程序，
-支持完整的移液器控制功能，包括移液、检测、配置等操作。
-
-仅支持SC-STxxx-00-13型号的RS485通信。
-"""
-
-import serial
-import time
-import logging
-import threading
-from typing import Optional, Union, Dict, Any, Tuple, List
-from enum import Enum, IntEnum
-from dataclasses import dataclass
-from contextlib import contextmanager
-
-# 配置日志
-logging.basicConfig(level=logging.INFO)
-logger = logging.getLogger(__name__)
-
-
-class SOPAError(Exception):
- """SOPA移液器异常基类"""
- pass
-
-
-class SOPACommunicationError(SOPAError):
- """通信异常"""
- pass
-
-
-class SOPADeviceError(SOPAError):
- """设备异常"""
- pass
-
-
-class SOPAStatusCode(IntEnum):
- """状态码枚举"""
- NO_ERROR = 0x00 # 无错误
- ACTION_INCOMPLETE = 0x01 # 上次动作未完成
- NOT_INITIALIZED = 0x02 # 设备未初始化
- DEVICE_OVERLOAD = 0x03 # 设备过载
- INVALID_COMMAND = 0x04 # 无效指令
- LLD_FAULT = 0x05 # 液位探测故障
- AIR_ASPIRATE = 0x0D # 空吸
- NEEDLE_BLOCK = 0x0E # 堵针
- FOAM_DETECT = 0x10 # 泡沫
- EXCEED_TIP_VOLUME = 0x11 # 吸液超过吸头容量
-
-
-class CommunicationType(Enum):
- """通信类型"""
- TERMINAL_DEBUG = "/" # 终端调试，头码为0x2F
- OEM_COMMUNICATION = "[" # OEM通信，头码为0x5B
-
-
-class DetectionMode(IntEnum):
- """液位检测模式"""
- PRESSURE = 0 # 压力式检测(pLLD)
- CAPACITIVE = 1 # 电容式检测(cLLD)
-
-
-@dataclass
-class SOPAConfig:
- """SOPA移液器配置参数"""
- # 通信参数
- port: str = "/dev/ttyUSB0"
- baudrate: int = 115200
- address: int = 1
- timeout: float = 5.0
- comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG
-
- # 运动参数 (单位: 0.1ul/秒)
- max_speed: int = 2000 # 最高速度 200ul/秒
- start_speed: int = 200 # 启动速度 20ul/秒
- cutoff_speed: int = 200 # 断流速度 20ul/秒
- acceleration: int = 30000 # 加速度
-
- # 检测参数
- empty_threshold: int = 4 # 空吸门限
- foam_threshold: int = 20 # 泡沫门限
- block_threshold: int = 350 # 堵塞门限
-
- # 液位检测参数
- lld_speed: int = 200 # 检测速度 (100~2000)
- lld_sensitivity: int = 5 # 检测灵敏度 (3~40)
- detection_mode: DetectionMode = DetectionMode.PRESSURE
-
- # 吸头参数
- tip_volume: int = 1000 # 吸头容量 (ul)
- calibration_factor: float = 1.0 # 校准系数
- compensation_offset: float = 0.0 # 补偿偏差
-
- def __post_init__(self):
- """初始化后验证参数"""
- self._validate_address()
-
- def _validate_address(self):
- """
- 验证设备地址是否符合协议要求
-
- 协议要求：
- - 地址范围：1~254
- - 禁用地址：47, 69, 91 (对应ASCII字符 '/', 'E', '[')
- """
- if not (1 <= self.address <= 254):
- raise ValueError(f"设备地址必须在1-254范围内，当前地址: {self.address}")
-
- forbidden_addresses = [47, 69, 91] # '/', 'E', '['
- if self.address in forbidden_addresses:
- forbidden_chars = {47: "'/' (0x2F)", 69: "'E' (0x45)", 91: "'[' (0x5B)"}
- char_desc = forbidden_chars[self.address]
- raise ValueError(
- f"地址 {self.address} 不可用，因为它对应协议字符 {char_desc}。"
- f"请选择其他地址（1-254，排除47、69、91）"
- )
-
-
-class SOPAPipette:
- """SOPA气动式移液器驱动类"""
-
- def __init__(self, config: SOPAConfig):
- """
- 初始化SOPA移液器
-
- Args:
- config: 移液器配置参数
- """
- self.config = config
- self.serial_port: Optional[serial.Serial] = None
- self.is_connected = False
- self.is_initialized = False
- self.lock = threading.Lock()
-
- # 状态缓存
- self._last_status = SOPAStatusCode.NOT_INITIALIZED
- self._current_position = 0
- self._tip_present = False
-
- def connect(self) -> bool:
- """
- 连接移液器
-
- Returns:
- bool: 连接是否成功
- """
- try:
- self.serial_port = serial.Serial(
- port=self.config.port,
- baudrate=self.config.baudrate,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=self.config.timeout
- )
-
- if self.serial_port.is_open:
- self.is_connected = True
- logger.info(f"已连接到SOPA移液器，端口: {self.config.port}, 地址: {self.config.address}")
-
- # 查询设备信息
- version = self.get_firmware_version()
- if version:
- logger.info(f"固件版本: {version}")
-
- return True
- else:
- raise SOPACommunicationError("串口打开失败")
-
- except Exception as e:
- logger.error(f"连接失败: {str(e)}")
- self.is_connected = False
- return False
-
- def disconnect(self):
- """断开连接"""
- if self.serial_port and self.serial_port.is_open:
- self.serial_port.close()
- self.is_connected = False
- self.is_initialized = False
- logger.info("已断开SOPA移液器连接")
-
- def _calculate_checksum(self, data: bytes) -> int:
- """计算校验和"""
- return sum(data) & 0xFF
-
- def _build_command(self, command: str) -> bytes:
- """
- 构建完整命令字节串
-
- 根据协议格式：头码 + 地址 + 命令/数据 + 尾码 + 校验和
-
- Args:
- command: 命令字符串
-
- Returns:
- bytes: 完整的命令字节串
- """
- header = self.config.comm_type.value # '/' 或 '['
- address = str(self.config.address) # 设备地址
- tail = "E" # 尾码固定为 'E'
-
- # 构建基础命令字符串：头码 + 地址 + 命令 + 尾码
- cmd_str = f"{header}{address}{command}{tail}"
-
- # 转换为字节串
- cmd_bytes = cmd_str.encode('ascii')
-
- # 计算校验和（所有字节的累加值）
- checksum = self._calculate_checksum(cmd_bytes)
-
- # 返回完整命令：基础命令字节 + 校验和字节
- return cmd_bytes + bytes([checksum])
-
- def _send_command(self, command: str) -> bool:
- """
- 发送命令到移液器
-
- Args:
- command: 要发送的命令
-
- Returns:
- bool: 命令是否发送成功
- """
- if not self.is_connected or not self.serial_port:
- raise SOPACommunicationError("设备未连接")
-
- with self.lock:
- try:
- full_command_bytes = self._build_command(command)
- # 转换为可读字符串用于日志显示
- readable_cmd = ''.join(chr(b) if 32 <= b <= 126 else f'\\x{b:02X}' for b in full_command_bytes)
- logger.debug(f"发送命令: {readable_cmd}")
-
- self.serial_port.write(full_command_bytes)
- self.serial_port.flush()
-
- # 等待响应
- time.sleep(0.1)
- return True
-
- except Exception as e:
- logger.error(f"发送命令失败: {str(e)}")
- raise SOPACommunicationError(f"发送命令失败: {str(e)}")
-
- def _read_response(self, timeout: float = None) -> Optional[str]:
- """
- 读取设备响应
-
- Args:
- timeout: 超时时间
-
- Returns:
- Optional[str]: 设备响应字符串
- """
- if not self.is_connected or not self.serial_port:
- return None
-
- timeout = timeout or self.config.timeout
-
- try:
- # 设置读取超时
- self.serial_port.timeout = timeout
-
- response = b''
- start_time = time.time()
-
- while time.time() - start_time < timeout:
- if self.serial_port.in_waiting > 0:
- chunk = self.serial_port.read(self.serial_port.in_waiting)
- response += chunk
-
- # 检查是否收到完整响应（以'E'结尾）
- if response.endswith(b'E') or len(response) >= 20:
- break
-
- time.sleep(0.01)
-
- if response:
- decoded_response = response.decode('ascii', errors='ignore')
- logger.debug(f"收到响应: {decoded_response}")
- return decoded_response
-
- except Exception as e:
- logger.error(f"读取响应失败: {str(e)}")
-
- return None
-
- def _send_query(self, query: str) -> Optional[str]:
- """
- 发送查询命令并获取响应
-
- Args:
- query: 查询命令
-
- Returns:
- Optional[str]: 查询结果
- """
- try:
- self._send_command(query)
- return self._read_response()
- except Exception as e:
- logger.error(f"查询失败: {str(e)}")
- return None
-
- # ==================== 基础控制方法 ====================
-
- def initialize(self) -> bool:
- """
- 初始化移液器
-
- Returns:
- bool: 初始化是否成功
- """
- try:
- logger.info("初始化SOPA移液器...")
-
- # 发送初始化命令
- self._send_command("HE")
-
- # 等待初始化完成
- time.sleep(2.0)
-
- # 检查状态
- status = self.get_status()
- if status == SOPAStatusCode.NO_ERROR:
- self.is_initialized = True
- logger.info("移液器初始化成功")
-
- # 应用配置参数
- self._apply_configuration()
- return True
- else:
- logger.error(f"初始化失败，状态码: {status}")
- return False
-
- except Exception as e:
- logger.error(f"初始化异常: {str(e)}")
- return False
-
- def _apply_configuration(self):
- """应用配置参数"""
- try:
- # 设置运动参数
- self.set_acceleration(self.config.acceleration)
- self.set_start_speed(self.config.start_speed)
- self.set_cutoff_speed(self.config.cutoff_speed)
- self.set_max_speed(self.config.max_speed)
-
- # 设置检测参数
- self.set_empty_threshold(self.config.empty_threshold)
- self.set_foam_threshold(self.config.foam_threshold)
- self.set_block_threshold(self.config.block_threshold)
-
- # 设置吸头参数
- self.set_tip_volume(self.config.tip_volume)
- self.set_calibration_factor(self.config.calibration_factor)
-
- # 设置液位检测参数
- self.set_detection_mode(self.config.detection_mode)
- self.set_lld_speed(self.config.lld_speed)
-
- logger.info("配置参数应用完成")
-
- except Exception as e:
- logger.warning(f"应用配置参数失败: {str(e)}")
-
- def eject_tip(self) -> bool:
- """
- 顶出枪头
-
- Returns:
- bool: 操作是否成功
- """
- try:
- logger.info("顶出枪头")
- self._send_command("RE")
- time.sleep(1.0)
- return True
- except Exception as e:
- logger.error(f"顶出枪头失败: {str(e)}")
- return False
-
- def get_tip_status(self) -> bool:
- """
- 获取枪头状态
-
- Returns:
- bool: True表示有枪头，False表示无枪头
- """
- try:
- response = self._send_query("Q28")
- if response and len(response) > 10:
- # 解析响应中的枪头状态
- if "T1" in response:
- self._tip_present = True
- return True
- elif "T0" in response:
- self._tip_present = False
- return False
- else:
- logger.error(f"获取枪头状态失败: {response}")
- return False
- except Exception as e:
- logger.error(f"获取枪头状态失败: {str(e)}")
-
- return False
-
- # ==================== 移液控制方法 ====================
-
- def move_absolute(self, position: float) -> bool:
- """
- 绝对位置移动
-
- Args:
- position: 目标位置(微升)
-
- Returns:
- bool: 移动是否成功
- """
- try:
- if not self.is_initialized:
- raise SOPADeviceError("设备未初始化")
-
- pos_int = int(position)
- logger.debug(f"绝对移动到位置: {pos_int}ul")
-
- self._send_command(f"A{pos_int}E")
- time.sleep(0.5)
-
- self._current_position = pos_int
- return True
-
- except Exception as e:
- logger.error(f"绝对移动失败: {str(e)}")
- return False
-
- def aspirate(self, volume: float, detection: bool = False) -> bool:
- """
- 抽吸液体
-
- Args:
- volume: 抽吸体积(微升)
- detection: 是否开启液体检测
-
- Returns:
- bool: 抽吸是否成功
- """
- try:
- if not self.is_initialized:
- raise SOPADeviceError("设备未初始化")
-
- vol_int = int(volume)
- logger.info(f"抽吸液体: {vol_int}ul, 检测: {detection}")
-
- # 构建命令
- cmd_parts = []
- cmd_parts.append(f"a{self.config.acceleration}")
- cmd_parts.append(f"b{self.config.start_speed}")
- cmd_parts.append(f"c{self.config.cutoff_speed}")
- cmd_parts.append(f"s{self.config.max_speed}")
-
- if detection:
- cmd_parts.append("f1") # 开启检测
-
- cmd_parts.append(f"P{vol_int}")
-
- if detection:
- cmd_parts.append("f0") # 关闭检测
-
- cmd_parts.append("E")
-
- command = "".join(cmd_parts)
- self._send_command(command)
-
- # 等待操作完成
- time.sleep(max(1.0, vol_int / 100.0))
-
- # 检查状态
- status = self.get_status()
- if status == SOPAStatusCode.NO_ERROR:
- self._current_position += vol_int
- logger.info(f"抽吸成功: {vol_int}ul")
- return True
- elif status == SOPAStatusCode.AIR_ASPIRATE:
- logger.warning("检测到空吸")
- return False
- elif status == SOPAStatusCode.NEEDLE_BLOCK:
- logger.error("检测到堵针")
- return False
- else:
- logger.error(f"抽吸失败，状态码: {status}")
- return False
-
- except Exception as e:
- logger.error(f"抽吸失败: {str(e)}")
- return False
-
- def dispense(self, volume: float, detection: bool = False) -> bool:
- """
- 分配液体
-
- Args:
- volume: 分配体积(微升)
- detection: 是否开启液体检测
-
- Returns:
- bool: 分配是否成功
- """
- try:
- if not self.is_initialized:
- raise SOPADeviceError("设备未初始化")
-
- vol_int = int(volume)
- logger.info(f"分配液体: {vol_int}ul, 检测: {detection}")
-
- # 构建命令
- cmd_parts = []
- cmd_parts.append(f"a{self.config.acceleration}")
- cmd_parts.append(f"b{self.config.start_speed}")
- cmd_parts.append(f"c{self.config.cutoff_speed}")
- cmd_parts.append(f"s{self.config.max_speed}")
-
- if detection:
- cmd_parts.append("f1") # 开启检测
-
- cmd_parts.append(f"D{vol_int}")
-
- if detection:
- cmd_parts.append("f0") # 关闭检测
-
- cmd_parts.append("E")
-
- command = "".join(cmd_parts)
- self._send_command(command)
-
- # 等待操作完成
- time.sleep(max(1.0, vol_int / 200.0))
-
- # 检查状态
- status = self.get_status()
- if status == SOPAStatusCode.NO_ERROR:
- self._current_position -= vol_int
- logger.info(f"分配成功: {vol_int}ul")
- return True
- else:
- logger.error(f"分配失败，状态码: {status}")
- return False
-
- except Exception as e:
- logger.error(f"分配失败: {str(e)}")
- return False
-
- # ==================== 液位检测方法 ====================
-
- def liquid_level_detection(self, sensitivity: int = None) -> bool:
- """
- 执行液位检测
-
- Args:
- sensitivity: 检测灵敏度 (3~40)
-
- Returns:
- bool: 检测是否成功
- """
- try:
- if not self.is_initialized:
- raise SOPADeviceError("设备未初始化")
-
- sens = sensitivity or self.config.lld_sensitivity
-
- if self.config.detection_mode == DetectionMode.PRESSURE:
- # 压力式液面检测
- command = f"m0k{self.config.lld_speed}L{sens}E"
- else:
- # 电容式液面检测
- command = f"m1L{sens}E"
-
- logger.info(f"执行液位检测, 模式: {self.config.detection_mode.name}, 灵敏度: {sens}")
-
- self._send_command(command)
- time.sleep(2.0)
-
- # 检查检测结果
- status = self.get_status()
- if status == SOPAStatusCode.NO_ERROR:
- logger.info("液位检测成功")
- return True
- elif status == SOPAStatusCode.LLD_FAULT:
- logger.error("液位检测故障")
- return False
- else:
- logger.warning(f"液位检测异常，状态码: {status}")
- return False
-
- except Exception as e:
- logger.error(f"液位检测失败: {str(e)}")
- return False
-
- # ==================== 参数设置方法 ====================
-
- def set_max_speed(self, speed: int) -> bool:
- """设置最高速度 (0.1ul/秒为单位)"""
- try:
- self._send_command(f"s{speed}E")
- self.config.max_speed = speed
- logger.debug(f"设置最高速度: {speed} (0.1ul/秒)")
- return True
- except Exception as e:
- logger.error(f"设置最高速度失败: {str(e)}")
- return False
-
- def set_start_speed(self, speed: int) -> bool:
- """设置启动速度 (0.1ul/秒为单位)"""
- try:
- self._send_command(f"b{speed}E")
- self.config.start_speed = speed
- logger.debug(f"设置启动速度: {speed} (0.1ul/秒)")
- return True
- except Exception as e:
- logger.error(f"设置启动速度失败: {str(e)}")
- return False
-
- def set_cutoff_speed(self, speed: int) -> bool:
- """设置断流速度 (0.1ul/秒为单位)"""
- try:
- self._send_command(f"c{speed}E")
- self.config.cutoff_speed = speed
- logger.debug(f"设置断流速度: {speed} (0.1ul/秒)")
- return True
- except Exception as e:
- logger.error(f"设置断流速度失败: {str(e)}")
- return False
-
- def set_acceleration(self, accel: int) -> bool:
- """设置加速度"""
- try:
- self._send_command(f"a{accel}E")
- self.config.acceleration = accel
- logger.debug(f"设置加速度: {accel}")
- return True
- except Exception as e:
- logger.error(f"设置加速度失败: {str(e)}")
- return False
-
- def set_empty_threshold(self, threshold: int) -> bool:
- """设置空吸门限"""
- try:
- self._send_command(f"${threshold}E")
- self.config.empty_threshold = threshold
- logger.debug(f"设置空吸门限: {threshold}")
- return True
- except Exception as e:
- logger.error(f"设置空吸门限失败: {str(e)}")
- return False
-
- def set_foam_threshold(self, threshold: int) -> bool:
- """设置泡沫门限"""
- try:
- self._send_command(f"!{threshold}E")
- self.config.foam_threshold = threshold
- logger.debug(f"设置泡沫门限: {threshold}")
- return True
- except Exception as e:
- logger.error(f"设置泡沫门限失败: {str(e)}")
- return False
-
- def set_block_threshold(self, threshold: int) -> bool:
- """设置堵塞门限"""
- try:
- self._send_command(f"%{threshold}E")
- self.config.block_threshold = threshold
- logger.debug(f"设置堵塞门限: {threshold}")
- return True
- except Exception as e:
- logger.error(f"设置堵塞门限失败: {str(e)}")
- return False
-
- def set_tip_volume(self, volume: int) -> bool:
- """设置吸头容量"""
- try:
- self._send_command(f"C{volume}E")
- self.config.tip_volume = volume
- logger.debug(f"设置吸头容量: {volume}ul")
- return True
- except Exception as e:
- logger.error(f"设置吸头容量失败: {str(e)}")
- return False
-
- def set_calibration_factor(self, factor: float) -> bool:
- """设置校准系数"""
- try:
- self._send_command(f"j{factor}E")
- self.config.calibration_factor = factor
- logger.debug(f"设置校准系数: {factor}")
- return True
- except Exception as e:
- logger.error(f"设置校准系数失败: {str(e)}")
- return False
-
- def set_detection_mode(self, mode: DetectionMode) -> bool:
- """设置液位检测模式"""
- try:
- self._send_command(f"m{mode.value}E")
- self.config.detection_mode = mode
- logger.debug(f"设置检测模式: {mode.name}")
- return True
- except Exception as e:
- logger.error(f"设置检测模式失败: {str(e)}")
- return False
-
- def set_lld_speed(self, speed: int) -> bool:
- """设置液位检测速度"""
- try:
- if 100 <= speed <= 2000:
- self._send_command(f"k{speed}E")
- self.config.lld_speed = speed
- logger.debug(f"设置检测速度: {speed}")
- return True
- else:
- logger.error("检测速度超出范围 (100~2000)")
- return False
- except Exception as e:
- logger.error(f"设置检测速度失败: {str(e)}")
- return False
-
- # ==================== 状态查询方法 ====================
-
- def get_status(self) -> SOPAStatusCode:
- """
- 获取设备状态
-
- Returns:
- SOPAStatusCode: 当前状态码
- """
- try:
- response = self._send_query("Q")
- if response and len(response) > 8:
- # 解析状态字节
- status_char = response[8] if len(response) > 8 else '0'
- try:
- status_code = int(status_char, 16) if status_char.isdigit() or status_char.lower() in 'abcdef' else 0
- self._last_status = SOPAStatusCode(status_code)
- except ValueError:
- self._last_status = SOPAStatusCode.NO_ERROR
-
- return self._last_status
- except Exception as e:
- logger.error(f"获取状态失败: {str(e)}")
-
- return SOPAStatusCode.NO_ERROR
-
- def get_firmware_version(self) -> Optional[str]:
- """
- 获取固件版本信息
- 处理SOPA移液器的双响应帧格式
-
- Returns:
- Optional[str]: 固件版本字符串，获取失败返回None
- """
- try:
- if not self.is_connected:
- logger.debug("设备未连接，无法查询版本")
- return "设备未连接"
-
- # 清空串口缓冲区，避免残留数据干扰
- if self.serial_port and self.serial_port.in_waiting > 0:
- logger.debug(f"清空缓冲区中的 {self.serial_port.in_waiting} 字节数据")
- self.serial_port.reset_input_buffer()
-
- # 发送版本查询命令 - 使用VE命令
- command = self._build_command("VE")
- logger.debug(f"发送版本查询命令: {command}")
- self.serial_port.write(command)
-
- # 等待响应
- time.sleep(0.3) # 增加等待时间
-
- # 读取所有可用数据
- all_data = b''
- timeout_count = 0
- max_timeout = 15 # 增加最大等待时间到1.5秒
-
- while timeout_count < max_timeout:
- if self.serial_port.in_waiting > 0:
- data = self.serial_port.read(self.serial_port.in_waiting)
- all_data += data
- logger.debug(f"接收到 {len(data)} 字节数据: {data.hex().upper()}")
- timeout_count = 0 # 重置超时计数
- else:
- time.sleep(0.1)
- timeout_count += 1
-
- # 检查是否收到完整的双响应帧
- if len(all_data) >= 26: # 两个13字节的响应帧
- logger.debug("收到完整的双响应帧")
- break
- elif len(all_data) >= 13: # 至少一个响应帧
- # 继续等待一段时间看是否有第二个帧
- if timeout_count > 5: # 等待0.5秒后如果没有更多数据就停止
- logger.debug("只收到单响应帧")
- break
-
- logger.debug(f"总共接收到 {len(all_data)} 字节数据: {all_data.hex().upper()}")
-
- if len(all_data) < 13:
- logger.warning("接收到的数据不足一个完整响应帧")
- return "版本信息不可用"
-
- # 解析响应数据
- version_info = self._parse_version_response(all_data)
- logger.info(f"解析得到版本信息: {version_info}")
- return version_info
-
- except Exception as e:
- logger.error(f"获取固件版本失败: {str(e)}")
- return "版本信息不可用"
-
- def _parse_version_response(self, data: bytes) -> str:
- """
- 解析版本响应数据
-
- Args:
- data: 原始响应数据
-
- Returns:
- str: 解析后的版本信息
- """
- try:
- # 将数据转换为十六进制字符串用于调试
- hex_data = data.hex().upper()
- logger.debug(f"收到版本响应数据: {hex_data}")
-
- # 查找响应帧的起始位置
- responses = []
- i = 0
- while i < len(data) - 12:
- # 查找帧头 0x2F (/)
- if data[i] == 0x2F:
- # 检查是否是完整的13字节帧
- if i + 12 < len(data) and data[i + 11] == 0x45: # 尾码 E
- frame = data[i:i+13]
- responses.append(frame)
- i += 13
- else:
- i += 1
- else:
- i += 1
-
- if len(responses) < 2:
- # 如果只有一个响应帧，尝试解析
- if len(responses) == 1:
- return self._extract_version_from_frame(responses[0])
- else:
- return f"响应格式异常: {hex_data}"
-
- # 解析第二个响应帧（通常包含版本信息）
- version_frame = responses[1]
- return self._extract_version_from_frame(version_frame)
-
- except Exception as e:
- logger.error(f"解析版本响应失败: {str(e)}")
- return f"解析失败: {data.hex().upper()}"
-
- def _extract_version_from_frame(self, frame: bytes) -> str:
- """
- 从响应帧中提取版本信息
-
- Args:
- frame: 13字节的响应帧
-
- Returns:
- str: 版本信息字符串
- """
- try:
- # 帧格式: 头码(1) + 地址(1) + 数据(9) + 尾码(1) + 校验和(1)
- if len(frame) != 13:
- return f"帧长度错误: {frame.hex().upper()}"
-
- # 提取数据部分 (索引2-10，共9字节)
- data_part = frame[2:11]
-
- # 尝试不同的解析方法
- version_candidates = []
-
- # 方法1: 查找可打印的ASCII字符
- ascii_chars = []
- for byte in data_part:
- if 32 <= byte <= 126: # 可打印ASCII范围
- ascii_chars.append(chr(byte))
-
- if ascii_chars:
- version_candidates.append(''.join(ascii_chars))
-
- # 方法2: 解析为版本号格式 (如果前几个字节是版本信息)
- if len(data_part) >= 3:
- # 检查是否是 V.x.y 格式
- if data_part[0] == 0x56: # 'V'
- version_str = f"V{data_part[1]}.{data_part[2]}"
- version_candidates.append(version_str)
-
- # 方法3: 十六进制表示
- hex_version = ' '.join(f'{b:02X}' for b in data_part)
- version_candidates.append(f"HEX: {hex_version}")
-
- # 返回最合理的版本信息
- for candidate in version_candidates:
- if candidate and len(candidate.strip()) > 1:
- return candidate.strip()
-
- return f"原始数据: {frame.hex().upper()}"
-
- except Exception as e:
- logger.error(f"提取版本信息失败: {str(e)}")
- return f"提取失败: {frame.hex().upper()}"
-
- def get_current_position(self) -> float:
- """
- 获取当前位置
-
- Returns:
- float: 当前位置 (微升)
- """
- try:
- response = self._send_query("Q18")
- if response and len(response) > 10:
- # 解析位置信息
- pos_str = response[8:14].strip()
- try:
- self._current_position = int(pos_str)
- except ValueError:
- pass
- except Exception as e:
- logger.error(f"获取位置失败: {str(e)}")
-
- return self._current_position
-
- def get_device_info(self) -> Dict[str, Any]:
- """
- 获取设备完整信息
-
- Returns:
- Dict[str, Any]: 设备信息字典
- """
- info = {
- 'firmware_version': self.get_firmware_version(),
- 'current_position': self.get_current_position(),
- 'tip_present': self.get_tip_status(),
- 'status': self.get_status(),
- 'is_connected': self.is_connected,
- 'is_initialized': self.is_initialized,
- 'config': {
- 'address': self.config.address,
- 'baudrate': self.config.baudrate,
- 'max_speed': self.config.max_speed,
- 'tip_volume': self.config.tip_volume,
- 'detection_mode': self.config.detection_mode.name
- }
- }
-
- return info
-
- # ==================== 高级操作方法 ====================
-
- def transfer_liquid(self, source_volume: float, dispense_volume: float = None,
- with_detection: bool = True, pre_wet: bool = False) -> bool:
- """
- 完整的液体转移操作
-
- Args:
- source_volume: 从源容器抽吸的体积
- dispense_volume: 分配到目标容器的体积（默认等于抽吸体积）
- with_detection: 是否使用液体检测
- pre_wet: 是否进行预润湿
-
- Returns:
- bool: 操作是否成功
- """
- try:
- if not self.is_initialized:
- raise SOPADeviceError("设备未初始化")
-
- dispense_volume = dispense_volume or source_volume
-
- logger.info(f"开始液体转移: 抽吸{source_volume}ul -> 分配{dispense_volume}ul")
-
- # 预润湿（如果需要）
- if pre_wet:
- logger.info("执行预润湿操作")
- if not self.aspirate(source_volume * 0.1, with_detection):
- return False
- if not self.dispense(source_volume * 0.1):
- return False
-
- # 执行液位检测（如果启用）
- if with_detection:
- if not self.liquid_level_detection():
- logger.warning("液位检测失败，继续执行")
-
- # 抽吸液体
- if not self.aspirate(source_volume, with_detection):
- logger.error("抽吸失败")
- return False
-
- # 可选的延时
- time.sleep(0.5)
-
- # 分配液体
- if not self.dispense(dispense_volume, with_detection):
- logger.error("分配失败")
- return False
-
- logger.info("液体转移完成")
- return True
-
- except Exception as e:
- logger.error(f"液体转移失败: {str(e)}")
- return False
-
- @contextmanager
- def batch_operation(self):
- """批量操作上下文管理器"""
- logger.info("开始批量操作")
- try:
- yield self
- finally:
- logger.info("批量操作完成")
-
- def reset_to_home(self) -> bool:
- """回到初始位置"""
- return self.move_absolute(0)
-
- def emergency_stop(self):
- """紧急停止"""
- try:
- if self.serial_port and self.serial_port.is_open:
- # 发送停止命令（如果协议支持）
- self.serial_port.write(b'\x03') # Ctrl+C
- logger.warning("执行紧急停止")
- except Exception as e:
- logger.error(f"紧急停止失败: {str(e)}")
-
- def __enter__(self):
- """上下文管理器入口"""
- if not self.is_connected:
- self.connect()
- return self
-
- def __exit__(self, exc_type, exc_val, exc_tb):
- """上下文管理器出口"""
- self.disconnect()
-
- def __del__(self):
- """析构函数"""
- self.disconnect()
-
-
-# ==================== 工厂函数和便利方法 ====================
-
-def create_sopa_pipette(port: str = "/dev/ttyUSB0", address: int = 1,
- baudrate: int = 115200, **kwargs) -> SOPAPipette:
- """
- 创建SOPA移液器实例的便利函数
-
- Args:
- port: 串口端口
- address: RS485地址
- baudrate: 波特率
- **kwargs: 其他配置参数
-
- Returns:
- SOPAPipette: 移液器实例
- """
- config = SOPAConfig(
- port=port,
- address=address,
- baudrate=baudrate,
- **kwargs
- )
-
- return SOPAPipette(config)
diff --git a/unilabos/devices/liquid_handling/laiyu/drivers/xyz_stepper_driver.py b/unilabos/devices/liquid_handling/laiyu/drivers/xyz_stepper_driver.py
deleted file mode 100644
index 8505ba76..00000000
--- a/unilabos/devices/liquid_handling/laiyu/drivers/xyz_stepper_driver.py
+++ /dev/null
@@ -1,663 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-XYZ三轴步进电机B系列驱动程序
-支持RS485通信，Modbus协议
-"""
-
-import serial
-import struct
-import time
-import logging
-from typing import Optional, Tuple, Dict, Any
-from enum import Enum
-from dataclasses import dataclass
-
-# 配置日志
-logging.basicConfig(level=logging.INFO)
-logger = logging.getLogger(__name__)
-
-
-class MotorAxis(Enum):
- """电机轴枚举"""
- X = 1
- Y = 2
- Z = 3
-
-
-class MotorStatus(Enum):
- """电机状态枚举"""
- STANDBY = 0x0000 # 待机/到位
- RUNNING = 0x0001 # 运行中
- COLLISION_STOP = 0x0002 # 碰撞停
- FORWARD_LIMIT_STOP = 0x0003 # 正光电停
- REVERSE_LIMIT_STOP = 0x0004 # 反光电停
-
-
-class ModbusFunction(Enum):
- """Modbus功能码"""
- READ_HOLDING_REGISTERS = 0x03
- WRITE_SINGLE_REGISTER = 0x06
- WRITE_MULTIPLE_REGISTERS = 0x10
-
-
-@dataclass
-class MotorPosition:
- """电机位置信息"""
- steps: int
- speed: int
- current: int
- status: MotorStatus
-
-
-class ModbusException(Exception):
- """Modbus通信异常"""
- pass
-
-
-class StepperMotorDriver:
- """步进电机驱动器基类"""
-
- # 寄存器地址常量
- REG_STATUS = 0x00
- REG_POSITION_HIGH = 0x01
- REG_POSITION_LOW = 0x02
- REG_ACTUAL_SPEED = 0x03
- REG_EMERGENCY_STOP = 0x04
- REG_CURRENT = 0x05
- REG_ENABLE = 0x06
- REG_PWM_OUTPUT = 0x07
- REG_ZERO_SINGLE = 0x0E
- REG_ZERO_COMMAND = 0x0F
-
- # 位置模式寄存器
- REG_TARGET_POSITION_HIGH = 0x10
- REG_TARGET_POSITION_LOW = 0x11
- REG_POSITION_SPEED = 0x13
- REG_POSITION_ACCELERATION = 0x14
- REG_POSITION_PRECISION = 0x15
-
- # 速度模式寄存器
- REG_SPEED_MODE_SPEED = 0x61
- REG_SPEED_MODE_ACCELERATION = 0x62
-
- # 设备参数寄存器
- REG_DEVICE_ADDRESS = 0xE0
- REG_DEFAULT_SPEED = 0xE7
- REG_DEFAULT_ACCELERATION = 0xE8
-
- def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
- """
- 初始化步进电机驱动器
-
- Args:
- port: 串口端口名
- baudrate: 波特率
- timeout: 通信超时时间
- """
- self.port = port
- self.baudrate = baudrate
- self.timeout = timeout
- self.serial_conn: Optional[serial.Serial] = None
-
- def connect(self) -> bool:
- """
- 建立串口连接
-
- Returns:
- 连接是否成功
- """
- try:
- self.serial_conn = serial.Serial(
- port=self.port,
- baudrate=self.baudrate,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=self.timeout
- )
- logger.info(f"已连接到串口: {self.port}")
- return True
- except Exception as e:
- logger.error(f"串口连接失败: {e}")
- return False
-
- def disconnect(self) -> None:
- """关闭串口连接"""
- if self.serial_conn and self.serial_conn.is_open:
- self.serial_conn.close()
- logger.info("串口连接已关闭")
-
- def __enter__(self):
- """上下文管理器入口"""
- if self.connect():
- return self
- raise ModbusException("无法建立串口连接")
-
- def __exit__(self, exc_type, exc_val, exc_tb):
- """上下文管理器出口"""
- self.disconnect()
-
- @staticmethod
- def calculate_crc(data: bytes) -> bytes:
- """
- 计算Modbus CRC校验码
-
- Args:
- data: 待校验的数据
-
- Returns:
- CRC校验码 (2字节)
- """
- crc = 0xFFFF
- for byte in data:
- crc ^= byte
- for _ in range(8):
- if crc & 0x0001:
- crc >>= 1
- crc ^= 0xA001
- else:
- crc >>= 1
- return struct.pack(' bytes:
- """
- 发送Modbus命令并接收响应
-
- Args:
- slave_addr: 从站地址
- data: 命令数据
-
- Returns:
- 响应数据
-
- Raises:
- ModbusException: 通信异常
- """
- if not self.serial_conn or not self.serial_conn.is_open:
- raise ModbusException("串口未连接")
-
- # 构建完整命令
- command = bytes([slave_addr]) + data
- crc = self.calculate_crc(command)
- full_command = command + crc
-
- # 清空接收缓冲区
- self.serial_conn.reset_input_buffer()
-
- # 发送命令
- self.serial_conn.write(full_command)
- logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
-
- # 等待响应
- time.sleep(0.01) # 短暂延时
-
- # 读取响应
- response = self.serial_conn.read(256) # 最大读取256字节
- if not response:
- raise ModbusException("未收到响应")
-
- logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
-
- # 验证CRC
- if len(response) < 3:
- raise ModbusException("响应数据长度不足")
-
- data_part = response[:-2]
- received_crc = response[-2:]
- calculated_crc = self.calculate_crc(data_part)
-
- if received_crc != calculated_crc:
- raise ModbusException(f"CRC校验失败{response}")
-
- return response
-
- def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
- """
- 读取保持寄存器
-
- Args:
- slave_addr: 从站地址
- start_addr: 起始地址
- count: 寄存器数量
-
- Returns:
- 寄存器值列表
- """
- data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
- response = self._send_command(slave_addr, data)
-
- if len(response) < 5:
- raise ModbusException("响应长度不足")
-
- if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
- raise ModbusException(f"功能码错误: {response[1]:02X}")
-
- byte_count = response[2]
- values = []
- for i in range(0, byte_count, 2):
- value = struct.unpack('>H', response[3+i:5+i])[0]
- values.append(value)
-
- return values
-
- def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
- """
- 写入单个寄存器
-
- Args:
- slave_addr: 从站地址
- addr: 寄存器地址
- value: 寄存器值
-
- Returns:
- 写入是否成功
- """
- data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
- response = self._send_command(slave_addr, data)
-
- return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
-
- def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
- """
- 写入多个寄存器
-
- Args:
- slave_addr: 从站地址
- start_addr: 起始地址
- values: 寄存器值列表
-
- Returns:
- 写入是否成功
- """
- byte_count = len(values) * 2
- data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value,
- start_addr, len(values), byte_count)
-
- for value in values:
- data += struct.pack('>H', value)
-
- response = self._send_command(slave_addr, data)
-
- return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
-
-
-class XYZStepperController(StepperMotorDriver):
- """XYZ三轴步进电机控制器"""
-
- # 电机配置常量
- STEPS_PER_REVOLUTION = 16384 # 每圈步数
-
- def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
- """
- 初始化XYZ三轴步进电机控制器
-
- Args:
- port: 串口端口名
- baudrate: 波特率
- timeout: 通信超时时间
- """
- super().__init__(port, baudrate, timeout)
- self.axis_addresses = {
- MotorAxis.X: 1,
- MotorAxis.Y: 2,
- MotorAxis.Z: 3
- }
-
- def degrees_to_steps(self, degrees: float) -> int:
- """
- 将角度转换为步数
-
- Args:
- degrees: 角度值
-
- Returns:
- 对应的步数
- """
- return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
-
- def steps_to_degrees(self, steps: int) -> float:
- """
- 将步数转换为角度
-
- Args:
- steps: 步数
-
- Returns:
- 对应的角度值
- """
- return steps * 360.0 / self.STEPS_PER_REVOLUTION
-
- def revolutions_to_steps(self, revolutions: float) -> int:
- """
- 将圈数转换为步数
-
- Args:
- revolutions: 圈数
-
- Returns:
- 对应的步数
- """
- return int(revolutions * self.STEPS_PER_REVOLUTION)
-
- def steps_to_revolutions(self, steps: int) -> float:
- """
- 将步数转换为圈数
-
- Args:
- steps: 步数
-
- Returns:
- 对应的圈数
- """
- return steps / self.STEPS_PER_REVOLUTION
-
- def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
- """
- 获取电机状态信息
-
- Args:
- axis: 电机轴
-
- Returns:
- 电机位置信息
- """
- addr = self.axis_addresses[axis]
-
- # 读取状态、位置、速度、电流
- values = self.read_registers(addr, self.REG_STATUS, 6)
-
- status = MotorStatus(values[0])
- position_high = values[1]
- position_low = values[2]
- speed = values[3]
- current = values[5]
-
- # 合并32位位置
- position = (position_high << 16) | position_low
- # 处理有符号数
- if position > 0x7FFFFFFF:
- position -= 0x100000000
-
- return MotorPosition(position, speed, current, status)
-
- def emergency_stop(self, axis: MotorAxis) -> bool:
- """
- 紧急停止电机
-
- Args:
- axis: 电机轴
-
- Returns:
- 操作是否成功
- """
- addr = self.axis_addresses[axis]
- return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
-
- def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
- """
- 使能/失能电机
-
- Args:
- axis: 电机轴
- enable: True为使能，False为失能
-
- Returns:
- 操作是否成功
- """
- addr = self.axis_addresses[axis]
- value = 0x0001 if enable else 0x0000
- return self.write_single_register(addr, self.REG_ENABLE, value)
-
- def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000,
- acceleration: int = 1000, precision: int = 100) -> bool:
- """
- 移动到指定位置
-
- Args:
- axis: 电机轴
- position: 目标位置(步数)
- speed: 运行速度(rpm)
- acceleration: 加速度(rpm/s)
- precision: 到位精度
-
- Returns:
- 操作是否成功
- """
- addr = self.axis_addresses[axis]
-
- # 处理32位位置
- if position < 0:
- position += 0x100000000
-
- position_high = (position >> 16) & 0xFFFF
- position_low = position & 0xFFFF
-
- values = [
- position_high, # 目标位置高位
- position_low, # 目标位置低位
- 0x0000, # 保留
- speed, # 速度
- acceleration, # 加速度
- precision # 精度
- ]
-
- return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
-
- def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
- """
- 设置速度模式运行
-
- Args:
- axis: 电机轴
- speed: 运行速度(rpm)，正值正转，负值反转
- acceleration: 加速度(rpm/s)
-
- Returns:
- 操作是否成功
- """
- addr = self.axis_addresses[axis]
-
- # 处理负数
- if speed < 0:
- speed = 0x10000 + speed # 补码表示
-
- values = [0x0000, speed, acceleration, 0x0000]
-
- return self.write_multiple_registers(addr, 0x60, values)
-
- def home_axis(self, axis: MotorAxis) -> bool:
- """
- 轴归零操作
-
- Args:
- axis: 电机轴
-
- Returns:
- 操作是否成功
- """
- addr = self.axis_addresses[axis]
- return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
-
- def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
- """
- 等待电机运动完成
-
- Args:
- axis: 电机轴
- timeout: 超时时间(秒)
-
- Returns:
- 是否在超时前完成
- """
- start_time = time.time()
-
- while time.time() - start_time < timeout:
- status = self.get_motor_status(axis)
- if status.status == MotorStatus.STANDBY:
- return True
- time.sleep(0.1)
-
- logger.warning(f"{axis.name}轴运动超时")
- return False
-
- def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
- speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
- """
- 同时控制XYZ轴移动
-
- Args:
- x: X轴目标位置
- y: Y轴目标位置
- z: Z轴目标位置
- speed: 运行速度
- acceleration: 加速度
-
- Returns:
- 各轴操作结果字典
- """
- results = {}
-
- if x is not None:
- results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
-
- if y is not None:
- results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
-
- if z is not None:
- results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
-
- return results
-
- def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None,
- z_deg: Optional[float] = None, speed: int = 5000,
- acceleration: int = 1000) -> Dict[MotorAxis, bool]:
- """
- 使用角度值同时移动多个轴到指定位置
-
- Args:
- x_deg: X轴目标角度（度）
- y_deg: Y轴目标角度（度）
- z_deg: Z轴目标角度（度）
- speed: 移动速度
- acceleration: 加速度
-
- Returns:
- 各轴移动操作结果
- """
- # 将角度转换为步数
- x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
- y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
- z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
-
- return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
-
- def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None,
- z_rev: Optional[float] = None, speed: int = 5000,
- acceleration: int = 1000) -> Dict[MotorAxis, bool]:
- """
- 使用圈数值同时移动多个轴到指定位置
-
- Args:
- x_rev: X轴目标圈数
- y_rev: Y轴目标圈数
- z_rev: Z轴目标圈数
- speed: 移动速度
- acceleration: 加速度
-
- Returns:
- 各轴移动操作结果
- """
- # 将圈数转换为步数
- x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
- y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
- z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
-
- return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
-
- def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000,
- acceleration: int = 1000, precision: int = 100) -> bool:
- """
- 使用角度值移动单个轴到指定位置
-
- Args:
- axis: 电机轴
- degrees: 目标角度（度）
- speed: 移动速度
- acceleration: 加速度
- precision: 精度
-
- Returns:
- 移动操作是否成功
- """
- steps = self.degrees_to_steps(degrees)
- return self.move_to_position(axis, steps, speed, acceleration, precision)
-
- def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000,
- acceleration: int = 1000, precision: int = 100) -> bool:
- """
- 使用圈数值移动单个轴到指定位置
-
- Args:
- axis: 电机轴
- revolutions: 目标圈数
- speed: 移动速度
- acceleration: 加速度
- precision: 精度
-
- Returns:
- 移动操作是否成功
- """
- steps = self.revolutions_to_steps(revolutions)
- return self.move_to_position(axis, steps, speed, acceleration, precision)
-
- def stop_all_axes(self) -> Dict[MotorAxis, bool]:
- """
- 紧急停止所有轴
-
- Returns:
- 各轴停止结果字典
- """
- results = {}
- for axis in MotorAxis:
- results[axis] = self.emergency_stop(axis)
- return results
-
- def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
- """
- 使能/失能所有轴
-
- Args:
- enable: True为使能，False为失能
-
- Returns:
- 各轴操作结果字典
- """
- results = {}
- for axis in MotorAxis:
- results[axis] = self.enable_motor(axis, enable)
- return results
-
- def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
- """
- 获取所有轴的位置信息
-
- Returns:
- 各轴位置信息字典
- """
- positions = {}
- for axis in MotorAxis:
- positions[axis] = self.get_motor_status(axis)
- return positions
-
- def home_all_axes(self) -> Dict[MotorAxis, bool]:
- """
- 所有轴归零
-
- Returns:
- 各轴归零结果字典
- """
- results = {}
- for axis in MotorAxis:
- results[axis] = self.home_axis(axis)
- return results
diff --git a/unilabos/devices/liquid_handling/laiyu/laiyu.py b/unilabos/devices/liquid_handling/laiyu/laiyu.py
deleted file mode 100644
index 0d7074a7..00000000
--- a/unilabos/devices/liquid_handling/laiyu/laiyu.py
+++ /dev/null
@@ -1,218 +0,0 @@
-import asyncio
-import collections
-import contextlib
-import json
-import time
-from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
-
-from pylabrobot.liquid_handling import (
- LiquidHandlerBackend,
- Pickup,
- SingleChannelAspiration,
- Drop,
- SingleChannelDispense,
- PickupTipRack,
- DropTipRack,
- MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
-)
-from pylabrobot.liquid_handling.standard import (
- MultiHeadAspirationContainer,
- MultiHeadDispenseContainer,
- MultiHeadDispensePlate,
- ResourcePickup,
- ResourceMove,
- ResourceDrop,
-)
-from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
-from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
-
-
-
-class TransformXYZDeck(Deck):
- """Laiyu 的专用 Deck 类，继承自 Deck。
-
- 该类定义了 Laiyu 的工作台布局和槽位信息。
- """
-
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float):
- super().__init__(name, size_x, size_y, size_z)
- self.name = name
-
-class TransformXYZBackend(LiquidHandlerBackend):
- def __init__(self, name: str, host: str, port: int, timeout: float):
- super().__init__()
- self.host = host
- self.port = port
- self.timeout = timeout
-
-class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
- def __init__(self, name: str, channel_num: int):
- super().__init__(channel_num)
- self.name = name
-
-
-class TransformXYZContainer(Plate, TipRack):
- """Laiyu 的专用 Container 类，继承自 Plate和TipRack。
-
- 该类定义了 Laiyu 的工作台布局和槽位信息。
- """
-
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- category: str,
- ordering: collections.OrderedDict,
- model: Optional[str] = None,
- ):
- super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
- self._unilabos_state = {}
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """从给定的状态加载工作台信息。"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- data = super().serialize_state()
- data.update(self._unilabos_state)
- return data
-
-class TransformXYZHandler(LiquidHandlerAbstract):
- support_touch_tip = False
-
- def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
- # Handle case where deck is passed as a dict (from serialization)
- if isinstance(deck, dict):
- # Try to create a TransformXYZDeck from the dict
- if 'name' in deck and 'size_x' in deck and 'size_y' in deck and 'size_z' in deck:
- deck = TransformXYZDeck(
- name=deck['name'],
- size_x=deck.get('size_x', 100),
- size_y=deck.get('size_y', 100),
- size_z=deck.get('size_z', 100)
- )
- else:
- # Fallback: create a basic deck
- deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
-
- if simulator:
- self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
- else:
- self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
- super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
-
- async def add_liquid(
- self,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- reagent_sources: Sequence[Container],
- targets: Sequence[Container],
- *,
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
- is_96_well: bool = False,
- delays: Optional[List[int]] = None,
- mix_time: Optional[int] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- pass
-
- async def aspirate(
- self,
- resources: Sequence[Container],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- **backend_kwargs,
- ):
- pass
-
- async def dispense(
- self,
- resources: Sequence[Container],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- **backend_kwargs,
- ):
- pass
-
- async def drop_tips(
- self,
- tip_spots: Sequence[Union[TipSpot, Trash]],
- use_channels: Optional[List[int]] = None,
- offsets: Optional[List[Coordinate]] = None,
- allow_nonzero_volume: bool = False,
- **backend_kwargs,
- ):
- pass
-
- async def mix(
- self,
- targets: Sequence[Container],
- mix_time: int = None,
- mix_vol: Optional[int] = None,
- height_to_bottom: Optional[float] = None,
- offsets: Optional[Coordinate] = None,
- mix_rate: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- pass
-
- async def pick_up_tips(
- self,
- tip_spots: List[TipSpot],
- use_channels: Optional[List[int]] = None,
- offsets: Optional[List[Coordinate]] = None,
- **backend_kwargs,
- ):
- pass
-
- async def transfer_liquid(
- self,
- sources: Sequence[Container],
- targets: Sequence[Container],
- tip_racks: Sequence[TipRack],
- *,
- use_channels: Optional[List[int]] = None,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- asp_flow_rates: Optional[List[Optional[float]]] = None,
- dis_flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- touch_tip: bool = False,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- is_96_well: bool = False,
- mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
- mix_times: Optional[List[int]] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- delays: Optional[List[int]] = None,
- none_keys: List[str] = [],
- ):
- pass
-
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/tests/__init__.py b/unilabos/devices/liquid_handling/laiyu/tests/__init__.py
deleted file mode 100644
index 7ff58fe2..00000000
--- a/unilabos/devices/liquid_handling/laiyu/tests/__init__.py
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-LaiYu液体处理设备测试模块
-
-该模块包含LaiYu液体处理设备的测试用例：
-- test_deck_config.py: 工作台配置测试
-
-作者: UniLab团队
-版本: 2.0.0
-"""
-
-__all__ = []
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/laiyu/tests/test_deck_config.py b/unilabos/devices/liquid_handling/laiyu/tests/test_deck_config.py
deleted file mode 100644
index 04688302..00000000
--- a/unilabos/devices/liquid_handling/laiyu/tests/test_deck_config.py
+++ /dev/null
@@ -1,315 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-测试脚本：验证更新后的deck配置是否正常工作
-"""
-
-import sys
-import os
-import json
-
-# 添加项目根目录到Python路径
-project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-sys.path.insert(0, project_root)
-
-def test_config_loading():
- """测试配置文件加载功能"""
- print("=" * 50)
- print("测试配置文件加载功能")
- print("=" * 50)
-
- try:
- # 直接测试配置文件加载
- config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
- fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
-
- config = None
- config_source = ""
-
- if os.path.exists(config_path):
- with open(config_path, 'r', encoding='utf-8') as f:
- config = json.load(f)
- config_source = "config/deckconfig.json"
- elif os.path.exists(fallback_path):
- with open(fallback_path, 'r', encoding='utf-8') as f:
- config = json.load(f)
- config_source = "config/deck.json"
- else:
- print("❌ 配置文件不存在")
- return False
-
- print(f"✅ 配置文件加载成功: {config_source}")
- print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
- print(f" - 子模块数量: {len(config.get('children', []))}")
-
- # 检查各个模块是否存在
- modules = config.get('children', [])
- module_types = [module.get('type') for module in modules]
- module_names = [module.get('name') for module in modules]
-
- print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}")
- print(f" - 模块名称: {', '.join(filter(None, module_names))}")
-
- return config
- except Exception as e:
- print(f"❌ 配置文件加载失败: {e}")
- return None
-
-def test_module_coordinates(config):
- """测试各模块的坐标信息"""
- print("\n" + "=" * 50)
- print("测试模块坐标信息")
- print("=" * 50)
-
- if not config:
- print("❌ 配置为空，无法测试")
- return False
-
- modules = config.get('children', [])
-
- for module in modules:
- module_name = module.get('name', '未知模块')
- module_type = module.get('type', '未知类型')
- position = module.get('position', {})
- size = module.get('size', {})
-
- print(f"\n模块: {module_name} ({module_type})")
- print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
- print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
-
- # 检查孔位信息
- wells = module.get('wells', [])
- if wells:
- print(f" - 孔位数量: {len(wells)}")
-
- # 显示前几个和后几个孔位的坐标
- sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
- for well in sample_wells:
- well_id = well.get('id', '未知')
- well_pos = well.get('position', {})
- print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
- else:
- print(f" - 无孔位信息")
-
- return True
-
-def test_coordinate_ranges(config):
- """测试坐标范围的合理性"""
- print("\n" + "=" * 50)
- print("测试坐标范围合理性")
- print("=" * 50)
-
- if not config:
- print("❌ 配置为空，无法测试")
- return False
-
- deck_size = {
- 'x': config.get('size_x', 340),
- 'y': config.get('size_y', 250),
- 'z': config.get('size_z', 160)
- }
-
- print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
-
- modules = config.get('children', [])
- all_coordinates = []
-
- for module in modules:
- module_name = module.get('name', '未知模块')
- wells = module.get('wells', [])
-
- for well in wells:
- well_pos = well.get('position', {})
- x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
- all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
-
- if not all_coordinates:
- print("❌ 没有找到任何坐标信息")
- return False
-
- # 计算坐标范围
- x_coords = [coord[0] for coord in all_coordinates]
- y_coords = [coord[1] for coord in all_coordinates]
- z_coords = [coord[2] for coord in all_coordinates]
-
- x_range = (min(x_coords), max(x_coords))
- y_range = (min(y_coords), max(y_coords))
- z_range = (min(z_coords), max(z_coords))
-
- print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
- print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
- print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
-
- # 检查是否超出甲板范围
- issues = []
- if x_range[1] > deck_size['x']:
- issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
- if y_range[1] > deck_size['y']:
- issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
- if z_range[1] > deck_size['z']:
- issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
-
- if x_range[0] < 0:
- issues.append(f"X坐标为负值: {x_range[0]}")
- if y_range[0] < 0:
- issues.append(f"Y坐标为负值: {y_range[0]}")
- if z_range[0] < 0:
- issues.append(f"Z坐标为负值: {z_range[0]}")
-
- if issues:
- print("⚠️ 发现坐标问题:")
- for issue in issues:
- print(f" - {issue}")
- return False
- else:
- print("✅ 所有坐标都在合理范围内")
- return True
-
-def test_well_spacing(config):
- """测试孔位间距的一致性"""
- print("\n" + "=" * 50)
- print("测试孔位间距一致性")
- print("=" * 50)
-
- if not config:
- print("❌ 配置为空，无法测试")
- return False
-
- modules = config.get('children', [])
-
- for module in modules:
- module_name = module.get('name', '未知模块')
- module_type = module.get('type', '未知类型')
- wells = module.get('wells', [])
-
- if len(wells) < 2:
- continue
-
- print(f"\n模块: {module_name} ({module_type})")
-
- # 计算相邻孔位的间距
- spacings_x = []
- spacings_y = []
-
- # 按行列排序孔位
- wells_by_row = {}
- for well in wells:
- well_id = well.get('id', '')
- if len(well_id) >= 3: # 如A01格式
- row = well_id[0]
- col = int(well_id[1:])
- if row not in wells_by_row:
- wells_by_row[row] = {}
- wells_by_row[row][col] = well
-
- # 计算同行相邻孔位的X间距
- for row, cols in wells_by_row.items():
- sorted_cols = sorted(cols.keys())
- for i in range(len(sorted_cols) - 1):
- col1, col2 = sorted_cols[i], sorted_cols[i + 1]
- if col2 == col1 + 1: # 相邻列
- pos1 = cols[col1].get('position', {})
- pos2 = cols[col2].get('position', {})
- spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
- spacings_x.append(spacing)
-
- # 计算同列相邻孔位的Y间距
- cols_by_row = {}
- for well in wells:
- well_id = well.get('id', '')
- if len(well_id) >= 3:
- row = ord(well_id[0]) - ord('A')
- col = int(well_id[1:])
- if col not in cols_by_row:
- cols_by_row[col] = {}
- cols_by_row[col][row] = well
-
- for col, rows in cols_by_row.items():
- sorted_rows = sorted(rows.keys())
- for i in range(len(sorted_rows) - 1):
- row1, row2 = sorted_rows[i], sorted_rows[i + 1]
- if row2 == row1 + 1: # 相邻行
- pos1 = rows[row1].get('position', {})
- pos2 = rows[row2].get('position', {})
- spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
- spacings_y.append(spacing)
-
- # 检查间距一致性
- if spacings_x:
- avg_x = sum(spacings_x) / len(spacings_x)
- max_diff_x = max(abs(s - avg_x) for s in spacings_x)
- print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
-
- if spacings_y:
- avg_y = sum(spacings_y) / len(spacings_y)
- max_diff_y = max(abs(s - avg_y) for s in spacings_y)
- print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
-
- return True
-
-def main():
- """主测试函数"""
- print("LaiYu液体处理设备配置测试")
- print("测试时间:", os.popen('date').read().strip())
-
- # 运行所有测试
- tests = [
- ("配置文件加载", test_config_loading),
- ]
-
- config = None
- results = []
-
- for test_name, test_func in tests:
- try:
- if test_name == "配置文件加载":
- result = test_func()
- config = result if result else None
- results.append((test_name, bool(result)))
- else:
- result = test_func(config)
- results.append((test_name, result))
- except Exception as e:
- print(f"❌ 测试 {test_name} 执行失败: {e}")
- results.append((test_name, False))
-
- # 如果配置加载成功，运行其他测试
- if config:
- additional_tests = [
- ("模块坐标信息", test_module_coordinates),
- ("坐标范围合理性", test_coordinate_ranges),
- ("孔位间距一致性", test_well_spacing)
- ]
-
- for test_name, test_func in additional_tests:
- try:
- result = test_func(config)
- results.append((test_name, result))
- except Exception as e:
- print(f"❌ 测试 {test_name} 执行失败: {e}")
- results.append((test_name, False))
-
- # 输出测试总结
- print("\n" + "=" * 50)
- print("测试总结")
- print("=" * 50)
-
- passed = sum(1 for _, result in results if result)
- total = len(results)
-
- for test_name, result in results:
- status = "✅ 通过" if result else "❌ 失败"
- print(f" {test_name}: {status}")
-
- print(f"\n总计: {passed}/{total} 个测试通过")
-
- if passed == total:
- print("🎉 所有测试通过！配置更新成功。")
- return True
- else:
- print("⚠️ 部分测试失败，需要进一步检查。")
- return False
-
-if __name__ == "__main__":
- success = main()
- sys.exit(0 if success else 1)
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
deleted file mode 100644
index d02129c7..00000000
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ /dev/null
@@ -1,1782 +0,0 @@
-from __future__ import annotations
-
-import asyncio
-import time
-import traceback
-from collections import Counter
-from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
-
-from typing_extensions import TypedDict
-from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
-from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
-from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
-from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
-from pylabrobot.liquid_handling.standard import GripDirection
-from pylabrobot.resources import (
- Resource,
- TipRack,
- Container,
- Coordinate,
- Well,
- Deck,
- TipSpot,
- Plate,
- ResourceStack,
- ResourceHolder,
- Lid,
- Trash,
- Tip,
-)
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-class SimpleReturn(TypedDict):
- samples: list
- volumes: list
-
-class LiquidHandlerMiddleware(LiquidHandler):
- def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
- self._simulator = simulator
- self.channel_num = channel_num
- self.pending_liquids_dict = {}
- joint_config = kwargs.get("joint_config", None)
- if simulator:
- if joint_config:
- self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num, kwargs["total_height"],
- joint_config=joint_config, lh_device_id=deck.name)
- else:
- self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
- self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
- super().__init__(backend, deck)
-
- async def setup(self, **backend_kwargs):
- if self._simulator:
- return await self._simulate_handler.setup(**backend_kwargs)
- return await super().setup(**backend_kwargs)
-
- def serialize_state(self) -> Dict[str, Any]:
- if self._simulator:
- self._simulate_handler.serialize_state()
- return super().serialize_state()
-
- def load_state(self, state: Dict[str, Any]):
- if self._simulator:
- self._simulate_handler.load_state(state)
- super().load_state(state)
-
- def update_head_state(self, state: Dict[int, Optional[Tip]]):
- if self._simulator:
- self._simulate_handler.update_head_state(state)
- super().update_head_state(state)
-
- def clear_head_state(self):
- if self._simulator:
- self._simulate_handler.clear_head_state()
- super().clear_head_state()
-
- def _run_async_in_thread(self, func, *args, **kwargs):
- super()._run_async_in_thread(func, *args, **kwargs)
-
- def _send_assigned_resource_to_backend(self, resource: Resource):
- if self._simulator:
- self._simulate_handler._send_assigned_resource_to_backend(resource)
- super()._send_assigned_resource_to_backend(resource)
-
- def _send_unassigned_resource_to_backend(self, resource: Resource):
- if self._simulator:
- self._simulate_handler._send_unassigned_resource_to_backend(resource)
- super()._send_unassigned_resource_to_backend(resource)
-
- def summary(self):
- if self._simulator:
- self._simulate_handler.summary()
- super().summary()
-
- def _assert_positions_unique(self, positions: List[str]):
- super()._assert_positions_unique(positions)
-
- def _assert_resources_exist(self, resources: Sequence[Resource]):
- super()._assert_resources_exist(resources)
-
- def _check_args(
- self, method: Callable, backend_kwargs: Dict[str, Any], default: Set[str], strictness: Strictness
- ) -> Set[str]:
- return super()._check_args(method, backend_kwargs, default, strictness)
-
- def _make_sure_channels_exist(self, channels: List[int]):
- super()._make_sure_channels_exist(channels)
-
- def _format_param(self, value: Any) -> Any:
- return super()._format_param(value)
-
- def _log_command(self, name: str, **kwargs) -> None:
- super()._log_command(name, **kwargs)
-
- async def pick_up_tips(
- self,
- tip_spots: List[TipSpot],
- use_channels: Optional[List[int]] = None,
- offsets: Optional[List[Coordinate]] = None,
- **backend_kwargs,
- ):
-
- if self._simulator:
- return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
- return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
-
- async def drop_tips(
- self,
- tip_spots: Sequence[Union[TipSpot, Trash]],
- use_channels: Optional[List[int]] = None,
- offsets: Optional[List[Coordinate]] = None,
- allow_nonzero_volume: bool = False,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.drop_tips(
- tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs
- )
- await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
- self.pending_liquids_dict = {}
- return
-
- async def return_tips(
- self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs
- ):
- if self._simulator:
- return await self._simulate_handler.return_tips(use_channels, allow_nonzero_volume, **backend_kwargs)
- return await super().return_tips(use_channels, allow_nonzero_volume, **backend_kwargs)
-
- async def discard_tips(
- self,
- use_channels: Optional[List[int]] = None,
- allow_nonzero_volume: bool = True,
- offsets: Optional[List[Coordinate]] = None,
- **backend_kwargs,
- ):
- # 如果 use_channels 为 None，使用默认值（所有通道）
- if use_channels is None:
- use_channels = list(range(self.channel_num))
- if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
- offsets = [Coordinate.zero()] * len(use_channels)
- if self._simulator:
- return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
- await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
- self.pending_liquids_dict = {}
- return
-
- def _check_containers(self, resources: Sequence[Resource]):
- super()._check_containers(resources)
-
- async def aspirate(
- self,
- resources: Sequence[Container],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- **backend_kwargs,
- ):
-
-
- if self._simulator:
- return await self._simulate_handler.aspirate(
- resources,
- vols,
- use_channels,
- flow_rates,
- offsets,
- liquid_height,
- blow_out_air_volume,
- spread,
- **backend_kwargs,
- )
- await super().aspirate(
- resources,
- vols,
- use_channels,
- flow_rates,
- offsets,
- liquid_height,
- blow_out_air_volume,
- spread,
- **backend_kwargs,
- )
-
- res_samples = []
- res_volumes = []
- for resource, volume, channel in zip(resources, vols, use_channels):
- res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
- res_volumes.append(volume)
- self.pending_liquids_dict[channel] = {
- "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
- "volume": volume
- }
- return SimpleReturn(samples=res_samples, volumes=res_volumes)
-
-
- async def dispense(
- self,
- resources: Sequence[Container],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- **backend_kwargs,
- ) -> SimpleReturn:
- if self._simulator:
- return await self._simulate_handler.dispense(
- resources,
- vols,
- use_channels,
- flow_rates,
- offsets,
- liquid_height,
- blow_out_air_volume,
- spread,
- **backend_kwargs,
- )
- await super().dispense(
- resources,
- vols,
- use_channels,
- flow_rates,
- offsets,
- liquid_height,
- blow_out_air_volume,
- **backend_kwargs,
- )
- res_samples = []
- res_volumes = []
- for resource, volume, channel in zip(resources, vols, use_channels):
- res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
- self.pending_liquids_dict[channel]["volume"] -= volume
- resource.unilabos_extra["sample_uuid"] = res_uuid
- res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
- res_volumes.append(volume)
-
- return SimpleReturn(samples=res_samples, volumes=res_volumes)
-
- async def transfer(
- self,
- source: Well,
- targets: List[Well],
- source_vol: Optional[float] = None,
- ratios: Optional[List[float]] = None,
- target_vols: Optional[List[float]] = None,
- aspiration_flow_rate: Optional[float] = None,
- dispense_flow_rates: Optional[List[Optional[float]]] = None,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.transfer(
- source,
- targets,
- source_vol,
- ratios,
- target_vols,
- aspiration_flow_rate,
- dispense_flow_rates,
- **backend_kwargs,
- )
- return await super().transfer(
- source,
- targets,
- source_vol,
- ratios,
- target_vols,
- aspiration_flow_rate,
- dispense_flow_rates,
- **backend_kwargs,
- )
-
- def use_channels(self, channels: List[int]):
- if self._simulator:
- self._simulate_handler.use_channels(channels)
- return super().use_channels(channels)
-
- async def pick_up_tips96(self, tip_rack: TipRack, offset: Coordinate = Coordinate.zero(), **backend_kwargs):
- if self._simulator:
- return await self._simulate_handler.pick_up_tips96(tip_rack, offset, **backend_kwargs)
- return await super().pick_up_tips96(tip_rack, offset, **backend_kwargs)
-
- async def drop_tips96(
- self,
- resource: Union[TipRack, Trash],
- offset: Coordinate = Coordinate.zero(),
- allow_nonzero_volume: bool = False,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs)
- return await super().drop_tips96(resource, offset, allow_nonzero_volume, **backend_kwargs)
-
- def _get_96_head_origin_tip_rack(self) -> Optional[TipRack]:
- return super()._get_96_head_origin_tip_rack()
-
- async def return_tips96(self, allow_nonzero_volume: bool = False, **backend_kwargs):
- if self._simulator:
- return await self._simulate_handler.return_tips96(allow_nonzero_volume, **backend_kwargs)
- return await super().return_tips96(allow_nonzero_volume, **backend_kwargs)
-
- async def discard_tips96(self, allow_nonzero_volume: bool = True, **backend_kwargs):
- if self._simulator:
- return await self._simulate_handler.discard_tips96(allow_nonzero_volume, **backend_kwargs)
- return await super().discard_tips96(allow_nonzero_volume, **backend_kwargs)
-
- async def aspirate96(
- self,
- resource: Union[Plate, Container, List[Well]],
- volume: float,
- offset: Coordinate = Coordinate.zero(),
- flow_rate: Optional[float] = None,
- blow_out_air_volume: Optional[float] = None,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.aspirate96(
- resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs
- )
- return await super().aspirate96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs)
-
- async def dispense96(
- self,
- resource: Union[Plate, Container, List[Well]],
- volume: float,
- offset: Coordinate = Coordinate.zero(),
- flow_rate: Optional[float] = None,
- blow_out_air_volume: Optional[float] = None,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.dispense96(
- resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs
- )
- return await super().dispense96(resource, volume, offset, flow_rate, blow_out_air_volume, **backend_kwargs)
-
- async def stamp(
- self,
- source: Plate,
- target: Plate,
- volume: float,
- aspiration_flow_rate: Optional[float] = None,
- dispense_flow_rate: Optional[float] = None,
- ):
- if self._simulator:
- return await self._simulate_handler.stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate)
- return await super().stamp(source, target, volume, aspiration_flow_rate, dispense_flow_rate)
-
- async def pick_up_resource(
- self,
- resource: Resource,
- offset: Coordinate = Coordinate.zero(),
- pickup_distance_from_top: float = 0,
- direction: GripDirection = GripDirection.FRONT,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.pick_up_resource(
- resource, offset, pickup_distance_from_top, direction, **backend_kwargs
- )
- return await super().pick_up_resource(resource, offset, pickup_distance_from_top, direction, **backend_kwargs)
-
- async def move_picked_up_resource(
- self,
- to: Coordinate,
- offset: Coordinate = Coordinate.zero(),
- direction: Optional[GripDirection] = None,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.move_picked_up_resource(to, offset, direction, **backend_kwargs)
- return await super().move_picked_up_resource(to, offset, direction, **backend_kwargs)
-
- async def drop_resource(
- self,
- destination: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
- offset: Coordinate = Coordinate.zero(),
- direction: GripDirection = GripDirection.FRONT,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.drop_resource(destination, offset, direction, **backend_kwargs)
- return await super().drop_resource(destination, offset, direction, **backend_kwargs)
-
- async def move_resource(
- self,
- resource: Resource,
- to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
- intermediate_locations: Optional[List[Coordinate]] = None,
- pickup_offset: Coordinate = Coordinate.zero(),
- destination_offset: Coordinate = Coordinate.zero(),
- pickup_distance_from_top: float = 0,
- pickup_direction: GripDirection = GripDirection.FRONT,
- drop_direction: GripDirection = GripDirection.FRONT,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.move_resource(
- resource,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- pickup_distance_from_top,
- pickup_direction,
- drop_direction,
- **backend_kwargs,
- )
- return await super().move_resource(
- resource,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- pickup_distance_from_top,
- pickup_direction,
- drop_direction,
- **backend_kwargs,
- )
-
- async def move_lid(
- self,
- lid: Lid,
- to: Union[Plate, ResourceStack, Coordinate],
- intermediate_locations: Optional[List[Coordinate]] = None,
- pickup_offset: Coordinate = Coordinate.zero(),
- destination_offset: Coordinate = Coordinate.zero(),
- pickup_direction: GripDirection = GripDirection.FRONT,
- drop_direction: GripDirection = GripDirection.FRONT,
- pickup_distance_from_top: float = 5.7 - 3.33,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.move_lid(
- lid,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- pickup_direction,
- drop_direction,
- pickup_distance_from_top,
- **backend_kwargs,
- )
- return await super().move_lid(
- lid,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- pickup_direction,
- drop_direction,
- pickup_distance_from_top,
- **backend_kwargs,
- )
-
- async def move_plate(
- self,
- plate: Plate,
- to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
- intermediate_locations: Optional[List[Coordinate]] = None,
- pickup_offset: Coordinate = Coordinate.zero(),
- destination_offset: Coordinate = Coordinate.zero(),
- drop_direction: GripDirection = GripDirection.FRONT,
- pickup_direction: GripDirection = GripDirection.FRONT,
- pickup_distance_from_top: float = 13.2 - 3.33,
- **backend_kwargs,
- ):
- if self._simulator:
- return await self._simulate_handler.move_plate(
- plate,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- drop_direction,
- pickup_direction,
- pickup_distance_from_top,
- **backend_kwargs,
- )
- return await super().move_plate(
- plate,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- drop_direction,
- pickup_direction,
- pickup_distance_from_top,
- **backend_kwargs,
- )
-
- def serialize(self):
- if self._simulator:
- self._simulate_handler.serialize()
- return super().serialize()
-
- @classmethod
- def deserialize(cls, data: dict, allow_marshal: bool = False) -> LiquidHandler:
- return super().deserialize(data, allow_marshal)
-
- @classmethod
- def load(cls, path: str) -> LiquidHandler:
- return super().load(path)
-
- async def prepare_for_manual_channel_operation(self, channel: int):
- if self._simulator:
- return await self._simulate_handler.prepare_for_manual_channel_operation(channel)
- return await super().prepare_for_manual_channel_operation(channel)
-
- async def move_channel_x(self, channel: int, x: float):
- if self._simulator:
- return await self._simulate_handler.move_channel_x(channel, x)
- return await super().move_channel_x(channel, x)
-
- async def move_channel_y(self, channel: int, y: float):
- if self._simulator:
- return await self._simulate_handler.move_channel_y(channel, y)
- return await super().move_channel_y(channel, y)
-
- async def move_channel_z(self, channel: int, z: float):
- if self._simulator:
- return await self._simulate_handler.move_channel_z(channel, z)
- return await super().move_channel_z(channel, z)
-
- def assign_child_resource(self, resource: Resource, location: Optional[Coordinate], reassign: bool = True):
- if self._simulator:
- self._simulate_handler.assign_child_resource(resource, location, reassign)
- pass
-
- async def probe_tip_presence_via_pickup(
- self, tip_spots: List[TipSpot], use_channels: Optional[List[int]] = None
- ) -> Dict[str, bool]:
- if self._simulator:
- return await self._simulate_handler.probe_tip_presence_via_pickup(tip_spots, use_channels)
- return await super().probe_tip_presence_via_pickup(tip_spots, use_channels)
-
- async def probe_tip_inventory(
- self,
- tip_spots: List[TipSpot],
- probing_fn: Optional[TipPresenceProbingMethod] = None,
- use_channels: Optional[List[int]] = None,
- ) -> Dict[str, bool]:
- if self._simulator:
- return await self._simulate_handler.probe_tip_inventory(tip_spots, probing_fn, use_channels)
- return await super().probe_tip_inventory(tip_spots, probing_fn, use_channels)
-
- async def consolidate_tip_inventory(self, tip_racks: List[TipRack], use_channels: Optional[List[int]] = None):
- if self._simulator:
- return await self._simulate_handler.consolidate_tip_inventory(tip_racks, use_channels)
- return await super().consolidate_tip_inventory(tip_racks, use_channels)
-
-
-class LiquidHandlerAbstract(LiquidHandlerMiddleware):
- """Extended LiquidHandler with additional operations."""
- support_touch_tip = True
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
- """Initialize a LiquidHandler.
-
- Args:
- backend: Backend to use.
- deck: Deck to use.
- """
- backend_type = None
- if isinstance(backend, dict) and "type" in backend:
- backend_dict = backend.copy()
- type_str = backend_dict.pop("type")
- try:
- # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
- backend_cls = None
- if type_str in globals():
- backend_cls = globals()[type_str]
- else:
- # Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
- components = type_str.split(".")
- mod = None
- if len(components) > 1:
- module_name = ".".join(components[:-1])
- try:
- import importlib
- mod = importlib.import_module(module_name)
- except ImportError:
- mod = None
- if mod is not None:
- backend_cls = getattr(mod, components[-1], None)
- if backend_cls is None:
- # Try pylabrobot style import (if available)
- try:
- import pylabrobot
- backend_cls = getattr(pylabrobot, type_str, None)
- except Exception:
- backend_cls = None
- if backend_cls is not None and isinstance(backend_cls, type):
- backend_type = backend_cls(**backend_dict) # pass the rest of dict as kwargs
- except Exception as exc:
- raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
- else:
- backend_type = backend
- self._simulator = simulator
- self.group_info = dict()
- super().__init__(backend_type, deck, simulator, channel_num)
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- @classmethod
- def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
- """Set the liquid in a well."""
- res_samples = []
- res_volumes = []
- for well, liquid_name, volume in zip(wells, liquid_names, volumes):
- well.set_liquids([(liquid_name, volume)]) # type: ignore
- res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
- res_volumes.append(volume)
-
- return SimpleReturn(samples=res_samples, volumes=res_volumes)
- # ---------------------------------------------------------------
- # REMOVE LIQUID --------------------------------------------------
- # ---------------------------------------------------------------
-
- def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
- if self.channel_num == 8 and len(wells) != 8:
- raise RuntimeError(f"Expected 8 wells, got {len(wells)}")
- self.group_info[group_name] = wells
- self.set_liquid(wells, [group_name] * len(wells), volumes)
-
- async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
-
- source_wells = self.group_info.get(source_group_name, [])
- target_wells = self.group_info.get(target_group_name, [])
-
- rack_info = dict()
- for child in self.deck.children:
- if issubclass(child.__class__, TipRack):
- rack: TipRack = cast(TipRack, child)
- if "plate" not in rack.name.lower():
- for tip in rack.get_all_tips():
- if unit_volume > tip.maximal_volume:
- break
- else:
- rack_info[rack.name] = (rack, tip.maximal_volume - unit_volume)
-
- if len(rack_info) == 0:
- raise ValueError(f"No tip rack can support volume {unit_volume}.")
-
- rack_info = sorted(rack_info.items(), key=lambda x: x[1][1])
- for child in self.deck.children:
- if child.name == rack_info[0][0]:
- target_rack = child
- target_rack = cast(TipRack, target_rack)
- available_tips = {}
- for (idx, tipSpot) in enumerate(target_rack.get_all_items()):
- if tipSpot.has_tip():
- available_tips[idx] = tipSpot
- continue
- # 一般移动液体有两种方式，一对多和多对多
- print("channel_num", self.channel_num)
- if self.channel_num == 8:
-
- tip_prefix = list(available_tips.values())[0].name.split('_')[0]
- colnum_list = [int(tip.name.split('_')[-1][1:]) for tip in available_tips.values()]
- available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
- available_cols.sort()
- available_tips_dict = {tip.name: tip for tip in available_tips.values()}
- tips_to_use = [available_tips_dict[f"{tip_prefix}_{chr(65 + i)}{available_cols[0]}"] for i in range(8)]
- print("tips_to_use", tips_to_use)
- await self.pick_up_tips(tips_to_use, use_channels=list(range(0, 8)))
- print("source_wells", source_wells)
- await self.aspirate(source_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
- print("target_wells", target_wells)
- await self.dispense(target_wells, [unit_volume] * 8, use_channels=list(range(0, 8)))
- await self.discard_tips(use_channels=list(range(0, 8)))
-
- elif self.channel_num == 1:
-
- for num_well in range(len(target_wells)):
- tip_to_use = available_tips[list(available_tips.keys())[num_well]]
- print("tip_to_use", tip_to_use)
- await self.pick_up_tips([tip_to_use], use_channels=[0])
- print("source_wells", source_wells)
- print("target_wells", target_wells)
- if len(source_wells) == 1:
- await self.aspirate([source_wells[0]], [unit_volume], use_channels=[0])
- else:
- await self.aspirate([source_wells[num_well]], [unit_volume], use_channels=[0])
- await self.dispense([target_wells[num_well]], [unit_volume], use_channels=[0])
- await self.discard_tips(use_channels=[0])
-
- else:
- raise ValueError(f"Unsupported channel number {self.channel_num}.")
-
- async def create_protocol(
- self,
- protocol_name: str,
- protocol_description: str,
- protocol_version: str,
- protocol_author: str,
- protocol_date: str,
- protocol_type: str,
- none_keys: List[str] = [],
- ):
- """Create a new protocol with the given metadata."""
- pass
-
-
- async def remove_liquid(
- self,
- vols: List[float],
- sources: Sequence[Container],
- waste_liquid: Optional[Container] = None,
- *,
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
- delays: Optional[List[int]] = None,
- is_96_well: Optional[bool] = False,
- top: Optional[List[float]] = None,
- none_keys: List[str] = [],
- ):
- """A complete *remove* (aspirate → waste) operation."""
-
- try:
- if is_96_well:
- pass # This mode is not verified.
- else:
- # 首先应该对任务分组，然后每次1个/8个进行操作处理
- if len(use_channels) == 1 and self.backend.num_channels == 1:
-
- for _ in range(len(sources)):
- tip = []
- for __ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
- await self.aspirate(
- resources=[sources[_]],
- vols=[vols[_]],
- use_channels=use_channels,
- flow_rates=[flow_rates[0]] if flow_rates else None,
- offsets=[offsets[0]] if offsets else None,
- liquid_height=[liquid_height[0]] if liquid_height else None,
- blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
- spread=spread,
- )
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
-
- await self.dispense(
- resources=[waste_liquid],
- vols=[vols[_]],
- use_channels=use_channels,
- flow_rates=[flow_rates[1]] if flow_rates else None,
- offsets=[offsets[1]] if offsets else None,
- blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
- liquid_height=[liquid_height[1]] if liquid_height else None,
- spread=spread,
- )
- await self.discard_tips()
-
- elif len(use_channels) == 8 and self.backend.num_channels == 8:
-
-
- # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
- if len(sources) % 8 != 0:
- raise ValueError(f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode.")
-
- # 8个8个来取任务序列
-
- for i in range(0, len(sources), 8):
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
- current_targets = waste_liquid[i:i + 8]
- current_reagent_sources = sources[i:i + 8]
- current_asp_vols = vols[i:i + 8]
- current_dis_vols = vols[i:i + 8]
- current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
- current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
- current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
- current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
- current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
- current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
-
- await self.aspirate(
- resources=current_reagent_sources,
- vols=current_asp_vols,
- use_channels=use_channels,
- flow_rates=current_asp_flow_rates,
- offsets=current_asp_offset,
- liquid_height=current_asp_liquid_height,
- blow_out_air_volume=current_asp_blow_out_air_volume,
- spread=spread,
- )
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
- await self.dispense(
- resources=current_targets,
- vols=current_dis_vols,
- use_channels=use_channels,
- flow_rates=current_dis_flow_rates,
- offsets=current_dis_offset,
- liquid_height=current_dis_liquid_height,
- blow_out_air_volume=current_dis_blow_out_air_volume,
- spread=spread,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- await self.touch_tip(current_targets)
- await self.discard_tips()
-
- except Exception as e:
- traceback.print_exc()
- raise RuntimeError(f"Liquid addition failed: {e}") from e
-
- # ---------------------------------------------------------------
- # ADD LIQUID -----------------------------------------------------
- # ---------------------------------------------------------------
-
- async def add_liquid(
- self,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- reagent_sources: Sequence[Container],
- targets: Sequence[Container],
- *,
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
- is_96_well: bool = False,
- delays: Optional[List[int]] = None,
- mix_time: Optional[int] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- # """A complete *add* (aspirate reagent → dispense into targets) operation."""
-
- # # try:
- if is_96_well:
- pass # This mode is not verified.
- else:
- if len(asp_vols) != len(targets):
- raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
- # 首先应该对任务分组，然后每次1个/8个进行操作处理
- if len(use_channels) == 1:
- for _ in range(len(targets)):
- tip = []
- for x in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
-
- await self.aspirate(
- resources=[reagent_sources[_]],
- vols=[asp_vols[_]],
- use_channels=use_channels,
- flow_rates=[flow_rates[0]] if flow_rates else None,
- offsets=[offsets[0]] if offsets else None,
- liquid_height=[liquid_height[0]] if liquid_height else None,
- blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
- spread=spread,
- )
-
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
- await self.dispense(
- resources=[targets[_]],
- vols=[dis_vols[_]],
- use_channels=use_channels,
- flow_rates=[flow_rates[1]] if flow_rates else None,
- offsets=[offsets[1]] if offsets else None,
- blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
- liquid_height=[liquid_height[1]] if liquid_height else None,
- spread=spread,
- )
-
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- # 只有在 mix_time 有效时才调用 mix
- if mix_time is not None and mix_time > 0:
- await self.mix(
- targets=[targets[_]],
- mix_time=mix_time,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- await self.touch_tip(targets[_])
- await self.discard_tips()
-
- elif len(use_channels) == 8:
- # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
- if len(targets) % 8 != 0:
- raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
-
- for i in range(0, len(targets), 8):
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
- current_targets = targets[i:i + 8]
- current_reagent_sources = reagent_sources[i:i + 8]
- current_asp_vols = asp_vols[i:i + 8]
- current_dis_vols = dis_vols[i:i + 8]
- current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
- current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
- current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
- current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
- current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
- current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
-
- await self.aspirate(
- resources=current_reagent_sources,
- vols=current_asp_vols,
- use_channels=use_channels,
- flow_rates=current_asp_flow_rates,
- offsets=current_asp_offset,
- liquid_height=current_asp_liquid_height,
- blow_out_air_volume=current_asp_blow_out_air_volume,
- spread=spread,
- )
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
- await self.dispense(
- resources=current_targets,
- vols=current_dis_vols,
- use_channels=use_channels,
- flow_rates=current_dis_flow_rates,
- offsets=current_dis_offset,
- liquid_height=current_dis_liquid_height,
- blow_out_air_volume=current_dis_blow_out_air_volume,
- spread=spread,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
-
- # 只有在 mix_time 有效时才调用 mix
- if mix_time is not None and mix_time > 0:
- await self.mix(
- targets=current_targets,
- mix_time=mix_time,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- await self.touch_tip(current_targets)
- await self.discard_tips()
-
-
- # except Exception as e:
- # traceback.print_exc()
- # raise RuntimeError(f"Liquid addition failed: {e}") from e
-
- # ---------------------------------------------------------------
- # TRANSFER LIQUID ------------------------------------------------
- # ---------------------------------------------------------------
- async def transfer_liquid(
- self,
- sources: Sequence[Container],
- targets: Sequence[Container],
- tip_racks: Sequence[TipRack],
- *,
- use_channels: Optional[List[int]] = None,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- asp_flow_rates: Optional[List[Optional[float]]] = None,
- dis_flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- touch_tip: bool = False,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- is_96_well: bool = False,
- mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
- mix_times: Optional[int] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- delays: Optional[List[int]] = None,
- none_keys: List[str] = [],
- ):
- """Transfer liquid with automatic mode detection.
-
- Supports three transfer modes:
- 1. One-to-many (1 source -> N targets): Distribute from one source to multiple targets
- 2. One-to-one (N sources -> N targets): Standard transfer, each source to corresponding target
- 3. Many-to-one (N sources -> 1 target): Combine multiple sources into one target
-
- Parameters
- ----------
- asp_vols, dis_vols
- Single volume (µL) or list. Automatically expanded based on transfer mode.
- sources, targets
- Containers (wells or plates). Length determines transfer mode:
- - len(sources) == 1, len(targets) > 1: One-to-many mode
- - len(sources) == len(targets): One-to-one mode
- - len(sources) > 1, len(targets) == 1: Many-to-one mode
- tip_racks
- One or more TipRacks providing fresh tips.
- is_96_well
- Set *True* to use the 96‑channel head.
- mix_stage
- When to mix the target wells relative to dispensing. Default "none" means
- no mixing occurs even if mix_times is provided. Use "before", "after", or
- "both" to mix at the corresponding stage(s).
- mix_times
- Number of mix cycles. If *None* (default) no mixing occurs regardless of
- mix_stage.
- """
-
- # 确保 use_channels 有默认值
- if use_channels is None:
- # 默认使用设备所有通道（例如 8 通道移液站默认就是 0-7）
- use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0]
-
- if is_96_well:
- pass # This mode is not verified.
- else:
- # 转换体积参数为列表
- if isinstance(asp_vols, (int, float)):
- asp_vols = [float(asp_vols)]
- else:
- asp_vols = [float(v) for v in asp_vols]
-
- if isinstance(dis_vols, (int, float)):
- dis_vols = [float(dis_vols)]
- else:
- dis_vols = [float(v) for v in dis_vols]
-
- # 统一混合次数为标量，防止数组/列表与 int 比较时报错
- if mix_times is not None and not isinstance(mix_times, (int, float)):
- try:
- mix_times = mix_times[0] if len(mix_times) > 0 else None
- except Exception:
- try:
- mix_times = next(iter(mix_times))
- except Exception:
- pass
- if mix_times is not None:
- mix_times = int(mix_times)
-
- # 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
- num_sources = len(sources)
- num_targets = len(targets)
-
- if num_sources == 1 and num_targets > 1:
- # 模式1: 一对多 (1 source -> N targets)
- await self._transfer_one_to_many(
- sources[0], targets, tip_racks, use_channels,
- asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
- offsets, touch_tip, liquid_height, blow_out_air_volume,
- spread, mix_stage, mix_times, mix_vol, mix_rate,
- mix_liquid_height, delays
- )
- elif num_sources > 1 and num_targets == 1:
- # 模式2: 多对一 (N sources -> 1 target)
- await self._transfer_many_to_one(
- sources, targets[0], tip_racks, use_channels,
- asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
- offsets, touch_tip, liquid_height, blow_out_air_volume,
- spread, mix_stage, mix_times, mix_vol, mix_rate,
- mix_liquid_height, delays
- )
- elif num_sources == num_targets:
- # 模式3: 一对一 (N sources -> N targets)
- await self._transfer_one_to_one(
- sources, targets, tip_racks, use_channels,
- asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
- offsets, touch_tip, liquid_height, blow_out_air_volume,
- spread, mix_stage, mix_times, mix_vol, mix_rate,
- mix_liquid_height, delays
- )
- else:
- raise ValueError(
- f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
- "Supported modes: 1->N, N->1, or N->N."
- )
-
- async def _transfer_one_to_one(
- self,
- sources: Sequence[Container],
- targets: Sequence[Container],
- tip_racks: Sequence[TipRack],
- use_channels: List[int],
- asp_vols: List[float],
- dis_vols: List[float],
- asp_flow_rates: Optional[List[Optional[float]]],
- dis_flow_rates: Optional[List[Optional[float]]],
- offsets: Optional[List[Coordinate]],
- touch_tip: bool,
- liquid_height: Optional[List[Optional[float]]],
- blow_out_air_volume: Optional[List[Optional[float]]],
- spread: Literal["wide", "tight", "custom"],
- mix_stage: Optional[Literal["none", "before", "after", "both"]],
- mix_times: Optional[int],
- mix_vol: Optional[int],
- mix_rate: Optional[int],
- mix_liquid_height: Optional[float],
- delays: Optional[List[int]],
- ):
- """一对一传输模式：N sources -> N targets"""
- # 验证参数长度
- if len(asp_vols) != len(targets):
- raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
- if len(dis_vols) != len(targets):
- raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
- if len(sources) != len(targets):
- raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
-
- if len(use_channels) == 1:
- for _ in range(len(targets)):
- tip = []
- for ___ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
-
- if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[targets[_]],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- await self.aspirate(
- resources=[sources[_]],
- vols=[asp_vols[_]],
- use_channels=use_channels,
- flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
- offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
- liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
- blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
- spread=spread,
- )
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
- await self.dispense(
- resources=[targets[_]],
- vols=[dis_vols[_]],
- use_channels=use_channels,
- flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
- offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
- blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
- liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
- spread=spread,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[targets[_]],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- await self.touch_tip(targets[_])
- await self.discard_tips(use_channels=use_channels)
-
- elif len(use_channels) == 8:
- if len(targets) % 8 != 0:
- raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
-
- for i in range(0, len(targets), 8):
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
- current_targets = targets[i:i + 8]
- current_reagent_sources = sources[i:i + 8]
- current_asp_vols = asp_vols[i:i + 8]
- current_dis_vols = dis_vols[i:i + 8]
- current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
- current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
- current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
- current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
-
- if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=current_targets,
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- await self.aspirate(
- resources=current_reagent_sources,
- vols=current_asp_vols,
- use_channels=use_channels,
- flow_rates=current_asp_flow_rates,
- offsets=current_asp_offset,
- blow_out_air_volume=current_asp_blow_out_air_volume,
- liquid_height=current_asp_liquid_height,
- spread=spread,
- )
-
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
- await self.dispense(
- resources=current_targets,
- vols=current_dis_vols,
- use_channels=use_channels,
- flow_rates=current_dis_flow_rates,
- offsets=current_dis_offset,
- blow_out_air_volume=current_dis_blow_out_air_volume,
- liquid_height=current_dis_liquid_height,
- spread=spread,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
-
- if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=current_targets,
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- await self.touch_tip(current_targets)
- await self.discard_tips([0,1,2,3,4,5,6,7])
-
- async def _transfer_one_to_many(
- self,
- source: Container,
- targets: Sequence[Container],
- tip_racks: Sequence[TipRack],
- use_channels: List[int],
- asp_vols: List[float],
- dis_vols: List[float],
- asp_flow_rates: Optional[List[Optional[float]]],
- dis_flow_rates: Optional[List[Optional[float]]],
- offsets: Optional[List[Coordinate]],
- touch_tip: bool,
- liquid_height: Optional[List[Optional[float]]],
- blow_out_air_volume: Optional[List[Optional[float]]],
- spread: Literal["wide", "tight", "custom"],
- mix_stage: Optional[Literal["none", "before", "after", "both"]],
- mix_times: Optional[int],
- mix_vol: Optional[int],
- mix_rate: Optional[int],
- mix_liquid_height: Optional[float],
- delays: Optional[List[int]],
- ):
- """一对多传输模式：1 source -> N targets"""
- # 验证和扩展体积参数
- if len(asp_vols) == 1:
- # 如果只提供一个吸液体积，计算总吸液体积（所有分液体积之和）
- total_asp_vol = sum(dis_vols)
- asp_vol = asp_vols[0] if asp_vols[0] >= total_asp_vol else total_asp_vol
- else:
- raise ValueError("For one-to-many mode, `asp_vols` should be a single value or list with one element.")
-
- if len(dis_vols) != len(targets):
- raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
-
- if len(use_channels) == 1:
- # 单通道模式：一次吸液，多次分液
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
-
- if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
- for idx, target in enumerate(targets):
- await self.mix(
- targets=[target],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- # 从源容器吸液（总体积）
- await self.aspirate(
- resources=[source],
- vols=[asp_vol],
- use_channels=use_channels,
- flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
- offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
- liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
- blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
- spread=spread,
- )
-
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
-
- # 分多次分液到不同的目标容器
- for idx, target in enumerate(targets):
- await self.dispense(
- resources=[target],
- vols=[dis_vols[idx]],
- use_channels=use_channels,
- flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
- offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
- blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
- liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
- spread=spread,
- )
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
- if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[target],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[idx:idx+1] if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
- if touch_tip:
- await self.touch_tip([target])
-
- await self.discard_tips(use_channels=use_channels)
-
- elif len(use_channels) == 8:
- # 8通道模式：需要确保目标数量是8的倍数
- if len(targets) % 8 != 0:
- raise ValueError(f"For 8-channel mode, number of targets {len(targets)} must be a multiple of 8.")
-
- # 每次处理8个目标
- for i in range(0, len(targets), 8):
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
-
- current_targets = targets[i:i + 8]
- current_dis_vols = dis_vols[i:i + 8]
-
- # 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
- current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
- current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
- current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
- current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
-
- if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=current_targets,
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[i:i + 8] if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
- await self.aspirate(
- resources=[source] * 8, # 8个通道都从同一个源
- vols=current_dis_vols, # 每个通道的吸液体积等于对应的分液体积
- use_channels=use_channels,
- flow_rates=current_asp_flow_rates,
- offsets=current_asp_offset,
- liquid_height=current_asp_liquid_height,
- blow_out_air_volume=current_asp_blow_out_air_volume,
- spread=spread,
- )
-
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
-
- # 分液到8个目标
- current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
- current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-
- await self.dispense(
- resources=current_targets,
- vols=current_dis_vols,
- use_channels=use_channels,
- flow_rates=current_dis_flow_rates,
- offsets=current_dis_offset,
- blow_out_air_volume=current_dis_blow_out_air_volume,
- liquid_height=current_dis_liquid_height,
- spread=spread,
- )
-
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
-
- if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=current_targets,
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- if touch_tip:
- await self.touch_tip(current_targets)
-
- await self.discard_tips([0,1,2,3,4,5,6,7])
-
- async def _transfer_many_to_one(
- self,
- sources: Sequence[Container],
- target: Container,
- tip_racks: Sequence[TipRack],
- use_channels: List[int],
- asp_vols: List[float],
- dis_vols: List[float],
- asp_flow_rates: Optional[List[Optional[float]]],
- dis_flow_rates: Optional[List[Optional[float]]],
- offsets: Optional[List[Coordinate]],
- touch_tip: bool,
- liquid_height: Optional[List[Optional[float]]],
- blow_out_air_volume: Optional[List[Optional[float]]],
- spread: Literal["wide", "tight", "custom"],
- mix_stage: Optional[Literal["none", "before", "after", "both"]],
- mix_times: Optional[int],
- mix_vol: Optional[int],
- mix_rate: Optional[int],
- mix_liquid_height: Optional[float],
- delays: Optional[List[int]],
- ):
- """多对一传输模式：N sources -> 1 target（汇总/混合）"""
- # 验证和扩展体积参数
- if len(asp_vols) != len(sources):
- raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
-
- # 支持两种模式：
- # 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积
- # 2. dis_vols 长度等于 asp_vols：每个源按不同比例分液（按比例混合）
- if len(dis_vols) == 1:
- # 模式1：使用单个分液体积
- total_dis_vol = sum(asp_vols)
- dis_vol = dis_vols[0] if dis_vols[0] >= total_dis_vol else total_dis_vol
- use_proportional_mixing = False
- elif len(dis_vols) == len(asp_vols):
- # 模式2：按不同比例混合
- use_proportional_mixing = True
- else:
- raise ValueError(
- f"For many-to-one mode, `dis_vols` should be a single value or list with length {len(asp_vols)} "
- f"(matching `asp_vols`). Got length {len(dis_vols)}."
- )
-
- if len(use_channels) == 1:
- # 单通道模式：多次吸液，一次分液
- # 先混合前（如果需要）
- if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[target],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[0:1] if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- # 从每个源容器吸液并分液到目标容器
- for idx, source in enumerate(sources):
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
-
- await self.aspirate(
- resources=[source],
- vols=[asp_vols[idx]],
- use_channels=use_channels,
- flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
- offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
- liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
- blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
- spread=spread,
- )
-
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
-
- # 分液到目标容器
- if use_proportional_mixing:
- # 按不同比例混合：使用对应的 dis_vols
- dis_vol = dis_vols[idx]
- dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
- dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
- dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
- dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
- else:
- # 标准模式：分液体积等于吸液体积
- dis_vol = asp_vols[idx]
- dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
- dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
- dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
- dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
-
- await self.dispense(
- resources=[target],
- vols=[dis_vol],
- use_channels=use_channels,
- flow_rates=[dis_flow_rate] if dis_flow_rate is not None else None,
- offsets=[dis_offset] if dis_offset is not None else None,
- blow_out_air_volume=[dis_blow_out] if dis_blow_out is not None else None,
- liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None,
- spread=spread,
- )
-
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
-
- await self.discard_tips(use_channels=use_channels)
-
- # 最后在目标容器中混合（如果需要）
- if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[target],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[0:1] if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- if touch_tip:
- await self.touch_tip([target])
-
- elif len(use_channels) == 8:
- # 8通道模式：需要确保源数量是8的倍数
- if len(sources) % 8 != 0:
- raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
-
- # 每次处理8个源
- if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[target],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[0:1] if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- for i in range(0, len(sources), 8):
- tip = []
- for _ in range(len(use_channels)):
- tip.extend(next(self.current_tip))
- await self.pick_up_tips(tip)
-
- current_sources = sources[i:i + 8]
- current_asp_vols = asp_vols[i:i + 8]
- current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
- current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-
- # 从8个源容器吸液
- await self.aspirate(
- resources=current_sources,
- vols=current_asp_vols,
- use_channels=use_channels,
- flow_rates=current_asp_flow_rates,
- offsets=current_asp_offset,
- blow_out_air_volume=current_asp_blow_out_air_volume,
- liquid_height=current_asp_liquid_height,
- spread=spread,
- )
-
- if delays is not None:
- await self.custom_delay(seconds=delays[0])
-
- # 分液到目标容器（每个通道分液到同一个目标）
- if use_proportional_mixing:
- # 按比例混合：使用对应的 dis_vols
- current_dis_vols = dis_vols[i:i + 8]
- current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
- current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
- current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
- current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
- else:
- # 标准模式：每个通道分液体积等于其吸液体积
- current_dis_vols = current_asp_vols
- current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
- current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
- current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
- current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
-
- await self.dispense(
- resources=[target] * 8, # 8个通道都分到同一个目标
- vols=current_dis_vols,
- use_channels=use_channels,
- flow_rates=current_dis_flow_rates,
- offsets=current_dis_offset,
- blow_out_air_volume=current_dis_blow_out_air_volume,
- liquid_height=current_dis_liquid_height,
- spread=spread,
- )
-
- if delays is not None and len(delays) > 1:
- await self.custom_delay(seconds=delays[1])
-
- await self.discard_tips([0,1,2,3,4,5,6,7])
-
- # 最后在目标容器中混合（如果需要）
- if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
- await self.mix(
- targets=[target],
- mix_time=mix_times,
- mix_vol=mix_vol,
- offsets=offsets[0:1] if offsets else None,
- height_to_bottom=mix_liquid_height if mix_liquid_height else None,
- mix_rate=mix_rate if mix_rate else None,
- )
-
- if touch_tip:
- await self.touch_tip([target])
-
- # except Exception as e:
- # traceback.print_exc()
- # raise RuntimeError(f"Liquid addition failed: {e}") from e
-
-
- # ---------------------------------------------------------------
- # Helper utilities
- # ---------------------------------------------------------------
-
- async def custom_delay(self, seconds=0, msg=None):
- """
- seconds: seconds to wait
- msg: information to be printed
- """
- if seconds != None and seconds > 0:
- if msg:
- print(f"Waiting time: {msg}")
- print(f"Current time: {time.strftime('%H:%M:%S')}")
- print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
- await self._ros_node.sleep(seconds)
- if msg:
- print(f"Done: {msg}")
- print(f"Current time: {time.strftime('%H:%M:%S')}")
-
- async def touch_tip(self, targets: Sequence[Container]):
-
- """Touch the tip to the side of the well."""
-
- if not self.support_touch_tip:
- return
- await self.aspirate(
- resources=[targets],
- vols=[0],
- use_channels=None,
- flow_rates=None,
- offsets=[Coordinate(x=-targets.get_size_x() / 2, y=0, z=0)],
- liquid_height=None,
- blow_out_air_volume=None,
- )
- # await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
- await self.aspirate(
- resources=[targets],
- vols=[0],
- use_channels=None,
- flow_rates=None,
- offsets=[Coordinate(x=targets.get_size_x() / 2, y=0, z=0)],
- liquid_height=None,
- blow_out_air_volume=None,
- )
-
- async def mix(
- self,
- targets: Sequence[Container],
- mix_time: int = None,
- mix_vol: Optional[int] = None,
- height_to_bottom: Optional[float] = None,
- offsets: Optional[Coordinate] = None,
- mix_rate: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- if mix_time is None: # No mixing required
- return
- """Mix the liquid in the target wells."""
- for _ in range(mix_time):
- await self.aspirate(
- resources=[targets],
- vols=[mix_vol],
- flow_rates=[mix_rate] if mix_rate else None,
- offsets=[offsets] if offsets else None,
- liquid_height=[height_to_bottom] if height_to_bottom else None,
- )
- await self.custom_delay(seconds=1)
- await self.dispense(
- resources=[targets],
- vols=[mix_vol],
- flow_rates=[mix_rate] if mix_rate else None,
- offsets=[offsets] if offsets else None,
- liquid_height=[height_to_bottom] if height_to_bottom else None,
- )
-
- def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
- """Yield tips from a list of TipRacks one-by-one until depleted."""
- for rack in tip_racks:
- for tip in rack:
- yield tip
- raise RuntimeError("Out of tips!")
-
- def set_tiprack(self, tip_racks: Sequence[TipRack]):
- """Set the tip racks for the liquid handler."""
-
- self.tip_racks = tip_racks
- tip_iter = self.iter_tips(tip_racks)
- self.current_tip = tip_iter
-
- async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
- """
- Move a single channel to a specific well with a given z-height.
-
- Parameters
- ----------
- well : Well
- The target well.
- dis_to_top : float
- Height in mm to move to relative to the well top.
- channel : int
- Pipetting channel to move (default: 0).
- """
- await self.prepare_for_manual_channel_operation(channel=channel)
- abs_loc = well.get_absolute_location()
- well_height = well.get_absolute_size_z()
- await self.move_channel_x(channel, abs_loc.x)
- await self.move_channel_y(channel, abs_loc.y)
- await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)
diff --git a/unilabos/devices/liquid_handling/prcxi/__init__.py b/unilabos/devices/liquid_handling/prcxi/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/liquid_handling/prcxi/abstract_protocol.py b/unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
deleted file mode 100644
index b09d1b94..00000000
--- a/unilabos/devices/liquid_handling/prcxi/abstract_protocol.py
+++ /dev/null
@@ -1,621 +0,0 @@
-import asyncio
-import collections
-import contextlib
-import json
-import socket
-import time
-from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
-import pprint as pp
-from pylabrobot.liquid_handling import (
- LiquidHandlerBackend,
- Pickup,
- SingleChannelAspiration,
- Drop,
- SingleChannelDispense,
- PickupTipRack,
- DropTipRack,
- MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
-)
-from pylabrobot.liquid_handling.standard import (
- MultiHeadAspirationContainer,
- MultiHeadDispenseContainer,
- MultiHeadDispensePlate,
- ResourcePickup,
- ResourceMove,
- ResourceDrop,
-)
-from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
-from traitlets import Int
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-
-
-
-
-class MaterialResource:
- """统一的液体/反应器资源，支持多孔（wells）场景：
- - wells: 列表，每个元素代表一个物料孔（unit）；
- - units: 与 wells 对齐的列表，每个元素是 {liquid_id: volume}；
- - 若传入 liquid_id + volume 或 composition，总量将**等分**到各 unit；
- """
- def __init__(
- self,
- resource_name: str,
- slot: int,
- well: List[int],
- composition: Optional[Dict[str, float]] = None,
- liquid_id: Optional[str] = None,
- volume: Union[float, int] = 0.0,
- is_supply: Optional[bool] = None,
- ):
- self.resource_name = resource_name
- self.slot = int(slot)
- self.well = list(well or [])
- self.is_supply = bool(is_supply) if is_supply is not None else (bool(composition) or (liquid_id is not None))
-
- # 规范化：至少有 1 个 unit
- n = max(1, len(self.well))
- self.units: List[Dict[str, float]] = [dict() for _ in range(n)]
-
- # 初始化内容：等分到各 unit
- if composition:
- for k, v in composition.items():
- share = float(v) / n
- for u in self.units:
- if share > 0:
- u[k] = u.get(k, 0.0) + share
- elif liquid_id is not None and float(volume) > 0:
- share = float(volume) / n
- for u in self.units:
- u[liquid_id] = u.get(liquid_id, 0.0) + share
-
- # 位置描述
- def location(self) -> Dict[str, Any]:
- return {"slot": self.slot, "well": self.well}
-
- def unit_count(self) -> int:
- return len(self.units)
-
- def unit_volume(self, idx: int) -> float:
- return float(sum(self.units[idx].values()))
-
- def total_volume(self) -> float:
- return float(sum(self.unit_volume(i) for i in range(self.unit_count())))
-
- def add_to_unit(self, idx: int, liquid_id: str, vol: Union[float, int]):
- v = float(vol)
- if v < 0:
- return
- u = self.units[idx]
- if liquid_id not in u:
- u[liquid_id] = 0.0
- if v > 0:
- u[liquid_id] += v
-
- def remove_from_unit(self, idx: int, total: Union[float, int]) -> Dict[str, float]:
- take = float(total)
- if take <= 0: return {}
- u = self.units[idx]
- avail = sum(u.values())
- if avail <= 0: return {}
- take = min(take, avail)
- ratio = take / avail
- removed: Dict[str, float] = {}
- for k, v in list(u.items()):
- dv = v * ratio
- nv = v - dv
- if nv < 1e-9: nv = 0.0
- u[k] = nv
- removed[k] = dv
-
- self.units[idx] = {k: v for k, v in u.items() if v > 0}
- return removed
-
- def transfer_unit_to(self, src_idx: int, other: "MaterialResource", dst_idx: int, total: Union[float, int]):
- moved = self.remove_from_unit(src_idx, total)
- for k, v in moved.items():
- other.add_to_unit(dst_idx, k, v)
-
- def get_resource(self) -> Dict[str, Any]:
- return {
- "resource_name": self.resource_name,
- "slot": self.slot,
- "well": self.well,
- "units": [dict(u) for u in self.units],
- "total_volume": self.total_volume(),
- "is_supply": self.is_supply,
- }
-
-def transfer_liquid(
- sources: MaterialResource,
- targets: MaterialResource,
- unit_volume: Optional[Union[float, int]] = None,
- tip: Optional[str] = None, #这里应该是指定种类的
-) -> Dict[str, Any]:
- try:
- vol_each = float(unit_volume)
- except (TypeError, ValueError):
- return {"action": "transfer_liquid", "error": "invalid unit_volume"}
- if vol_each <= 0:
- return {"action": "transfer_liquid", "error": "non-positive volume"}
-
- ns, nt = sources.unit_count(), targets.unit_count()
- # one-to-many: 从单个 source unit(0) 扇出到目标各 unit
- if ns == 1 and nt >= 1:
- for j in range(nt):
- sources.transfer_unit_to(0, targets, j, vol_each)
- # many-to-many: 数量相同，逐一对应
- elif ns == nt and ns > 0:
- for i in range(ns):
- sources.transfer_unit_to(i, targets, i, vol_each)
- else:
- raise ValueError(f"Unsupported mapping: sources={ns} units, targets={nt} units. Only 1->N or N->N are allowed.")
-
- return {
- "action": "transfer_liquid",
- "sources": sources.get_resource(),
- "targets": targets.get_resource(),
- "unit_volume": unit_volume,
- "tip": tip,
- }
-
-def plan_transfer(pm: "ProtocolManager", **kwargs) -> Dict[str, Any]:
- """Shorthand to add a non-committing transfer to a ProtocolManager.
- Accepts the same kwargs as ProtocolManager.add_transfer.
- """
- return pm.add_transfer(**kwargs)
-
-class ProtocolManager:
- """Plan/track transfers and back‑solve minimum initial volumes.
-
- Use add_transfer(...) to register steps (no mutation).
- Use compute_min_initials(...) to infer the minimal starting volume of each liquid
- per resource required to execute the plan in order.
- """
-
- # ---------- lifecycle ----------
- def __init__(self):
- # queued logical steps (keep live refs to MaterialResource)
- self.steps: List[Dict[str, Any]] = []
-
- # simple tip catalog; choose the smallest that meets min_aspirate and capacity*safety
- self.tip_catalog = [
- {"name": "TIP_10uL", "capacity": 10.0, "min_aspirate": 0.5},
- {"name": "TIP_20uL", "capacity": 20.0, "min_aspirate": 1.0},
- {"name": "TIP_50uL", "capacity": 50.0, "min_aspirate": 2.0},
- {"name": "TIP_200uL", "capacity": 200.0, "min_aspirate": 5.0},
- {"name": "TIP_300uL", "capacity": 300.0, "min_aspirate": 10.0},
- {"name": "TIP_1000uL", "capacity": 1000.0, "min_aspirate": 20.0},
- ]
-
- # stable labels for unknown liquids per resource (A, B, C, ..., AA, AB, ...)
- self._unknown_labels: Dict[MaterialResource, str] = {}
- self._unknown_label_counter: int = 0
-
- # ---------- public API ----------
- def recommend_tip(self, unit_volume: float, safety: float = 1.10) -> str:
- v = float(unit_volume)
- # prefer: meets min_aspirate and capacity with safety margin; else fallback to capacity-only; else max capacity
- eligible = [t for t in self.tip_catalog if t["min_aspirate"] <= v and t["capacity"] >= v * safety]
- if not eligible:
- eligible = [t for t in self.tip_catalog if t["capacity"] >= v]
- return min(eligible or self.tip_catalog, key=lambda t: t["capacity"]) ["name"]
-
- def get_tip_capacity(self, tip_name: str) -> Optional[float]:
- for t in self.tip_catalog:
- if t["name"] == tip_name:
- return t["capacity"]
- return None
-
- def add_transfer(
- self,
- sources: MaterialResource,
- targets: MaterialResource,
- unit_volume: Union[float, int],
- tip: Optional[str] = None,
- ) -> Dict[str, Any]:
- step = {
- "action": "transfer_liquid",
- "sources": sources,
- "targets": targets,
- "unit_volume": float(unit_volume),
- "tip": tip or self.recommend_tip(unit_volume),
- }
- self.steps.append(step)
- # return a serializable shadow (no mutation)
- return {
- "action": "transfer_liquid",
- "sources": sources.get_resource(),
- "targets": targets.get_resource(),
- "unit_volume": step["unit_volume"],
- "tip": step["tip"],
- }
-
- @staticmethod
- def _liquid_keys_of(resource: MaterialResource) -> List[str]:
- keys: set[str] = set()
- for u in resource.units:
- keys.update(u.keys())
- return sorted(keys)
-
- @staticmethod
- def _fanout_multiplier(ns: int, nt: int) -> Optional[int]:
- """Return the number of liquid movements for a mapping shape.
- 1->N: N moves; N->N: N moves; otherwise unsupported (None).
- """
- if ns == 1 and nt >= 1:
- return nt
- if ns == nt and ns > 0:
- return ns
- return None
-
- # ---------- planning core ----------
- def compute_min_initials(
- self,
- use_initial: bool = False,
- external_only: bool = True,
- ) -> Dict[str, Dict[str, float]]:
- """Simulate the plan (non‑mutating) and return minimal starting volumes per resource/liquid."""
- ledger: Dict[MaterialResource, Dict[str, float]] = {}
- min_seen: Dict[MaterialResource, Dict[str, float]] = {}
-
- def _ensure(res: MaterialResource) -> None:
- if res in ledger:
- return
- declared = self._liquid_keys_of(res)
- if use_initial:
- # sum actual held amounts across units
- totals = {k: 0.0 for k in declared}
- for u in res.units:
- for k, v in u.items():
- totals[k] = totals.get(k, 0.0) + float(v)
- ledger[res] = totals
- else:
- ledger[res] = {k: 0.0 for k in declared}
- min_seen[res] = {k: ledger[res].get(k, 0.0) for k in ledger[res]}
-
- def _proportions(src: MaterialResource, src_bal: Dict[str, float]) -> tuple[List[str], Dict[str, float]]:
- keys = list(src_bal.keys())
- total_pos = sum(x for x in src_bal.values() if x > 0)
-
- # if ledger has no keys yet, seed from declared types on the resource
- if not keys:
- keys = self._liquid_keys_of(src)
- for k in keys:
- src_bal.setdefault(k, 0.0)
- min_seen[src].setdefault(k, 0.0)
-
- if total_pos > 0:
- # proportional to current positive balances
- props = {k: (src_bal.get(k, 0.0) / total_pos) for k in keys}
- return keys, props
-
- # no material currently: evenly from known keys, or assign an unknown label
- if keys:
- eq = 1.0 / len(keys)
- return keys, {k: eq for k in keys}
-
- unk = self._label_for_unknown(src)
- keys = [unk]
- src_bal.setdefault(unk, 0.0)
- min_seen[src].setdefault(unk, 0.0)
- return keys, {unk: 1.0}
-
- for step in self.steps:
- if step.get("action") != "transfer_liquid":
- continue
-
- src: MaterialResource = step["sources"]
- dst: MaterialResource = step["targets"]
- vol = float(step["unit_volume"])
- if vol <= 0:
- continue
-
- _ensure(src)
- _ensure(dst)
-
- mult = self._fanout_multiplier(src.unit_count(), dst.unit_count())
- if not mult:
- continue # unsupported mapping shape for this planner
-
- eff_vol = vol * mult
- src_bal = ledger[src]
- keys, props = _proportions(src, src_bal)
-
- # subtract from src; track minima; accumulate to dst
- moved: Dict[str, float] = {}
- for k in keys:
- dv = eff_vol * props[k]
- src_bal[k] = src_bal.get(k, 0.0) - dv
- moved[k] = dv
- prev_min = min_seen[src].get(k, 0.0)
- if src_bal[k] < prev_min:
- min_seen[src][k] = src_bal[k]
-
- dst_bal = ledger[dst]
- for k, dv in moved.items():
- dst_bal[k] = dst_bal.get(k, 0.0) + dv
- min_seen[dst].setdefault(k, dst_bal[k])
-
- # convert minima (negative) to required initials
- result: Dict[str, Dict[str, float]] = {}
- for res, mins in min_seen.items():
- if external_only and not getattr(res, "is_supply", False):
- continue
- need = {liq: max(0.0, -mn) for liq, mn in mins.items() if mn < 0.0}
- if need:
- result[res.resource_name] = need
- return result
-
- def compute_tip_consumption(self) -> Dict[str, Any]:
- """Compute how many tips are consumed at each transfer step, and aggregate by tip type.
- Rule: each liquid movement (source unit -> target unit) consumes one tip.
- For supported shapes: 1->N uses N tips; N->N uses N tips.
- """
- per_step: List[Dict[str, Any]] = []
- totals_by_tip: Dict[str, int] = {}
-
- for i, s in enumerate(self.steps):
- if s.get("action") != "transfer_liquid":
- continue
- ns = s["sources"].unit_count()
- nt = s["targets"].unit_count()
- moves = self._fanout_multiplier(ns, nt) or 0
- tip_name = s.get("tip") or self.recommend_tip(s["unit_volume"]) # per-step tip may vary
- per_step.append({
- "idx": i,
- "tip": tip_name,
- "tips_used": moves,
- "moves": moves,
- })
- totals_by_tip[tip_name] = totals_by_tip.get(tip_name, 0) + int(moves)
-
- return {"per_step": per_step, "totals_by_tip": totals_by_tip}
-
- def compute_min_initials_with_tips(
- self,
- use_initial: bool = False,
- external_only: bool = True,
- ) -> Dict[str, Any]:
- needs = self.compute_min_initials(use_initial=use_initial, external_only=external_only)
- step_tips: List[Dict[str, Any]] = []
- totals_by_tip: Dict[str, int] = {}
-
- for i, s in enumerate(self.steps):
- if s.get("action") != "transfer_liquid":
- continue
- ns = s["sources"].unit_count()
- nt = s["targets"].unit_count()
- moves = self._fanout_multiplier(ns, nt) or 0
- tip_name = s.get("tip") or self.recommend_tip(s["unit_volume"]) # step-specific tip
- totals_by_tip[self.get_tip_capacity(tip_name)] = totals_by_tip.get(tip_name, 0) + int(moves)
-
- step_tips.append({
- "idx": i,
- "tip": tip_name,
- "tip_capacity": self.get_tip_capacity(tip_name),
- "unit_volume": s["unit_volume"],
- "tips_used": moves,
- })
- return {"liquid_setup": needs, "step_tips": step_tips, "totals_by_tip": totals_by_tip}
-
- # ---------- unknown labels ----------
- def _index_to_letters(self, idx: int) -> str:
- """0->A, 1->B, ... 25->Z, 26->AA, 27->AB ... (Excel-like)"""
- s: List[str] = []
- idx = int(idx)
- while True:
- idx, r = divmod(idx, 26)
- s.append(chr(ord('A') + r))
- if idx == 0:
- break
- idx -= 1 # Excel-style carry
- return "".join(reversed(s))
-
- def _label_for_unknown(self, res: MaterialResource) -> str:
- """Assign a stable unknown-liquid label (A/B/C/...) per resource."""
- if res not in self._unknown_labels:
- lab = self._index_to_letters(self._unknown_label_counter)
- self._unknown_label_counter += 1
- self._unknown_labels[res] = lab
- return self._unknown_labels[res]
-
-
-# 在这一步传输目前有的物料
-class LabResource:
- def __init__(self):
- self.tipracks = []
- self.plates = []
- self.trash = []
-
- def add_tipracks(self, tiprack: List[TipRack]):
- self.tipracks.extend(tiprack)
- def add_plates(self, plate: List[Plate]):
- self.plates.extend(plate)
- def add_trash(self, trash: List[Plate]):
- self.trash.extend(trash)
- def get_resources_info(self) -> Dict[str, Any]:
- tipracks = [{"name": tr.name, "max_volume": tr.children[0].tracker._tip.maximal_volume, "count": len(tr.children)} for tr in self.tipracks]
- plates = [{"name": pl.name, "max_volume": pl.children[0].max_volume, "count": len(pl.children)} for pl in self.plates]
- trash = [{"name": t.name, "max_volume": t.children[0].max_volume, "count": len(t.children)} for t in self.trash]
- return {
- "tipracks": tipracks,
- "plates": plates,
- "trash": trash
- }
-
-from typing import Dict, Any
-
-import time
-class DefaultLayout:
-
- def __init__(self, product_name: str = "PRCXI9300"):
- self.labresource = {}
- if product_name not in ["PRCXI9300", "PRCXI9320"]:
- raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
-
- if product_name == "PRCXI9300":
- self.rows = 2
- self.columns = 3
- self.layout = [1, 2, 3, 4, 5, 6]
- self.trash_slot = 3
- self.waste_liquid_slot = 6
-
- elif product_name == "PRCXI9320":
- self.rows = 3
- self.columns = 4
- self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
- self.trash_slot = 16
- self.waste_liquid_slot = 12
- self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
- [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示
- {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
- {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
-]
-}
-
- def get_layout(self) -> Dict[str, Any]:
- return {
- "rows": self.rows,
- "columns": self.columns,
- "layout": self.layout,
- "trash_slot": self.trash_slot,
- "waste_liquid_slot": self.waste_liquid_slot
- }
-
- def get_trash_slot(self) -> int:
- return self.trash_slot
-
- def get_waste_liquid_slot(self) -> int:
- return self.waste_liquid_slot
-
- def add_lab_resource(self, material_info):
- self.labresource = material_info
-
- def recommend_layout(self, needs: Dict[str, int]) -> Dict[str, Any]:
- """根据 needs 推荐布局"""
- for k, v in needs.items():
- if k not in self.labresource:
- raise ValueError(f"Material {k} not found in lab resources.")
-
- # 预留位置12和16不动
- reserved_positions = {12, 16}
- available_positions = [i for i in range(1, 17) if i not in reserved_positions]
-
- # 计算总需求
- total_needed = sum(needs.values())
- if total_needed > len(available_positions):
- raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
-
- # 依次分配位置
- current_pos = 0
- for material_name, count in needs.items():
- material_uuid = self.labresource[material_name]['uuid']
- material_enum = self.labresource[material_name]['materialEnum']
-
- for _ in range(count):
- if current_pos >= len(available_positions):
- raise ValueError("位置不足，无法分配更多物料")
-
- position = available_positions[current_pos]
- # 找到对应的tablet并更新
- for tablet in self.default_layout['WorkTablets']:
- if tablet['Number'] == position:
- tablet['Material']['uuid'] = material_uuid
- tablet['Material']['materialEnum'] = material_enum
- break
-
- current_pos += 1
-
- return self.default_layout
-
-
-if __name__ == "__main__":
- with open("prcxi_material.json", "r") as f:
- material_info = json.load(f)
-
- layout = DefaultLayout("PRCXI9320")
- layout.add_lab_resource(material_info)
- plan = layout.recommend_layout({
- "10μL加长 Tip头": 2,
- "300μL Tip头": 2,
- "96深孔板": 2,
- })
-
-
-
-
-# if __name__ == "__main__":
-# # ---- 资源：SUP 供液（X），中间板 R1（4 孔空），目标板 R2（4 孔空）----
-# # sup = MaterialResource("SUP", slot=5, well=[1], liquid_id="X", volume=10000)
-# # r1 = MaterialResource("R1", slot=6, well=[1,2,3,4,5,6,7,8])
-# # r2 = MaterialResource("R2", slot=7, well=[1,2,3,4,5,6,7,8])
-
-# # pm = ProtocolManager()
-# # # 步骤1：SUP -> R1，1->N 扇出，每孔 50 uL（总 200 uL）
-# # pm.add_transfer(sup, r1, unit_volume=10.0)
-# # # 步骤2：R1 -> R2，N->N 对应，每对 25 uL（总 100 uL；来自 R1 中已存在的混合物 X）
-# # pm.add_transfer(r1, r2, unit_volume=120.0)
-
-# # out = pm.compute_min_initials_with_tips()
-# # # layout_planer = DefaultLayout('PRCXI9320')
-# # # print(layout_planer.get_layout())
-# # # print("回推最小需求：", out["liquid_setup"]) # {'SUP': {'X': 200.0}}
-# # # print("步骤枪头建议：", out["step_tips"]) # [{'idx':0,'tip':'TIP_200uL','unit_volume':50.0}, {'idx':1,'tip':'TIP_50uL','unit_volume':25.0}]
-
-# # # # 实际执行（可选）
-# # # transfer_liquid(sup, r1, unit_volume=50.0)
-# # # transfer_liquid(r1, r2, unit_volume=25.0)
-# # # print("执行后 SUP：", sup.get_resource()) # 总体积 -200
-# # # print("执行后 R1：", r1.get_resource()) # 每孔 25 uL（50 进 -25 出）
-# # # print("执行后 R2：", r2.get_resource()) # 每孔 25 uL
-
-
-# # from pylabrobot.resources.opentrons.tube_racks import *
-# # from pylabrobot.resources.opentrons.plates import *
-# # from pylabrobot.resources.opentrons.tip_racks import *
-# # from pylabrobot.resources.opentrons.reservoirs import *
-
-# # plate = [locals()['nest_96_wellplate_2ml_deep'](name="thermoscientificnunc_96_wellplate_2000ul"), locals()['corning_96_wellplate_360ul_flat'](name="corning_96_wellplate_360ul_flat")]
-# # tiprack = [locals()['opentrons_96_tiprack_300ul'](name="opentrons_96_tiprack_300ul"), locals()['opentrons_96_tiprack_1000ul'](name="opentrons_96_tiprack_1000ul")]
-# # trash = [locals()['axygen_1_reservoir_90ml'](name="axygen_1_reservoir_90ml")]
-
-# # from pprint import pprint
-
-# # lab_resource = LabResource()
-# # lab_resource.add_tipracks(tiprack)
-# # lab_resource.add_plates(plate)
-# # lab_resource.add_trash(trash)
-
-# # layout_planer = DefaultLayout('PRCXI9300')
-# # layout_planer.add_lab_resource(lab_resource)
-# # layout_planer.recommend_layout(out)
-
-# with open("prcxi_material.json", "r") as f:
-# material_info = json.load(f)
-# # print("当前实验物料信息：", material_info)
-
-# layout = DefaultLayout("PRCXI9320")
-# layout.add_lab_resource(material_info)
-# print(layout.default_layout['WorkTablets'])
-# # plan = layout.recommend_layout({
-# # "10μL加长 Tip头": 2,
-# # "300μL Tip头": 2,
-# # "96深孔板": 2,
-# # })
-
-
-
diff --git a/unilabos/devices/liquid_handling/prcxi/base_material.json b/unilabos/devices/liquid_handling/prcxi/base_material.json
deleted file mode 100644
index 1206b201..00000000
--- a/unilabos/devices/liquid_handling/prcxi/base_material.json
+++ /dev/null
@@ -1,954 +0,0 @@
-[
- {
- "uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
- "Code": "ZX-58-1250",
- "Name": "Tip头适配器 1250uL",
- "SummaryName": "Tip头适配器 1250uL",
- "SupplyType": 2,
- "Factory": "宁静致远",
- "LengthNum": 128,
- "WidthNum": 85,
- "HeightNum": 20,
- "DepthNum": 4,
- "StandardHeight": 0,
- "PipetteHeight": null,
- "HoleColum": 1,
- "HoleRow": 1,
- "HoleDiameter": 0,
- "Volume": 1250,
- "ImagePath": "/images/20220624015044.jpg",
- "QRCode": null,
- "Qty": 10,
- "CreateName": null,
- "CreateTime": "2021-12-30 16:03:52.6583727",
- "UpdateName": null,
- "UpdateTime": "2022-06-24 13:50:44.8123474",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": null,
- "YSpacing": null,
- "materialEnum": null,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "7c822592b360451fb59690e49ac6b181",
- "Code": "ZX-58-300",
- "Name": "ZHONGXI 适配器 300uL",
- "SummaryName": "ZHONGXI 适配器 300uL",
- "SupplyType": 2,
- "Factory": "宁静致远",
- "LengthNum": 127,
- "WidthNum": 85,
- "HeightNum": 81,
- "DepthNum": 4,
- "StandardHeight": 0,
- "PipetteHeight": null,
- "HoleColum": 1,
- "HoleRow": 1,
- "HoleDiameter": 0,
- "Volume": 300,
- "ImagePath": "/images/20220623102838.jpg",
- "QRCode": null,
- "Qty": 10,
- "CreateName": null,
- "CreateTime": "2021-12-30 16:07:53.7453351",
- "UpdateName": null,
- "UpdateTime": "2022-06-23 10:28:38.6190575",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": null,
- "YSpacing": null,
- "materialEnum": null,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
- "Code": "ZX-58-10",
- "Name": "吸头10ul 适配器",
- "SummaryName": "吸头10ul 适配器",
- "SupplyType": 2,
- "Factory": "宁静致远",
- "LengthNum": 128,
- "WidthNum": 85,
- "HeightNum": 72.3,
- "DepthNum": 0,
- "StandardHeight": 0,
- "PipetteHeight": 0,
- "HoleColum": 1,
- "HoleRow": 1,
- "HoleDiameter": 127,
- "Volume": 1000,
- "ImagePath": "",
- "QRCode": null,
- "Qty": 10,
- "CreateName": null,
- "CreateTime": "2021-12-30 16:37:40.7073733",
- "UpdateName": null,
- "UpdateTime": "2025-05-30 15:17:01.8231737",
- "IsStright": 0,
- "IsGeneral": 1,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 0,
- "YSpacing": 0,
- "materialEnum": 0,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "7960f49ddfe9448abadda89bd1556936",
- "Code": "ZX-001-1250",
- "Name": "1250μL Tip头",
- "SummaryName": "1250μL Tip头",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 118.09,
- "WidthNum": 80.7,
- "HeightNum": 107.67,
- "DepthNum": 100,
- "StandardHeight": 0,
- "PipetteHeight": null,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 7.95,
- "Volume": 1250,
- "ImagePath": "/images/20220623102536.jpg",
- "QRCode": null,
- "Qty": 96,
- "CreateName": null,
- "CreateTime": "2021-12-30 20:53:27.8591195",
- "UpdateName": null,
- "UpdateTime": "2022-06-23 10:25:36.2592442",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": null,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "45f2ed3ad925484d96463d675a0ebf66",
- "Code": "ZX-001-10",
- "Name": "10μL Tip头",
- "SummaryName": "10μL Tip头",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 120.98,
- "WidthNum": 82.12,
- "HeightNum": 67,
- "DepthNum": 39.1,
- "StandardHeight": 0,
- "PipetteHeight": null,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 5,
- "Volume": 10,
- "ImagePath": "/images/20221119041031.jpg",
- "QRCode": null,
- "Qty": -21,
- "CreateName": null,
- "CreateTime": "2021-12-30 20:56:53.462015",
- "UpdateName": null,
- "UpdateTime": "2022-11-19 16:10:31.126801",
- "IsStright": 0,
- "IsGeneral": 1,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": null,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "068b3815e36b4a72a59bae017011b29f",
- "Code": "ZX-001-10+",
- "Name": "10μL加长 Tip头",
- "SummaryName": "10μL加长 Tip头",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 122.11,
- "WidthNum": 80.05,
- "HeightNum": 58.23,
- "DepthNum": 45.1,
- "StandardHeight": 0,
- "PipetteHeight": 60,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 7,
- "Volume": 10,
- "ImagePath": "",
- "QRCode": null,
- "Qty": 42,
- "CreateName": null,
- "CreateTime": "2021-12-30 20:57:57.331211",
- "UpdateName": null,
- "UpdateTime": "2025-09-17 17:02:51.2070383",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": 1,
- "Margins_X": 7.97,
- "Margins_Y": 5
- },
- {
- "uuid": "80652665f6a54402b2408d50b40398df",
- "Code": "ZX-001-1000",
- "Name": "1000μL Tip头",
- "SummaryName": "1000μL Tip头",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 128.09,
- "WidthNum": 85.8,
- "HeightNum": 98,
- "DepthNum": 88,
- "StandardHeight": 0,
- "PipetteHeight": 100,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 7.95,
- "Volume": 1000,
- "ImagePath": "",
- "QRCode": null,
- "Qty": 47,
- "CreateName": null,
- "CreateTime": "2021-12-30 20:59:20.5534915",
- "UpdateName": null,
- "UpdateTime": "2025-05-30 14:49:53.639727",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": 1,
- "Margins_X": 14.5,
- "Margins_Y": 11.4
- },
- {
- "uuid": "076250742950465b9d6ea29a225dfb00",
- "Code": "ZX-001-300",
- "Name": "300μL Tip头",
- "SummaryName": "300μL Tip头",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 122.11,
- "WidthNum": 80.05,
- "HeightNum": 58.23,
- "DepthNum": 45.1,
- "StandardHeight": 0,
- "PipetteHeight": 60,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 7,
- "Volume": 300,
- "ImagePath": "",
- "QRCode": null,
- "Qty": 11,
- "CreateName": null,
- "CreateTime": "2021-12-30 21:00:24.7266192",
- "UpdateName": null,
- "UpdateTime": "2025-09-17 17:02:40.6676947",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": 1,
- "Margins_X": 7.97,
- "Margins_Y": 5
- },
- {
- "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
- "Code": "ZX-001-200",
- "Name": "200μL Tip头",
- "SummaryName": "200μL Tip头",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 120.98,
- "WidthNum": 82.12,
- "HeightNum": 66.9,
- "DepthNum": 52,
- "StandardHeight": 0,
- "PipetteHeight": 30,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 5.5,
- "Volume": 200,
- "ImagePath": "",
- "QRCode": null,
- "Qty": 19,
- "CreateName": null,
- "CreateTime": "2021-12-30 21:01:17.626704",
- "UpdateName": null,
- "UpdateTime": "2025-05-27 11:42:24.6021522",
- "IsStright": 0,
- "IsGeneral": 0,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": 0,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
- "Code": "ZX-023-0.2",
- "Name": "0.2ml PCR板",
- "SummaryName": "0.2ml PCR板",
- "SupplyType": 1,
- "Factory": "中析",
- "LengthNum": 126,
- "WidthNum": 86,
- "HeightNum": 21.2,
- "DepthNum": 15.17,
- "StandardHeight": 0,
- "PipetteHeight": null,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 6,
- "Volume": 1000,
- "ImagePath": "",
- "QRCode": null,
- "Qty": -12,
- "CreateName": null,
- "CreateTime": "2021-12-30 21:06:02.7746392",
- "UpdateName": null,
- "UpdateTime": "2024-02-20 16:17:16.7921748",
- "IsStright": 0,
- "IsGeneral": 1,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": null,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
- "uuid": "ca877b8b114a4310b429d1de4aae96ee",
- "Code": "ZX-019-2.2",
- "Name": "2.2ml 深孔板",
- "SummaryName": "2.2ml 深孔板",
- "SupplyType": 1,
- "Factory": "宁静致远",
- "LengthNum": 127.3,
- "WidthNum": 85.35,
- "HeightNum": 44,
- "DepthNum": 42,
- "StandardHeight": 0,
- "PipetteHeight": null,
- "HoleColum": 12,
- "HoleRow": 8,
- "HoleDiameter": 8.2,
- "Volume": 2200,
- "ImagePath": "",
- "QRCode": null,
- "Qty": 34,
- "CreateName": null,
- "CreateTime": "2021-12-30 21:07:16.4538022",
- "UpdateName": null,
- "UpdateTime": "2023-08-12 13:11:26.3993472",
- "IsStright": 0,
- "IsGeneral": 1,
- "IsControl": 1,
- "ArmCode": null,
- "XSpacing": 9,
- "YSpacing": 9,
- "materialEnum": null,
- "Margins_X": 0,
- "Margins_Y": 0
- },
- {
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\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/deck.json b/unilabos/devices/liquid_handling/prcxi/deck.json
deleted file mode 100644
index ab7e6e9b..00000000
--- a/unilabos/devices/liquid_handling/prcxi/deck.json
+++ /dev/null
@@ -1,41155 +0,0 @@
-[
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\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json b/unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json
deleted file mode 100644
index 0637a088..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/CurveCompensate.json b/unilabos/devices/liquid_handling/prcxi/json_output/CurveCompensate.json
deleted file mode 100644
index 4ffd4c4f..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/CurveCompensate.json
+++ /dev/null
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\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json b/unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json
deleted file mode 100644
index cbd51fb9..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/_base_material_old_20240226.json
+++ /dev/null
@@ -1,794 +0,0 @@
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diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_detail_old_20240416.json b/unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_detail_old_20240416.json
deleted file mode 100644
index 89ff6222..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_detail_old_20240416.json
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diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_master_old_20240416.json b/unilabos/devices/liquid_handling/prcxi/json_output/_base_plan_master_old_20240416.json
deleted file mode 100644
index 9cf65ec8..00000000
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- },
- {
- "uuid": "2317611bdb614e45b61a5118e58e3a2a",
- "PlanName": "8ull、",
- "PlanCode": "4641de",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-01-19 16:46:26.6184295",
- "MatrixId": "b3da2b21-875b-4ae6-8077-ec951730201b"
- },
- {
- "uuid": "62cb45ac3af64a46aa6d450ba56963e7",
- "PlanName": "33333",
- "PlanCode": "1270aa",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-01-19 16:49:19.6115492",
- "MatrixId": "b3da2b21-875b-4ae6-8077-ec951730201b"
- },
- {
- "uuid": "321f717a3a2640a3bfc9515aee7d1052",
- "PlanName": "999",
- "PlanCode": "7597ed",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-01-19 16:58:22.6149002",
- "MatrixId": "b3da2b21-875b-4ae6-8077-ec951730201b"
- },
- {
- "uuid": "6c3246ac0f974a6abc24c83bf45e1cf4",
- "PlanName": "QPCR",
- "PlanCode": "7297ad",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-02-19 13:03:44.3456134",
- "MatrixId": "f02830f3-ed67-49fb-9865-c31828ba3a48"
- },
- {
- "uuid": "1d307a2c095b461abeec6e8521565ad3",
- "PlanName": "绝对定量",
- "PlanCode": "8540af",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-02-19 13:35:14.2243691",
- "MatrixId": "739ddf78-e04c-4d43-9293-c35d31f36f51"
- },
- {
- "uuid": "bbd6dc765867466ca2a415525f5bdbdd",
- "PlanName": "血凝",
- "PlanCode": "6513ee",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-02-20 16:14:25.0364174",
- "MatrixId": "20e70dcb-63f6-4bac-82e3-29e88eb6a7ab"
- },
- {
- "uuid": "f7282ecbfee44e91b05cefbc1beac1ae",
- "PlanName": "血凝抑制",
- "PlanCode": "1431ba",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-02-21 10:00:05.8661038",
- "MatrixId": "1c948beb-4c32-494f-b226-14bb84b3e144"
- },
- {
- "uuid": "196e0d757c574020932b64b69e88fac9",
- "PlanName": "测试杀杀杀",
- "PlanCode": "9833df",
- "PlanTarget": "",
- "Annotate": "",
- "CreateName": "",
- "CreateDate": "2024-02-21 10:54:19.3136491",
- "MatrixId": "3667ead7-9044-46ad-b73e-655b57c8c6b9"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/_base_plate_position_detail_old_20240221.json b/unilabos/devices/liquid_handling/prcxi/json_output/_base_plate_position_detail_old_20240221.json
deleted file mode 100644
index 25916e82..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/_base_plate_position_detail_old_20240221.json
+++ /dev/null
@@ -1,302 +0,0 @@
-[
- {
- "id": "630a9ca9-dfbf-40f9-b90b-6df73e6a1d7f",
- "number": 1,
- "name": "T1",
- "row": 0,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
- },
- {
- "id": "db955443-1397-4a7a-a0cc-185eb6422c27",
- "number": 2,
- "name": "T2",
- "row": 0,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
- },
- {
- "id": "635e8265-e2b9-430e-8a4e-ddf94256266f",
- "number": 3,
- "name": "T3",
- "row": 0,
- "col": 2,
- "row_span": 2,
- "col_span": 1,
- "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
- },
- {
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- "number": 4,
- "name": "T4",
- "row": 1,
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- "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
- },
- {
- "id": "4f9f2527-0f71-4ec4-a0ac-e546407e2960",
- "number": 5,
- "name": "T5",
- "row": 1,
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- "plate_position_id": "ef121889-2724-4b3d-a786-bbf0bd213c3d"
- },
- {
- "id": "55ecff40-453f-4a5f-9ed3-1267b0a03cae",
- "number": 1,
- "name": "T1",
- "row": 0,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "7dcd9c87-6702-4659-b28a-f6565b27f8e3",
- "number": 2,
- "name": "T2",
- "row": 0,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "67e51bd6-6eee-46e4-931c-73d9e07397eb",
- "number": 3,
- "name": "T3",
- "row": 0,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "e1289406-4f5e-4966-a1e6-fb29be6cd4bd",
- "number": 4,
- "name": "T4",
- "row": 0,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "4ecb9ef7-cbd4-44bc-a6a9-fdbbefdc01d6",
- "number": 5,
- "name": "T5",
- "row": 1,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "c7bcaeeb-7ce7-479d-8dae-e82f4023a2b6",
- "number": 6,
- "name": "T6",
- "row": 1,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "e502d5ee-3197-4f60-8ac4-3bc005349dfd",
- "number": 7,
- "name": "T7",
- "row": 1,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "829c78b0-9e05-448f-9531-6d19c094c83f",
- "number": 8,
- "name": "T8",
- "row": 1,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "d0fd64d6-360d-4f5e-9451-21a332e247f5",
- "number": 9,
- "name": "T9",
- "row": 2,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "7f3da25d-0be0-4e07-885f-fbbbfa952f9f",
- "number": 10,
- "name": "T10",
- "row": 2,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "491d396d-7264-43d6-9ad4-60bffbe66c26",
- "number": 11,
- "name": "T11",
- "row": 2,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "a8853b6d-639d-46f9-a4bf-9153c0c22461",
- "number": 12,
- "name": "T12",
- "row": 2,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
- },
- {
- "id": "b7beb8d0-0003-471d-bd8d-a9c0e09b07d5",
- "number": 1,
- "name": "T1",
- "row": 0,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
- "id": "306e3f96-a6d7-484a-83ef-722e3710d5c4",
- "number": 2,
- "name": "T2",
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- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
- "id": "4e7bb617-ac1a-4360-b379-7ac4197089c4",
- "number": 3,
- "name": "T3",
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- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
- "id": "af583180-c29d-418e-9061-9e030f77cf57",
- "number": 4,
- "name": "T4",
- "row": 0,
- "col": 3,
- "row_span": 2,
- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
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- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
- "id": "7bf61a40-f65a-4d2f-bb19-d42bfd80e2e9",
- "number": 6,
- "name": "T6",
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- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
- "id": "a3177806-3c02-4c4f-86d6-604a38c2ba2a",
- "number": 7,
- "name": "T7",
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- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
- },
- {
- "id": "8ccaad5a-8588-4ff3-b0d7-17e7fd5ac6cc",
- "number": 1,
- "name": "T1",
- "row": 0,
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- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
- },
- {
- "id": "93ae7707-b6b8-4bc4-8700-c500c3d7b165",
- "number": 2,
- "name": "T2",
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- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
- },
- {
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- "number": 3,
- "name": "T3",
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- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
- },
- {
- "id": "669fdba9-b20c-4bd2-8352-8fe5682e3e0c",
- "number": 4,
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- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
- },
- {
- "id": "8bf3333e-4a73-4e4c-959a-8ae44e1038a2",
- "number": 5,
- "name": "T5",
- "row": 1,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
- },
- {
- "id": "2837bf69-273a-4cbb-a74c-0af1b362f609",
- "number": 6,
- "name": "T6",
- "row": 1,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json
deleted file mode 100644
index 6910f8c8..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_arm_model.json
+++ /dev/null
@@ -1,74 +0,0 @@
-[
- {
- "uuid": "9a3007baa748457b8d5162f5c5918553",
- "ArmCode": "SC10",
- "ArmName": "单道-10uL",
- "CmdCode": "SC10",
- "ChannelNum": 1,
- "Dosage": 10,
- "CreateName": "admin",
- "CreateTime": "2021-11-13 14:04:02.000",
- "UpdateName": "admin",
- "UpdateTime": "2021-11-13 14:04:12.000"
- },
- {
- "uuid": "8f57a4cc859d4c02bffbeeadcfb2b661",
- "ArmCode": "SC300",
- "ArmName": "单道-300uL",
- "CmdCode": "SC300",
- "ChannelNum": 1,
- "Dosage": 300,
- "CreateName": "admin",
- "CreateTime": "2021-11-11 11:11:11.000",
- "UpdateName": "admin",
- "UpdateTime": "2021-11-11 11:11:11.000"
- },
- {
- "uuid": "8fe0320823de49a99bfa5060ce1aaa28",
- "ArmCode": "SC1250",
- "ArmName": "单道-1250",
- "CmdCode": "SC1250",
- "ChannelNum": 1,
- "Dosage": 1250,
- "CreateName": "admin",
- "CreateTime": "2021-11-12 10:10:10.000",
- "UpdateName": "admin",
- "UpdateTime": "2021-11-12 11:11:11.000"
- },
- {
- "uuid": "88f22c5384e94dbbad60961d4d2b5e91",
- "ArmCode": "MC10",
- "ArmName": "八道-10uL",
- "CmdCode": "MC10",
- "ChannelNum": 8,
- "Dosage": 10,
- "CreateName": "admin",
- "CreateTime": "2021-11-12 10:10:10.000",
- "UpdateName": "admin",
- "UpdateTime": "2021-11-13 12:12:12.000"
- },
- {
- "uuid": "09206ff90e64466f90ce6a785a24bad8",
- "ArmCode": "MC300",
- "ArmName": "八道-300uL",
- "CmdCode": "MC300",
- "ChannelNum": 8,
- "Dosage": 300,
- "CreateName": "admin",
- "CreateTime": "2021-11-12 12:12:12.000",
- "UpdateName": "admin",
- "UpdateTime": "2021-11-12 10:10:10.000"
- },
- {
- "uuid": "5afcbd7d1d6749079d1c94f8c2e68f06",
- "ArmCode": "MC1250",
- "ArmName": "八道-1250uL",
- "CmdCode": "MC1250",
- "ChannelNum": 8,
- "Dosage": 1250,
- "CreateName": "admin",
- "CreateTime": "2021-11-12 12:12:10.000",
- "UpdateName": "admin",
- "UpdateTime": "2021-11-12 12:11:11.000"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_layout_detail.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_layout_detail.json
deleted file mode 100644
index 17d68b5e..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_layout_detail.json
+++ /dev/null
@@ -1,10 +0,0 @@
-[
- {
- "uuid": "bd52d6566534441ea523265814dc06e8",
- "uuidMaterial": "01bdeb95a1314dc78b8f25667b08d531",
- "ChannelNum": 8,
- "HoleNo": 96,
- "HoleCenterXYZ": "300",
- "uuidLayoutMaster": "4f35adc958c540fcb40d6f9dd51e40fa"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_layout_master.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_layout_master.json
deleted file mode 100644
index 36d6ae82..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_layout_master.json
+++ /dev/null
@@ -1,20 +0,0 @@
-[
- {
- "uuid": "4f35adc958c540fcb40d6f9dd51e40fa",
- "BoardCode": 34,
- "BoardNum": 1,
- "BoardLength": 500,
- "BoardWidth": 400,
- "BoardColum": 4,
- "BoardRow": 3,
- "TotalColum": 4,
- "TotalRow": 3,
- "BoardCenterXY": "300",
- "HoleQty": 96,
- "Version": 1,
- "CreateTime": "2021-11-15",
- "CreateName": "admin",
- "UpdateTime": "2021-11-15",
- "UpdateName": "admin"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json
deleted file mode 100644
index 4c1d1e97..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json
+++ /dev/null
@@ -1,180578 +0,0 @@
-[
- {
- "uuid": "e5febaad7fe9416dad9059fb6ab89e74",
- "uuidPlanMaster": "5500c3a9d8504922b4f71474b12a5040",
- "Axis": "Left",
- "ActOn": "Load",
- "Place": "H1 - 8, T3",
- "Dosage": 0,
- "AssistA": "",
- "AssistB": "",
- "AssistC": "",
- "AssistD": "",
- "AssistE": "",
- "Number": 3,
- "IsFullPage": 0,
- "HoleRow": 1,
- "HoleColum": 1,
- "HoleCollective": "1,2,3,4,5,6,7,8",
- "MixCount": 0,
- "HeightFromBottom": 0,
- "AdapterCode": "",
- "AdapterName": "",
- "ConsumablesCode": "",
- "ConsumablesName": "",
- "IsWallContact": null,
- "LiquidDispensingMethod": null,
- "Time": null,
- "Module": null,
- "Temperature": null,
- "Amplitude": null,
- "Height": null,
- "IsWait": null,
- "ImbSpeed": null
- },
- {
- "uuid": "ffd58a04becf4b469d07993448b52d66",
- "uuidPlanMaster": "5500c3a9d8504922b4f71474b12a5040",
- "Axis": "Left",
- "ActOn": "Imbibing",
- "Place": "H9 - 16, T3",
- "Dosage": 10,
- "AssistA": "",
- "AssistB": "",
- "AssistC": "",
- "AssistD": "",
- "AssistE": "",
- "Number": 3,
- "IsFullPage": 0,
- "HoleRow": 1,
- "HoleColum": 2,
- "HoleCollective": "9,10,11,12,13,14,15,16",
- "MixCount": 0,
- "HeightFromBottom": 0,
- "AdapterCode": "",
- "AdapterName": "",
- "ConsumablesCode": "",
- "ConsumablesName": "",
- "IsWallContact": null,
- "LiquidDispensingMethod": null,
- "Time": null,
- "Module": null,
- "Temperature": null,
- "Amplitude": null,
- "Height": null,
- "IsWait": null,
- "ImbSpeed": null
- },
- {
- "uuid": "30b6d0c1eb594a01aa1adf7d15bd2054",
- "uuidPlanMaster": "dd5102d94bef415ca169578d4e1d2a4f",
- "Axis": "Left",
- "ActOn": "Load",
- "Place": "H1 - 8, T3",
- "Dosage": 0,
- "AssistA": null,
- "AssistB": null,
- "AssistC": null,
- "AssistD": null,
- "AssistE": null,
- "Number": 3,
- "IsFullPage": 0,
- "HoleRow": 1,
- "HoleColum": 1,
- "HoleCollective": "1,2,3,4,5,6,7,8",
- "MixCount": 0,
- "HeightFromBottom": 0,
- "AdapterCode": null,
- "AdapterName": null,
- "ConsumablesCode": "96",
- "ConsumablesName": "8 x 12",
- "IsWallContact": null,
- "LiquidDispensingMethod": null,
- "Time": null,
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diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_plan_master.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_plan_master.json
deleted file mode 100644
index d46789f7..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_plan_master.json
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diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position.json
deleted file mode 100644
index 6ae75ca2..00000000
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diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position_detail.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position_detail.json
deleted file mode 100644
index 7b1f30bb..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_plate_position_detail.json
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- "id": "b4b6b063-5a0b-45a2-aa47-f427d4cd06f6",
- "number": 11,
- "name": "T11",
- "row": 3,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
- },
- {
- "id": "af02c689-7bca-476b-bd05-ce21d3e83f27",
- "number": 12,
- "name": "T12",
- "row": 3,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
- },
- {
- "id": "52a42e58-c0d6-420c-bc0b-575f749c7e3b",
- "number": 13,
- "name": "T13",
- "row": 3,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "54092457-a8b8-4457-bccd-e8c251e83ebd"
- },
- {
- "id": "169c12fe-e2f4-465e-9fd3-e58eac83a502",
- "number": 1,
- "name": "T1",
- "row": 0,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "b6072651-1df5-4946-a5b4-fbff3fa54e6a",
- "number": 2,
- "name": "T2",
- "row": 0,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "d0b8ea7c-f06e-4d94-98a8-70ffcba73c47",
- "number": 3,
- "name": "T3",
- "row": 0,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "a7a8eb69-63f6-494e-a441-b7aef0f7c8a4",
- "number": 4,
- "name": "T4",
- "row": 0,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "21966669-6761-4e37-947c-12fec82173fb",
- "number": 5,
- "name": "T5",
- "row": 1,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "2227b825-fe1d-4fa3-bcb2-6e4b3c10ea53",
- "number": 6,
- "name": "T6",
- "row": 1,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "b799da88-c2d9-4ec4-81ec-bc0991a50fe5",
- "number": 7,
- "name": "T7",
- "row": 1,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "adaaa00a-ff6b-4bd8-b8f1-bb100488f306",
- "number": 8,
- "name": "T8",
- "row": 1,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "3bc98311-b548-46d3-a0e0-4f1edcf10e24",
- "number": 9,
- "name": "T9",
- "row": 2,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "81befc70-d249-49af-93dd-2efbe88c0211",
- "number": 10,
- "name": "T10",
- "row": 2,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "45dd5535-0293-4d27-beab-1e486657b148",
- "number": 11,
- "name": "T11",
- "row": 2,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "12ccf33a-6fe7-44a4-8643-b0b0ac6dd181",
- "number": 12,
- "name": "T12",
- "row": 2,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "900272dd-23fd-41a4-a366-254999a30487",
- "number": 13,
- "name": "T13",
- "row": 3,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "c366710d-2b81-4cee-8667-2b86e77e5c34",
- "number": 14,
- "name": "T14",
- "row": 3,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "e18a9271-bc66-4c2b-8bc1-0fb129b5cc2f",
- "number": 15,
- "name": "T15",
- "row": 3,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "6737cba0-de84-4c1f-992d-645e7f159b0c",
- "number": 16,
- "name": "T16",
- "row": 3,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc"
- },
- {
- "id": "8ace38ab-dbc7-48a1-8226-0fe92d176e07",
- "number": 1,
- "name": "T1",
- "row": 0,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "033fec53-c52d-4b59-aec6-2135ae0e18b9",
- "number": 2,
- "name": "T2",
- "row": 0,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "fa730930-8709-4250-928f-f757fce57b60",
- "number": 3,
- "name": "T3",
- "row": 0,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "e279d6f1-5243-4224-8953-1033dbea25ac",
- "number": 4,
- "name": "T4",
- "row": 0,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "76bd9426-6324-4af2-b12f-6ec0ff8c416e",
- "number": 5,
- "name": "T5",
- "row": 1,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "3f4ff652-3d87-4254-a235-bafde3359dae",
- "number": 6,
- "name": "T6",
- "row": 1,
- "col": 1,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "a38e94af-e91e-4e7a-b49d-8668001bb356",
- "number": 7,
- "name": "T7",
- "row": 1,
- "col": 2,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "9e45da24-1346-4886-a303-932880a79954",
- "number": 8,
- "name": "T8",
- "row": 1,
- "col": 3,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- },
- {
- "id": "1ac46e58-86ae-42d9-b230-d476b984507a",
- "number": 9,
- "name": "T9",
- "row": 2,
- "col": 0,
- "row_span": 1,
- "col_span": 1,
- "plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_process_detail.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_process_detail.json
deleted file mode 100644
index 0637a088..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_process_detail.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_process_master.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_process_master.json
deleted file mode 100644
index 0637a088..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_process_master.json
+++ /dev/null
@@ -1 +0,0 @@
-[]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json
deleted file mode 100644
index 5f1b6182..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json
+++ /dev/null
@@ -1,58 +0,0 @@
-[
- {
- "uuid": "4034fa042e7f418db42ab80b0044a8cd",
- "Code": "MDHC-001-10",
- "Key": "c28ae2cb",
- "Value": "MDHC-001-1000522001001612db9dc",
- "CreateTime": "2022-01-22 17:07:00.8651386"
- },
- {
- "uuid": "8fb6d7589fdd42df93c1e1989ff13a62",
- "Code": "MDHC-001-10",
- "Key": "52980979",
- "Value": "MDHC-001-100052200100119bb6731",
- "CreateTime": "2022-01-22 20:19:20.9444209"
- },
- {
- "uuid": "efc4c92b40a94de6b0662c64486c18d1",
- "Code": "MDHC-001-10",
- "Key": "79da8402",
- "Value": "MDHC-001-1000522001001e24ea780",
- "CreateTime": "2022-01-22 20:19:26.8107506"
- },
- {
- "uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f",
- "Code": "MDHC-001-10",
- "Key": "daa51755",
- "Value": "MDHC-001-100052200100185dd22e2",
- "CreateTime": "2022-01-22 20:19:36.1581374"
- },
- {
- "uuid": "d005a70801544e42ab9d216ad68dbf50",
- "Code": "MDHC-023-0.2",
- "Key": "992bbdab",
- "Value": "MDHC-023-0.2005220010014871a385",
- "CreateTime": "2022-02-16 15:49:53.760377"
- },
- {
- "uuid": "222315afb8e04320b0fcff10e3ddb8ae",
- "Code": "MDHC-023-0.2",
- "Key": "76d23270",
- "Value": "MDHC-023-0.200522001001e61547ee",
- "CreateTime": "2022-02-16 15:50:05.1932055"
- },
- {
- "uuid": "31e2a5d4f884419aa9ba96cef98b7385",
- "Code": "MDHC-023-0.2",
- "Key": "ba2b8a46",
- "Value": "MDHC-023-0.2005220010013bfed6cf",
- "CreateTime": "2022-02-16 17:26:20.0024235"
- },
- {
- "uuid": "9ccb8e0c5ca64ef09b8aced680395335",
- "Code": "MDHC-023-0.2",
- "Key": "1d1276d0",
- "Value": "MDHC-023-0.2005220010015c039a9c",
- "CreateTime": "2022-02-16 17:26:31.8479966"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json b/unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json
deleted file mode 100644
index 8fd51b25..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json
+++ /dev/null
@@ -1,22 +0,0 @@
-[
- {
- "uuid": "f3932aeae93533f19c0519c4c14702aa",
- "RoleCode": "admin",
- "RoleName": "管理员",
- "RoleMenu": "all",
- "CreateTime": "2022-02-26 00:00:00.000",
- "CreateName": "admin",
- "UpdateTime": "2022-02-26 14:50:10.000",
- "UpdateName": "admin"
- },
- {
- "uuid": "8c822592b360345fb59690e49ac6b181",
- "RoleCode": "user",
- "RoleName": "实验员",
- "RoleMenu": "nosetting",
- "CreateTime": "2022-02-26 14:54:16.000",
- "CreateName": "admin",
- "UpdateTime": "2022-02-26 14:54:19.000",
- "UpdateName": "admin"
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json b/unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json
deleted file mode 100644
index ee4422fe..00000000
--- a/unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json
+++ /dev/null
@@ -1,54 +0,0 @@
-[
- {
- "uuid": "f3932aeae93533f19c0519c4c14702dd",
- "UserName": "admin",
- "Password": "NuGlByx4NZBm7XcV9f89qA==",
- "RealName": "管理员",
- "IsEnable": 1,
- "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
- "IsDel": 0,
- "CreateTime": "2022-02-26 14:51:41.000",
- "CreateName": "admin",
- "UpdateTime": "2022-02-26 14:51:49.000",
- "UpdateName": "admin"
- },
- {
- "uuid": "5c522592b366645fb55690e49ac6b166",
- "UserName": "user",
- "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
- "RealName": "实验员",
- "IsEnable": 1,
- "uuidRole": "8c822592b360345fb59690e49ac6b181",
- "IsDel": 0,
- "CreateTime": "2022-02-26 14:56:57.000",
- "CreateName": "admin",
- "UpdateTime": "2022-02-26 14:58:39.000",
- "UpdateName": "admin"
- },
- {
- "uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb",
- "UserName": "Administrator",
- "Password": "3J17Il4KOR+wKPszf/0cHQ==",
- "RealName": "超级管理员",
- "IsEnable": 1,
- "uuidRole": "f3932aeae93533f19c0519c4c14702aa",
- "IsDel": 0,
- "CreateTime": "2023-08-12 00:00:00.000",
- "CreateName": "admin",
- "UpdateTime": "2023-08-12 00:00:00.000",
- "UpdateName": "admin"
- },
- {
- "uuid": "2",
- "UserName": "shortcut",
- "Password": "4QrcOUm6Wau+VuBX8g+IPg==",
- "RealName": "实验员",
- "IsEnable": 1,
- "uuidRole": "8c822592b360345fb59690e49ac6b181",
- "IsDel": 0,
- "CreateTime": null,
- "CreateName": "admin",
- "UpdateTime": "2023-10-23 00:00:00.000",
- "UpdateName": null
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py
deleted file mode 100644
index e0c7e80b..00000000
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ /dev/null
@@ -1,2547 +0,0 @@
-import asyncio
-import collections
-from collections import OrderedDict
-import contextlib
-import json
-import os
-import socket
-import time
-import uuid
-from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
-from pylabrobot.liquid_handling.standard import GripDirection
-
-from pylabrobot.liquid_handling import (
- LiquidHandlerBackend,
- Pickup,
- SingleChannelAspiration,
- Drop,
- SingleChannelDispense,
- PickupTipRack,
- DropTipRack,
- MultiHeadAspirationPlate,
- ChatterBoxBackend,
- LiquidHandlerChatterboxBackend,
-)
-from pylabrobot.liquid_handling.standard import (
- MultiHeadAspirationContainer,
- MultiHeadDispenseContainer,
- MultiHeadDispensePlate,
- ResourcePickup,
- ResourceMove,
- ResourceDrop,
-)
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class PRCXIError(RuntimeError):
- """Lilith 返回 Success=false 时抛出的业务异常"""
-
-
-class Material(TypedDict): # 和Plate同关系
- uuid: str
- Code: Optional[str]
- Name: Optional[str]
- SummaryName: Optional[str]
- PipetteHeight: Optional[int]
- materialEnum: Optional[int]
-
-
-class WorkTablets(TypedDict):
- Number: int
- Code: str
- Material: Dict[str, Any]
-
-
-class MatrixInfo(TypedDict):
- MatrixId: str
- MatrixName: str
- MatrixCount: int
- WorkTablets: list[WorkTablets]
-
-
-class PRCXI9300Deck(Deck):
- """PRCXI 9300 的专用 Deck 类，继承自 Deck。
-
- 该类定义了 PRCXI 9300 的工作台布局和槽位信息。
- """
-
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
- super().__init__(name, size_x, size_y, size_z)
- self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位
- self.slot_locations = [Coordinate(0, 0, 0)] * 16
-
- def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
- if self.slots[slot - 1] is not None and not reassign:
- raise ValueError(f"Spot {slot} is already occupied")
-
- self.slots[slot - 1] = resource
- super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
-
-class PRCXI9300Container(Plate):
- """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
-
- 该类定义了 PRCXI 9300 的工作台布局和槽位信息。
- """
-
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- category: str,
- ordering: collections.OrderedDict,
- model: Optional[str] = None,
- **kwargs,
- ):
- super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
- self._unilabos_state = {}
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """从给定的状态加载工作台信息。"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- data = super().serialize_state()
- data.update(self._unilabos_state)
- return data
-class PRCXI9300Plate(Plate):
- """
- 专用孔板类：
- 1. 继承自 PLR 原生 Plate，保留所有物理特性。
- 2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
- """
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
- category: str = "plate",
- ordered_items: collections.OrderedDict = None,
- ordering: Optional[collections.OrderedDict] = None,
- model: Optional[str] = None,
- material_info: Optional[Dict[str, Any]] = None,
- **kwargs):
- # 如果 ordered_items 不为 None，直接使用
- if ordered_items is not None:
- items = ordered_items
- elif ordering is not None:
- # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
- # 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
- # 我们只传递位置信息（键），不传递值，使用 ordering 参数
- if ordering and isinstance(next(iter(ordering.values()), None), str):
- # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
- # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
- items = None
- # 使用 ordering 参数，只包含位置信息（键）
- ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
- else:
- # ordering 的值已经是对象，可以直接使用
- items = ordering
- ordering_param = None
- else:
- items = None
- ordering_param = None
-
- # 根据情况传递不同的参数
- if items is not None:
- super().__init__(name, size_x, size_y, size_z,
- ordered_items=items,
- category=category,
- model=model, **kwargs)
- elif ordering_param is not None:
- # 传递 ordering 参数，让 Plate 自己创建 Well 对象
- super().__init__(name, size_x, size_y, size_z,
- ordering=ordering_param,
- category=category,
- model=model, **kwargs)
- else:
- super().__init__(name, size_x, size_y, size_z,
- category=category,
- model=model, **kwargs)
-
- self._unilabos_state = {}
- if material_info:
- self._unilabos_state["Material"] = material_info
-
-
- def load_state(self, state: Dict[str, Any]) -> None:
- super().load_state(state)
- self._unilabos_state = state
-
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- try:
- data = super().serialize_state()
- except AttributeError:
- data = {}
- if hasattr(self, '_unilabos_state') and self._unilabos_state:
- safe_state = {}
- for k, v in self._unilabos_state.items():
- # 如果是 Material 字典，深入检查
- if k == "Material" and isinstance(v, dict):
- safe_material = {}
- for mk, mv in v.items():
- # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
- if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
- safe_material[mk] = mv
- else:
- # 打印日志提醒（可选）
- # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
- pass
- safe_state[k] = safe_material
- # 其他顶层属性也进行类型检查
- elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
- safe_state[k] = v
-
- data.update(safe_state)
- return data # 其他顶层属性也进行类型检查
-class PRCXI9300TipRack(TipRack):
- """ 专用吸头盒类 """
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
- category: str = "tip_rack",
- ordered_items: collections.OrderedDict = None,
- ordering: Optional[collections.OrderedDict] = None,
- model: Optional[str] = None,
- material_info: Optional[Dict[str, Any]] = None,
- **kwargs):
- # 如果 ordered_items 不为 None，直接使用
- if ordered_items is not None:
- items = ordered_items
- elif ordering is not None:
- # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
- # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
- # 我们只传递位置信息（键），不传递值，使用 ordering 参数
- if ordering and isinstance(next(iter(ordering.values()), None), str):
- # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
- # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
- items = None
- # 使用 ordering 参数，只包含位置信息（键）
- ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
- else:
- # ordering 的值已经是对象，可以直接使用
- items = ordering
- ordering_param = None
- else:
- items = None
- ordering_param = None
-
- # 根据情况传递不同的参数
- if items is not None:
- super().__init__(name, size_x, size_y, size_z,
- ordered_items=items,
- category=category,
- model=model, **kwargs)
- elif ordering_param is not None:
- # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
- super().__init__(name, size_x, size_y, size_z,
- ordering=ordering_param,
- category=category,
- model=model, **kwargs)
- else:
- super().__init__(name, size_x, size_y, size_z,
- category=category,
- model=model, **kwargs)
- self._unilabos_state = {}
- if material_info:
- self._unilabos_state["Material"] = material_info
-
- def load_state(self, state: Dict[str, Any]) -> None:
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- try:
- data = super().serialize_state()
- except AttributeError:
- data = {}
- if hasattr(self, '_unilabos_state') and self._unilabos_state:
- safe_state = {}
- for k, v in self._unilabos_state.items():
- # 如果是 Material 字典，深入检查
- if k == "Material" and isinstance(v, dict):
- safe_material = {}
- for mk, mv in v.items():
- # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
- if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
- safe_material[mk] = mv
- else:
- # 打印日志提醒（可选）
- # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
- pass
- safe_state[k] = safe_material
- # 其他顶层属性也进行类型检查
- elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
- safe_state[k] = v
-
- data.update(safe_state)
- return data
-
-class PRCXI9300Trash(Trash):
- """PRCXI 9300 的专用 Trash 类，继承自 Trash。
-
- 该类定义了 PRCXI 9300 的工作台布局和槽位信息。
- """
-
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
- category: str = "trash",
- material_info: Optional[Dict[str, Any]] = None,
- **kwargs):
-
- if name != "trash":
- print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
- super().__init__(name, size_x, size_y, size_z, **kwargs)
- self._unilabos_state = {}
- # 初始化时注入 UUID
- if material_info:
- self._unilabos_state["Material"] = material_info
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """从给定的状态加载工作台信息。"""
- # super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- try:
- data = super().serialize_state()
- except AttributeError:
- data = {}
- if hasattr(self, '_unilabos_state') and self._unilabos_state:
- safe_state = {}
- for k, v in self._unilabos_state.items():
- # 如果是 Material 字典，深入检查
- if k == "Material" and isinstance(v, dict):
- safe_material = {}
- for mk, mv in v.items():
- # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
- if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
- safe_material[mk] = mv
- else:
- # 打印日志提醒（可选）
- # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
- pass
- safe_state[k] = safe_material
- # 其他顶层属性也进行类型检查
- elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
- safe_state[k] = v
-
- data.update(safe_state)
- return data
-
-class PRCXI9300TubeRack(TubeRack):
- """
- 专用管架类：用于 EP 管架、试管架等。
- 继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
- """
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
- category: str = "tube_rack",
- items: Optional[Dict[str, Any]] = None,
- ordered_items: Optional[OrderedDict] = None,
- ordering: Optional[OrderedDict] = None,
- model: Optional[str] = None,
- material_info: Optional[Dict[str, Any]] = None,
- **kwargs):
-
- # 如果 ordered_items 不为 None，直接使用
- if ordered_items is not None:
- items_to_pass = ordered_items
- ordering_param = None
- elif ordering is not None:
- # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
- # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
- # 我们只传递位置信息（键），不传递值，使用 ordering 参数
- if ordering and isinstance(next(iter(ordering.values()), None), str):
- # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
- # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
- items_to_pass = None
- # 使用 ordering 参数，只包含位置信息（键）
- ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
- else:
- # ordering 的值已经是对象，可以直接使用
- items_to_pass = ordering
- ordering_param = None
- elif items is not None:
- # 兼容旧的 items 参数
- items_to_pass = items
- ordering_param = None
- else:
- items_to_pass = None
- ordering_param = None
-
- # 根据情况传递不同的参数
- if items_to_pass is not None:
- super().__init__(name, size_x, size_y, size_z,
- ordered_items=items_to_pass,
- model=model,
- **kwargs)
- elif ordering_param is not None:
- # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
- super().__init__(name, size_x, size_y, size_z,
- ordering=ordering_param,
- model=model,
- **kwargs)
- else:
- super().__init__(name, size_x, size_y, size_z,
- model=model,
- **kwargs)
-
- self._unilabos_state = {}
- if material_info:
- self._unilabos_state["Material"] = material_info
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- try:
- data = super().serialize_state()
- except AttributeError:
- data = {}
- if hasattr(self, '_unilabos_state') and self._unilabos_state:
- safe_state = {}
- for k, v in self._unilabos_state.items():
- # 如果是 Material 字典，深入检查
- if k == "Material" and isinstance(v, dict):
- safe_material = {}
- for mk, mv in v.items():
- # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
- if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
- safe_material[mk] = mv
- else:
- # 打印日志提醒（可选）
- # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
- pass
- safe_state[k] = safe_material
- # 其他顶层属性也进行类型检查
- elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
- safe_state[k] = v
-
- data.update(safe_state)
- return data
-
-class PRCXI9300PlateAdapter(PlateAdapter):
- """
- 专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
- 支持注入 material_info (UUID)。
- """
- def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
- category: str = "plate_adapter",
- model: Optional[str] = None,
- material_info: Optional[Dict[str, Any]] = None,
- # 参数给予默认值 (标准96孔板尺寸)
- adapter_hole_size_x: float = 127.76,
- adapter_hole_size_y: float = 85.48,
- adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
- dx: Optional[float] = None,
- dy: Optional[float] = None,
- dz: float = 0.0, # 默认Z轴偏移
- **kwargs):
-
- # 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
- if dx is None:
- dx = (size_x - adapter_hole_size_x) / 2
- if dy is None:
- dy = (size_y - adapter_hole_size_y) / 2
-
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- dx=dx,
- dy=dy,
- dz=dz,
- adapter_hole_size_x=adapter_hole_size_x,
- adapter_hole_size_y=adapter_hole_size_y,
- adapter_hole_size_z=adapter_hole_size_z,
- model=model,
- **kwargs
- )
-
- self._unilabos_state = {}
- if material_info:
- self._unilabos_state["Material"] = material_info
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- try:
- data = super().serialize_state()
- except AttributeError:
- data = {}
- if hasattr(self, '_unilabos_state') and self._unilabos_state:
- safe_state = {}
- for k, v in self._unilabos_state.items():
- # 如果是 Material 字典，深入检查
- if k == "Material" and isinstance(v, dict):
- safe_material = {}
- for mk, mv in v.items():
- # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
- if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
- safe_material[mk] = mv
- else:
- # 打印日志提醒（可选）
- # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
- pass
- safe_state[k] = safe_material
- # 其他顶层属性也进行类型检查
- elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
- safe_state[k] = v
-
- data.update(safe_state)
- return data
-
-class PRCXI9300Handler(LiquidHandlerAbstract):
- support_touch_tip = False
-
- @property
- def reset_ok(self) -> bool:
- """检查设备是否已重置成功。"""
- if self._unilabos_backend.debug:
- return True
- return self._unilabos_backend.is_reset_ok
-
- def __init__(
- self,
- deck: Deck,
- host: str,
- port: int,
- timeout: float,
- channel_num=8,
- axis="Left",
- setup=True,
- debug=False,
- simulator=False,
- step_mode=False,
- matrix_id="",
- is_9320=False,
- ):
- tablets_info = []
- count = 0
- for child in deck.children:
- if child.children:
- if "Material" in child.children[0]._unilabos_state:
- number = int(child.name.replace("T", ""))
- tablets_info.append(
- WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
- )
- if is_9320:
- print("当前设备是9320")
- # 始终初始化 step_mode 属性
- self.step_mode = False
- if step_mode:
- if is_9320:
- self.step_mode = step_mode
- else:
- print("9300设备不支持 单点动作模式")
- self._unilabos_backend = PRCXI9300Backend(
- tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
- )
- super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- super().post_init(ros_node)
- self._unilabos_backend.post_init(ros_node)
-
- def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
- return super().set_liquid(wells, liquid_names, volumes)
-
- def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
- return super().set_group(group_name, wells, volumes)
-
- async def transfer_group(self, source_group_name: str, target_group_name: str, unit_volume: float):
- return await super().transfer_group(source_group_name, target_group_name, unit_volume)
-
- async def create_protocol(
- self,
- protocol_name: str = "",
- protocol_description: str = "",
- protocol_version: str = "",
- protocol_author: str = "",
- protocol_date: str = "",
- protocol_type: str = "",
- none_keys: List[str] = [],
- ):
- self._unilabos_backend.create_protocol(protocol_name)
-
- async def run_protocol(self):
- return self._unilabos_backend.run_protocol()
-
- async def remove_liquid(
- self,
- vols: List[float],
- sources: Sequence[Container],
- waste_liquid: Optional[Container] = None,
- *,
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
- delays: Optional[List[int]] = None,
- is_96_well: Optional[bool] = False,
- top: Optional[List[float]] = None,
- none_keys: List[str] = [],
- ):
- return await super().remove_liquid(
- vols,
- sources,
- waste_liquid,
- use_channels=use_channels,
- flow_rates=flow_rates,
- offsets=offsets,
- liquid_height=liquid_height,
- blow_out_air_volume=blow_out_air_volume,
- spread=spread,
- delays=delays,
- is_96_well=is_96_well,
- top=top,
- none_keys=none_keys,
- )
-
- async def add_liquid(
- self,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- reagent_sources: Sequence[Container],
- targets: Sequence[Container],
- *,
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
- is_96_well: bool = False,
- delays: Optional[List[int]] = None,
- mix_time: Optional[int] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- return await super().add_liquid(
- asp_vols,
- dis_vols,
- reagent_sources,
- targets,
- use_channels=use_channels,
- flow_rates=flow_rates,
- offsets=offsets,
- liquid_height=liquid_height,
- blow_out_air_volume=blow_out_air_volume,
- spread=spread,
- is_96_well=is_96_well,
- delays=delays,
- mix_time=mix_time,
- mix_vol=mix_vol,
- mix_rate=mix_rate,
- mix_liquid_height=mix_liquid_height,
- none_keys=none_keys,
- )
-
- async def transfer_liquid(
- self,
- sources: Sequence[Container],
- targets: Sequence[Container],
- tip_racks: Sequence[TipRack],
- *,
- use_channels: Optional[List[int]] = None,
- asp_vols: Union[List[float], float],
- dis_vols: Union[List[float], float],
- asp_flow_rates: Optional[List[Optional[float]]] = None,
- dis_flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- touch_tip: bool = False,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- is_96_well: bool = False,
- mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
- mix_times: Optional[List[int]] = None,
- mix_vol: Optional[int] = None,
- mix_rate: Optional[int] = None,
- mix_liquid_height: Optional[float] = None,
- delays: Optional[List[int]] = None,
- none_keys: List[str] = [],
- ):
- return await super().transfer_liquid(
- sources,
- targets,
- tip_racks,
- use_channels=use_channels,
- asp_vols=asp_vols,
- dis_vols=dis_vols,
- asp_flow_rates=asp_flow_rates,
- dis_flow_rates=dis_flow_rates,
- offsets=offsets,
- touch_tip=touch_tip,
- liquid_height=liquid_height,
- blow_out_air_volume=blow_out_air_volume,
- spread=spread,
- is_96_well=is_96_well,
- mix_stage=mix_stage,
- mix_times=mix_times,
- mix_vol=mix_vol,
- mix_rate=mix_rate,
- mix_liquid_height=mix_liquid_height,
- delays=delays,
- none_keys=none_keys,
- )
-
- async def custom_delay(self, seconds=0, msg=None):
- return await super().custom_delay(seconds, msg)
-
- async def touch_tip(self, targets: Sequence[Container]):
- return await super().touch_tip(targets)
-
- async def mix(
- self,
- targets: Sequence[Container],
- mix_time: int = None,
- mix_vol: Optional[int] = None,
- height_to_bottom: Optional[float] = None,
- offsets: Optional[Coordinate] = None,
- mix_rate: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- return await self._unilabos_backend.mix(
- targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys
- )
-
- def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
- return super().iter_tips(tip_racks)
-
- async def pick_up_tips(
- self,
- tip_spots: List[TipSpot],
- use_channels: Optional[List[int]] = None,
- offsets: Optional[List[Coordinate]] = None,
- **backend_kwargs,
- ):
- if self.step_mode:
- await self.create_protocol(f"单点动作{time.time()}")
- await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
- await self.run_protocol()
- return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
-
- async def aspirate(
- self,
- resources: Sequence[Container],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- **backend_kwargs,
- ):
-
- return await super().aspirate(
- resources,
- vols,
- use_channels,
- flow_rates,
- offsets,
- liquid_height,
- blow_out_air_volume,
- spread,
- **backend_kwargs,
- )
-
- async def drop_tips(
- self,
- tip_spots: Sequence[Union[TipSpot, Trash]],
- use_channels: Optional[List[int]] = None,
- offsets: Optional[List[Coordinate]] = None,
- allow_nonzero_volume: bool = False,
- **backend_kwargs,
- ):
- return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs)
-
- async def dispense(
- self,
- resources: Sequence[Container],
- vols: List[float],
- use_channels: Optional[List[int]] = None,
- flow_rates: Optional[List[Optional[float]]] = None,
- offsets: Optional[List[Coordinate]] = None,
- liquid_height: Optional[List[Optional[float]]] = None,
- blow_out_air_volume: Optional[List[Optional[float]]] = None,
- spread: Literal["wide", "tight", "custom"] = "wide",
- **backend_kwargs,
- ):
- return await super().dispense(
- resources,
- vols,
- use_channels,
- flow_rates,
- offsets,
- liquid_height,
- blow_out_air_volume,
- spread,
- **backend_kwargs,
- )
-
- async def discard_tips(
- self,
- use_channels: Optional[List[int]] = None,
- allow_nonzero_volume: bool = True,
- offsets: Optional[List[Coordinate]] = None,
- **backend_kwargs,
- ):
- return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
-
- def set_tiprack(self, tip_racks: Sequence[TipRack]):
- super().set_tiprack(tip_racks)
-
- async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
- return await super().move_to(well, dis_to_top, channel)
-
- async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
- return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
-
- async def heater_action(self, temperature: float, time: int):
- return await self._unilabos_backend.heater_action(temperature, time)
- async def move_plate(
- self,
- plate: Plate,
- to: Resource,
- intermediate_locations: Optional[List[Coordinate]] = None,
- pickup_offset: Coordinate = Coordinate.zero(),
- destination_offset: Coordinate = Coordinate.zero(),
- drop_direction: GripDirection = GripDirection.FRONT,
- pickup_direction: GripDirection = GripDirection.FRONT,
- pickup_distance_from_top: float = 13.2 - 3.33,
- **backend_kwargs,
- ):
-
- return await super().move_plate(
- plate,
- to,
- intermediate_locations,
- pickup_offset,
- destination_offset,
- drop_direction,
- pickup_direction,
- pickup_distance_from_top,
- target_plate_number = to,
- **backend_kwargs,
- )
-
-class PRCXI9300Backend(LiquidHandlerBackend):
- """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
-
- 该类提供了与 PRCXI 9300 设备进行通信的基本方法，包括方案管理、自动化控制、运行状态查询等。
- """
-
- _num_channels = 8 # 默认通道数为 8
- _is_reset_ok = False
- _ros_node: BaseROS2DeviceNode
-
- @property
- def is_reset_ok(self) -> bool:
- self._is_reset_ok = self.api_client.get_reset_status()
- return self._is_reset_ok
-
- matrix_info: MatrixInfo
- protocol_name: str
- steps_todo_list = []
-
- def __init__(
- self,
- tablets_info: list[WorkTablets],
- host: str = "127.0.0.1",
- port: int = 9999,
- timeout: float = 10.0,
- channel_num: int = 8,
- axis: str = "Left",
- setup=True,
- debug=False,
- matrix_id="",
- is_9320=False,
- ) -> None:
- super().__init__()
- self.tablets_info = tablets_info
- self.matrix_id = matrix_id
- self.api_client = PRCXI9300Api(host, port, timeout, axis, debug, is_9320)
- self.host, self.port, self.timeout = host, port, timeout
- self._num_channels = channel_num
- self._execute_setup = setup
- self.debug = debug
- self.axis = "Left"
-
- async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
- step = self.api_client.shaker_action(
- time=time,
- module_no=module_no,
- amplitude=amplitude,
- is_wait=is_wait,
- )
- self.steps_todo_list.append(step)
- return step
-
-
- async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
-
- resource=pickup.resource
- offset=pickup.offset
- pickup_distance_from_top=pickup.pickup_distance_from_top
- direction=pickup.direction
-
- plate_number = int(resource.parent.name.replace("T", ""))
- is_whole_plate = True
- balance_height = 0
- step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
-
- self.steps_todo_list.append(step)
- return step
-
- async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
-
-
- plate_number = None
- target_plate_number = backend_kwargs.get("target_plate_number", None)
- if target_plate_number is not None:
- plate_number = int(target_plate_number.name.replace("T", ""))
-
-
- is_whole_plate = True
- balance_height = 0
- if plate_number is None:
- raise ValueError("target_plate_number is required when dropping a resource")
- step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height)
- self.steps_todo_list.append(step)
- return step
-
-
- async def heater_action(self, temperature: float, time: int):
- print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
- # return await self.api_client.heater_action(temperature, time)
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- def create_protocol(self, protocol_name):
- self.protocol_name = protocol_name
- self.steps_todo_list = []
-
- def run_protocol(self):
- assert self.is_reset_ok, "PRCXI9300Backend is not reset successfully. Please call setup() first."
- run_time = time.time()
- self.matrix_info = MatrixInfo(
- MatrixId=f"{int(run_time)}",
- MatrixName=f"protocol_{run_time}",
- MatrixCount=len(self.tablets_info),
- WorkTablets=self.tablets_info,
- )
- # print(json.dumps(self.matrix_info, indent=2))
- if not len(self.matrix_id):
- res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
- assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
- print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
- solution_id = self.api_client.add_solution(
- f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
- )
- else:
- print(f"PRCXI9300Backend using predefined worktable {self.matrix_id}, skipping matrix creation.")
- solution_id = self.api_client.add_solution(f"protocol_{run_time}", self.matrix_id, self.steps_todo_list)
- print(f"PRCXI9300Backend created solution with ID: {solution_id}")
- self.api_client.load_solution(solution_id)
- print(json.dumps(self.steps_todo_list, indent=2))
- if not self.api_client.start():
- return False
- if not self.api_client.wait_for_finish():
- return False
- return True
-
- @classmethod
- def check_channels(cls, use_channels: List[int]) -> List[int]:
- """检查通道是否符合要求，PRCXI9300Backend 只支持所有 8 个通道。"""
- if use_channels != [0, 1, 2, 3, 4, 5, 6, 7]:
- print("PRCXI9300Backend only supports all 8 channels, using default [0, 1, 2, 3, 4, 5, 6, 7].")
- return [0, 1, 2, 3, 4, 5, 6, 7]
- return use_channels
-
- async def setup(self):
- await super().setup()
- try:
- if self._execute_setup:
- # 先获取错误代码
- error_code = self.api_client.get_error_code()
- if error_code:
- print(f"PRCXI9300 error code detected: {error_code}")
-
- # 清除错误代码
- self.api_client.clear_error_code()
- print("PRCXI9300 error code cleared.")
- self.api_client.call("IAutomation", "Stop")
- # 执行重置
- print("Starting PRCXI9300 reset...")
- self.api_client.call("IAutomation", "Reset")
-
- # 检查重置状态并等待完成
- while not self.is_reset_ok:
- print("Waiting for PRCXI9300 to reset...")
- if hasattr(self, '_ros_node') and self._ros_node is not None:
- await self._ros_node.sleep(1)
- else:
- await asyncio.sleep(1)
- print("PRCXI9300 reset successfully.")
- except ConnectionRefusedError as e:
- raise RuntimeError(
- f"Failed to connect to PRCXI9300 API at {self.host}:{self.port}. "
- "Please ensure the PRCXI9300 service is running."
- ) from e
-
- async def stop(self):
- self.api_client.call("IAutomation", "Stop")
-
- async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None):
- """Pick up tips from the specified resource."""
- # INSERT_YOUR_CODE
- # Ensure use_channels is converted to a list of ints if it's an array
- if hasattr(use_channels, 'tolist'):
- _use_channels = use_channels.tolist()
- else:
- _use_channels = list(use_channels) if use_channels is not None else None
- if _use_channels == [0]:
- axis = "Left"
- elif _use_channels == [1]:
- axis = "Right"
- else:
- raise ValueError("Invalid use channels: " + str(_use_channels))
- plate_indexes = []
- for op in ops:
- plate = op.resource.parent
- deck = plate.parent.parent
- plate_index = deck.children.index(plate.parent)
- # print(f"Plate index: {plate_index}, Plate name: {plate.name}")
- # print(f"Number of children in deck: {len(deck.children)}")
-
- plate_indexes.append(plate_index)
-
- if len(set(plate_indexes)) != 1:
- raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
-
- tip_columns = []
- for op in ops:
- tipspot = op.resource
- tipspot_index = tipspot.parent.children.index(tipspot)
- tip_columns.append(tipspot_index // 8)
- if len(set(tip_columns)) != 1:
- raise ValueError(
- "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
- )
- PlateNo = plate_indexes[0] + 1
- hole_col = tip_columns[0] + 1
- hole_row = 1
- if self._num_channels == 1:
- hole_row = tipspot_index % 8 + 1
-
- step = self.api_client.Load(
- axis=axis,
- dosage=0,
- plate_no=PlateNo,
- is_whole_plate=False,
- hole_row=hole_row,
- hole_col=hole_col,
- blending_times=0,
- balance_height=0,
- plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
- hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels == 1 else "1,2,3,4,5",
- )
- self.steps_todo_list.append(step)
-
- async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
- """Pick up tips from the specified resource."""
- if hasattr(use_channels, 'tolist'):
- _use_channels = use_channels.tolist()
- else:
- _use_channels = list(use_channels) if use_channels is not None else None
- if _use_channels == [0]:
- axis = "Left"
- elif _use_channels == [1]:
- axis = "Right"
- else:
- raise ValueError("Invalid use channels: " + str(_use_channels))
- # 检查trash #
- if ops[0].resource.name == "trash":
-
- PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1
-
- step = self.api_client.UnLoad(
- axis=axis,
- dosage=0,
- plate_no=PlateNo,
- is_whole_plate=False,
- hole_row=1,
- hole_col=3,
- blending_times=0,
- balance_height=0,
- plate_or_hole=f"H{1}-8,T{PlateNo}",
- hole_numbers="1,2,3,4,5,6,7,8",
- )
- self.steps_todo_list.append(step)
- return
- # print(ops[0].resource.parent.children.index(ops[0].resource))
-
- plate_indexes = []
- for op in ops:
- plate = op.resource.parent
- deck = plate.parent.parent
- plate_index = deck.children.index(plate.parent)
- plate_indexes.append(plate_index)
- if len(set(plate_indexes)) != 1:
- raise ValueError(
- "All drop_tips must be from the same plate. Found different plates: " + str(plate_indexes)
- )
-
- tip_columns = []
- for op in ops:
- tipspot = op.resource
- tipspot_index = tipspot.parent.children.index(tipspot)
- tip_columns.append(tipspot_index // 8)
- if len(set(tip_columns)) != 1:
- raise ValueError(
- "All drop_tips must be from the same tip column. Found different columns: " + str(tip_columns)
- )
-
- PlateNo = plate_indexes[0] + 1
- hole_col = tip_columns[0] + 1
-
- if self.channel_num == 1:
- hole_row = tipspot_index % 8 + 1
-
- step = self.api_client.UnLoad(
- axis=axis,
- dosage=0,
- plate_no=PlateNo,
- is_whole_plate=False,
- hole_row=hole_row,
- hole_col=hole_col,
- blending_times=0,
- balance_height=0,
- plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
- hole_numbers="1,2,3,4,5,6,7,8",
- )
- self.steps_todo_list.append(step)
-
- async def mix(
- self,
- targets: Sequence[Container],
- mix_time: int = None,
- mix_vol: Optional[int] = None,
- height_to_bottom: Optional[float] = None,
- offsets: Optional[Coordinate] = None,
- mix_rate: Optional[float] = None,
- none_keys: List[str] = [],
- ):
- """Mix liquid in the specified resources."""
-
- plate_indexes = []
- for op in targets:
- deck = op.parent.parent.parent
- plate = op.parent
- plate_index = deck.children.index(plate.parent)
- plate_indexes.append(plate_index)
-
- if len(set(plate_indexes)) != 1:
- raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
-
- tip_columns = []
- for op in targets:
- tipspot_index = op.parent.children.index(op)
- tip_columns.append(tipspot_index // 8)
-
- if len(set(tip_columns)) != 1:
- raise ValueError(
- "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
- )
-
- PlateNo = plate_indexes[0] + 1
- hole_col = tip_columns[0] + 1
- hole_row = 1
- if self.num_channels == 1:
- hole_row = tipspot_index % 8 + 1
-
- assert mix_time > 0
- step = self.api_client.Blending(
- dosage=mix_vol,
- plate_no=PlateNo,
- is_whole_plate=False,
- hole_row=hole_row,
- hole_col=hole_col,
- blending_times=mix_time,
- balance_height=0,
- plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
- hole_numbers="1,2,3,4,5,6,7,8",
- )
- self.steps_todo_list.append(step)
-
- async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
- """Aspirate liquid from the specified resources."""
- if hasattr(use_channels, 'tolist'):
- _use_channels = use_channels.tolist()
- else:
- _use_channels = list(use_channels) if use_channels is not None else None
- if _use_channels == [0]:
- axis = "Left"
- elif _use_channels == [1]:
- axis = "Right"
- else:
- raise ValueError("Invalid use channels: " + str(_use_channels))
- plate_indexes = []
- for op in ops:
- plate = op.resource.parent
- deck = plate.parent.parent
- plate_index = deck.children.index(plate.parent)
- plate_indexes.append(plate_index)
-
- if len(set(plate_indexes)) != 1:
- raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes))
-
- tip_columns = []
- for op in ops:
- tipspot = op.resource
- tipspot_index = tipspot.parent.children.index(tipspot)
- tip_columns.append(tipspot_index // 8)
-
- if len(set(tip_columns)) != 1:
- raise ValueError(
- "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
- )
-
- volumes = [op.volume for op in ops]
- if len(set(volumes)) != 1:
- raise ValueError("All aspirate volumes must be the same. Found different volumes: " + str(volumes))
-
- PlateNo = plate_indexes[0] + 1
- hole_col = tip_columns[0] + 1
- hole_row = 1
- if self.num_channels == 1:
- hole_row = tipspot_index % 8 + 1
-
- step = self.api_client.Imbibing(
- axis=axis,
- dosage=int(volumes[0]),
- plate_no=PlateNo,
- is_whole_plate=False,
- hole_row=hole_row,
- hole_col=hole_col,
- blending_times=0,
- balance_height=0,
- plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
- hole_numbers="1,2,3,4,5,6,7,8",
- )
- self.steps_todo_list.append(step)
-
- async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
- """Dispense liquid into the specified resources."""
- if hasattr(use_channels, 'tolist'):
- _use_channels = use_channels.tolist()
- else:
- _use_channels = list(use_channels) if use_channels is not None else None
- if _use_channels == [0]:
- axis = "Left"
- elif _use_channels == [1]:
- axis = "Right"
- else:
- raise ValueError("Invalid use channels: " + str(_use_channels))
- plate_indexes = []
- for op in ops:
- plate = op.resource.parent
- deck = plate.parent.parent
- plate_index = deck.children.index(plate.parent)
- plate_indexes.append(plate_index)
-
- if len(set(plate_indexes)) != 1:
- raise ValueError("All dispense must be from the same plate. Found different plates: " + str(plate_indexes))
-
- tip_columns = []
- for op in ops:
- tipspot = op.resource
- tipspot_index = tipspot.parent.children.index(tipspot)
- tip_columns.append(tipspot_index // 8)
-
- if len(set(tip_columns)) != 1:
- raise ValueError(
- "All dispense must be from the same tip column. Found different columns: " + str(tip_columns)
- )
-
- volumes = [op.volume for op in ops]
- if len(set(volumes)) != 1:
- raise ValueError("All dispense volumes must be the same. Found different volumes: " + str(volumes))
-
- PlateNo = plate_indexes[0] + 1
- hole_col = tip_columns[0] + 1
-
- hole_row = 1
- if self.num_channels == 1:
- hole_row = tipspot_index % 8 + 1
-
- step = self.api_client.Tapping(
- axis=axis,
- dosage=int(volumes[0]),
- plate_no=PlateNo,
- is_whole_plate=False,
- hole_row=hole_row,
- hole_col=hole_col,
- blending_times=0,
- balance_height=0,
- plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
- hole_numbers="1,2,3,4,5,6,7,8",
- )
- self.steps_todo_list.append(step)
-
- async def pick_up_tips96(self, pickup: PickupTipRack):
- raise NotImplementedError("The PRCXI backend does not support the 96 head.")
-
- async def drop_tips96(self, drop: DropTipRack):
- raise NotImplementedError("The PRCXI backend does not support the 96 head.")
-
- async def aspirate96(self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]):
- raise NotImplementedError("The Opentrons backend does not support the 96 head.")
-
- async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
- raise NotImplementedError("The Opentrons backend does not support the 96 head.")
-
- async def move_picked_up_resource(self, move: ResourceMove):
- pass
-
- def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
- return True # PRCXI9300Backend does not have tip compatibility issues
-
- def serialize(self) -> dict:
- raise NotImplementedError()
-
- @property
- def num_channels(self) -> int:
- return self._num_channels
-
-
-class PRCXI9300Api:
- def __init__(
- self,
- host: str = "127.0.0.1",
- port: int = 9999,
- timeout: float = 10.0,
- axis="Left",
- debug: bool = False,
- is_9320: bool = False,
- ) -> None:
- self.host, self.port, self.timeout = host, port, timeout
- self.debug = debug
- self.axis = axis
- self.is_9320 = is_9320
-
- @staticmethod
- def _len_prefix(n: int) -> bytes:
- return bytes.fromhex(format(n, "016x"))
-
- def _raw_request(self, payload: str) -> str:
- if self.debug:
- # 调试/仿真模式下直接返回可解析的模拟 JSON，避免后续 json.loads 报错
- try:
- req = json.loads(payload)
- method = req.get("MethodName")
- except Exception:
- method = None
-
- data: Any = True
- if method in {"AddSolution"}:
- data = str(uuid.uuid4())
- elif method in {"AddWorkTabletMatrix", "AddWorkTabletMatrix2"}:
- data = {"Success": True, "Message": "debug mock"}
- elif method in {"GetErrorCode"}:
- data = ""
- elif method in {"RemoveErrorCodet", "Reset", "Start", "LoadSolution", "Pause", "Resume", "Stop"}:
- data = True
- elif method in {"GetStepStateList", "GetStepStatus", "GetStepState"}:
- data = []
- elif method in {"GetLocation"}:
- data = {"X": 0, "Y": 0, "Z": 0}
- elif method in {"GetResetStatus"}:
- data = False
-
- return json.dumps({"Success": True, "Msg": "debug mock", "Data": data})
- with contextlib.closing(socket.socket()) as sock:
- sock.settimeout(self.timeout)
- sock.connect((self.host, self.port))
- data = payload.encode()
- sock.sendall(self._len_prefix(len(data)) + data)
-
- chunks, first = [], True
- while True:
- chunk = sock.recv(4096)
- if not chunk:
- break
- if first:
- chunk, first = chunk[8:], False
- chunks.append(chunk)
- return b"".join(chunks).decode()
-
- # ---------------------------------------------------- 方案相关（ISolution）
- def list_solutions(self) -> List[Dict[str, Any]]:
- """GetSolutionList"""
- return self.call("ISolution", "GetSolutionList")
-
- def load_solution(self, solution_id: str) -> bool:
- """LoadSolution"""
- return self.call("ISolution", "LoadSolution", [solution_id])
-
- def add_solution(self, name: str, matrix_id: str, steps: List[Dict[str, Any]]) -> str:
- """AddSolution → 返回新方案 GUID"""
- return self.call("ISolution", "AddSolution", [name, matrix_id, steps])
-
- # ---------------------------------------------------- 自动化控制（IAutomation）
- def start(self) -> bool:
- return self.call("IAutomation", "Start")
-
- def wait_for_finish(self) -> bool:
- success = False
- start = False
- while not success:
- status = self.step_state_list()
- if len(status) == 1:
- start = True
- if status is None:
- break
- if len(status) == 0:
- break
- if status[-1]["State"] == 2 and start:
- success = True
- elif status[-1]["State"] > 2:
- break
- elif status[-1]["State"] == 0:
- start = True
- else:
- time.sleep(1)
- return success
-
-
- def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
- payload = json.dumps(
- {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
- )
- resp = json.loads(self._raw_request(payload))
- if not resp.get("Success", False):
- raise PRCXIError(resp.get("Msg", "Unknown error"))
- data = resp.get("Data")
- try:
- return json.loads(data)
- except (TypeError, json.JSONDecodeError):
- return data
-
- def pause(self) -> bool:
- """Pause"""
- return self.call("IAutomation", "Pause")
-
- def resume(self) -> bool:
- """Resume"""
- return self.call("IAutomation", "Resume")
-
- def get_error_code(self) -> Optional[str]:
- """GetErrorCode"""
- return self.call("IAutomation", "GetErrorCode")
-
- def get_reset_status(self) -> bool:
- """GetErrorCode"""
- if self.debug:
- return True
- res = self.call("IAutomation", "GetResetStatus")
- return not res
-
- def clear_error_code(self) -> bool:
- """RemoveErrorCodet"""
- return self.call("IAutomation", "RemoveErrorCodet")
-
- # ---------------------------------------------------- 运行状态（IMachineState）
- def step_state_list(self) -> List[Dict[str, Any]]:
- """GetStepStateList"""
- return self.call("IMachineState", "GetStepStateList")
-
- def step_status(self, seq_num: int) -> Dict[str, Any]:
- """GetStepStatus"""
- return self.call("IMachineState", "GetStepStatus", [seq_num])
-
- def step_state(self, seq_num: int) -> Dict[str, Any]:
- """GetStepState"""
- return self.call("IMachineState", "GetStepState", [seq_num])
-
- def axis_location(self, axis_num: int = 1) -> Dict[str, Any]:
- """GetLocation"""
- return self.call("IMachineState", "GetLocation", [axis_num])
-
- # ---------------------------------------------------- 版位矩阵（IMatrix）
- def get_all_materials(self) -> Dict[str, Any]:
- """GetStepState"""
- return self.call("IMatrix", "GetAllMaterial", [])
-
- def list_matrices(self) -> List[Dict[str, Any]]:
- """GetWorkTabletMatrices"""
- return self.call("IMatrix", "GetWorkTabletMatrices")
-
- def matrix_by_id(self, matrix_id: str) -> Dict[str, Any]:
- """GetWorkTabletMatrixById"""
- return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
-
- def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
- return self.call("IMatrix", "AddWorkTabletMatrix2" if self.is_9320 else "AddWorkTabletMatrix", [matrix])
-
- def Load(
- self,
- dosage: int,
- plate_no: int,
- is_whole_plate: bool,
- hole_row: int,
- hole_col: int,
- blending_times: int,
- balance_height: int,
- plate_or_hole: str,
- hole_numbers: str,
- assist_fun1: str = "",
- assist_fun2: str = "",
- assist_fun3: str = "",
- assist_fun4: str = "",
- assist_fun5: str = "",
- liquid_method: str = "NormalDispense",
- axis: str = "Left",
- ) -> Dict[str, Any]:
- return {
- "StepAxis": axis,
- "Function": "Load",
- "DosageNum": dosage,
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": hole_row,
- "HoleCol": hole_col,
- "BlendingTimes": blending_times,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": plate_or_hole,
- "AssistFun1": assist_fun1,
- "AssistFun2": assist_fun2,
- "AssistFun3": assist_fun3,
- "AssistFun4": assist_fun4,
- "AssistFun5": assist_fun5,
- "HoleNumbers": hole_numbers,
- "LiquidDispensingMethod": liquid_method,
- }
-
- def Imbibing(
- self,
- dosage: int,
- plate_no: int,
- is_whole_plate: bool,
- hole_row: int,
- hole_col: int,
- blending_times: int,
- balance_height: int,
- plate_or_hole: str,
- hole_numbers: str,
- assist_fun1: str = "",
- assist_fun2: str = "",
- assist_fun3: str = "",
- assist_fun4: str = "",
- assist_fun5: str = "",
- liquid_method: str = "NormalDispense",
- axis: str = "Left",
- ) -> Dict[str, Any]:
- return {
- "StepAxis": axis,
- "Function": "Imbibing",
- "DosageNum": dosage,
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": hole_row,
- "HoleCol": hole_col,
- "BlendingTimes": blending_times,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": plate_or_hole,
- "AssistFun1": assist_fun1,
- "AssistFun2": assist_fun2,
- "AssistFun3": assist_fun3,
- "AssistFun4": assist_fun4,
- "AssistFun5": assist_fun5,
- "HoleNumbers": hole_numbers,
- "LiquidDispensingMethod": liquid_method,
- }
-
- def Tapping(
- self,
- dosage: int,
- plate_no: int,
- is_whole_plate: bool,
- hole_row: int,
- hole_col: int,
- blending_times: int,
- balance_height: int,
- plate_or_hole: str,
- hole_numbers: str,
- assist_fun1: str = "",
- assist_fun2: str = "",
- assist_fun3: str = "",
- assist_fun4: str = "",
- assist_fun5: str = "",
- liquid_method: str = "NormalDispense",
- axis: str = "Left",
- ) -> Dict[str, Any]:
- return {
- "StepAxis": axis,
- "Function": "Tapping",
- "DosageNum": dosage,
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": hole_row,
- "HoleCol": hole_col,
- "BlendingTimes": blending_times,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": plate_or_hole,
- "AssistFun1": assist_fun1,
- "AssistFun2": assist_fun2,
- "AssistFun3": assist_fun3,
- "AssistFun4": assist_fun4,
- "AssistFun5": assist_fun5,
- "HoleNumbers": hole_numbers,
- "LiquidDispensingMethod": liquid_method,
- }
-
- def Blending(
- self,
- dosage: int,
- plate_no: int,
- is_whole_plate: bool,
- hole_row: int,
- hole_col: int,
- blending_times: int,
- balance_height: int,
- plate_or_hole: str,
- hole_numbers: str,
- assist_fun1: str = "",
- assist_fun2: str = "",
- assist_fun3: str = "",
- assist_fun4: str = "",
- assist_fun5: str = "",
- liquid_method: str = "NormalDispense",
- axis: str = "Left",
- ) -> Dict[str, Any]:
- return {
- "StepAxis": axis,
- "Function": "Blending",
- "DosageNum": dosage,
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": hole_row,
- "HoleCol": hole_col,
- "BlendingTimes": blending_times,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": plate_or_hole,
- "AssistFun1": assist_fun1,
- "AssistFun2": assist_fun2,
- "AssistFun3": assist_fun3,
- "AssistFun4": assist_fun4,
- "AssistFun5": assist_fun5,
- "HoleNumbers": hole_numbers,
- "LiquidDispensingMethod": liquid_method,
- }
-
- def UnLoad(
- self,
- dosage: int,
- plate_no: int,
- is_whole_plate: bool,
- hole_row: int,
- hole_col: int,
- blending_times: int,
- balance_height: int,
- plate_or_hole: str,
- hole_numbers: str,
- assist_fun1: str = "",
- assist_fun2: str = "",
- assist_fun3: str = "",
- assist_fun4: str = "",
- assist_fun5: str = "",
- liquid_method: str = "NormalDispense",
- axis: str = "Left",
- ) -> Dict[str, Any]:
- return {
- "StepAxis": axis,
- "Function": "UnLoad",
- "DosageNum": dosage,
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": hole_row,
- "HoleCol": hole_col,
- "BlendingTimes": blending_times,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": plate_or_hole,
- "AssistFun1": assist_fun1,
- "AssistFun2": assist_fun2,
- "AssistFun3": assist_fun3,
- "AssistFun4": assist_fun4,
- "AssistFun5": assist_fun5,
- "HoleNumbers": hole_numbers,
- "LiquidDispensingMethod": liquid_method,
- }
-
- def clamp_jaw_pick_up(self,
- plate_no: int,
- is_whole_plate: bool,
- balance_height: int,
-
- ) -> Dict[str, Any]:
- return {
- "StepAxis": "ClampingJaw",
- "Function": "DefectiveLift",
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": 1,
- "HoleCol": 1,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": f"T{plate_no}"
- }
-
- def clamp_jaw_drop(
- self,
- plate_no: int,
- is_whole_plate: bool,
- balance_height: int,
-
- ) -> Dict[str, Any]:
- return {
- "StepAxis": "ClampingJaw",
- "Function": "PutDown",
- "PlateNo": plate_no,
- "IsWholePlate": is_whole_plate,
- "HoleRow": 1,
- "HoleCol": 1,
- "BalanceHeight": balance_height,
- "PlateOrHoleNum": f"T{plate_no}"
- }
-
- def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
- return {
- "StepAxis": "Left",
- "Function": "Shaking",
- "AssistFun1": time,
- "AssistFun2": module_no,
- "AssistFun3": amplitude,
- "AssistFun4": is_wait,
- }
-
-class DefaultLayout:
-
- def __init__(self, product_name: str = "PRCXI9300"):
- self.labresource = {}
- if product_name not in ["PRCXI9300", "PRCXI9320"]:
- raise ValueError(
- f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
- )
-
- if product_name == "PRCXI9300":
- self.rows = 2
- self.columns = 3
- self.layout = [1, 2, 3, 4, 5, 6]
- self.trash_slot = 3
- self.waste_liquid_slot = 6
-
- elif product_name == "PRCXI9320":
- self.rows = 4
- self.columns = 4
- self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
- self.trash_slot = 16
- self.waste_liquid_slot = 12
- self.default_layout = {
- "MatrixId": f"{time.time()}",
- "MatrixName": f"{time.time()}",
- "MatrixCount": 16,
- "WorkTablets": [
- {
- "Number": 1,
- "Code": "T1",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 2,
- "Code": "T2",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 3,
- "Code": "T3",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 4,
- "Code": "T4",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 5,
- "Code": "T5",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 6,
- "Code": "T6",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 7,
- "Code": "T7",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 8,
- "Code": "T8",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 9,
- "Code": "T9",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 10,
- "Code": "T10",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 11,
- "Code": "T11",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 12,
- "Code": "T12",
- "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
- }, # 这个设置成废液槽，用储液槽表示
- {
- "Number": 13,
- "Code": "T13",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 14,
- "Code": "T14",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 15,
- "Code": "T15",
- "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
- },
- {
- "Number": 16,
- "Code": "T16",
- "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
- }, # 这个设置成垃圾桶，用储液槽表示
- ],
- }
-
- def get_layout(self) -> Dict[str, Any]:
- return {
- "rows": self.rows,
- "columns": self.columns,
- "layout": self.layout,
- "trash_slot": self.trash_slot,
- "waste_liquid_slot": self.waste_liquid_slot,
- }
-
- def get_trash_slot(self) -> int:
- return self.trash_slot
-
- def get_waste_liquid_slot(self) -> int:
- return self.waste_liquid_slot
-
- def add_lab_resource(self, material_info):
- self.labresource = material_info
-
- def recommend_layout(self, needs: List[Tuple[str, str, int]]) -> Dict[str, Any]:
- layout_list = []
- for reagent_name, material_name, count in needs:
-
- if material_name not in self.labresource:
- raise ValueError(f"Material {reagent_name} not found in lab resources.")
-
- # 预留位置12和16不动
- reserved_positions = {12, 16}
- available_positions = [i for i in range(1, 17) if i not in reserved_positions]
-
- # 计算总需求
- total_needed = sum(count for _, _, count in needs)
- if total_needed > len(available_positions):
- raise ValueError(
- f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
- )
-
- # 依次分配位置
- current_pos = 0
- for reagent_name, material_name, count in needs:
-
- material_uuid = self.labresource[material_name]["uuid"]
- material_enum = self.labresource[material_name]["materialEnum"]
-
- for _ in range(count):
- if current_pos >= len(available_positions):
- raise ValueError("位置不足，无法分配更多物料")
-
- position = available_positions[current_pos]
- # 找到对应的tablet并更新
- for tablet in self.default_layout["WorkTablets"]:
- if tablet["Number"] == position:
- tablet["Material"]["uuid"] = material_uuid
- tablet["Material"]["materialEnum"] = material_enum
- layout_list.append(
- dict(reagent_name=reagent_name, material_name=material_name, positions=position)
- )
- break
- current_pos += 1
- return self.default_layout, layout_list
-
-
-if __name__ == "__main__":
- # Example usage
- # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
- # 2. backend需要支持num channel为1的情况
- # 3. 设计一个单点动作流程，可以跑
- # 4.
-
- # deck = PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100)
-
- # from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
- # from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
-
- # def get_well_container(name: str) -> PRCXI9300Container:
- # well_containers = corning_96_wellplate_360ul_flat(name).serialize()
- # plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
- # ordering=well_containers["ordering"])
- # plate_serialized = plate.serialize()
- # plate_serialized["parent_name"] = deck.name
- # well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
- # new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
- # return new_plate
-
- # def get_tip_rack(name: str) -> PRCXI9300Container:
- # tip_racks = opentrons_96_tiprack_300ul("name").serialize()
- # tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
- # ordering=tip_racks["ordering"])
- # tip_rack_serialized = tip_rack.serialize()
- # tip_rack_serialized["parent_name"] = deck.name
- # tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
- # new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
- # return new_tip_rack
-
- # plate1 = get_tip_rack("RackT1")
- # plate1.load_state({
- # "Material": {
- # "uuid": "076250742950465b9d6ea29a225dfb00",
- # "Code": "ZX-001-300",
- # "Name": "300μL Tip头"
- # }
- # })
-
- # plate2 = get_well_container("PlateT2")
- # plate2.load_state({
- # "Material": {
- # "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
- # "Code": "ZX-019-2.2",
- # "Name": "96深孔板"
- # }
- # })
-
- # plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
- # plate3.load_state({
- # "Material": {
- # "uuid": "730067cf07ae43849ddf4034299030e9"
- # }
- # })
-
- # plate4 = get_well_container("PlateT4")
- # plate4.load_state({
- # "Material": {
- # "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
- # "Code": "ZX-019-2.2",
- # "Name": "96深孔板"
- # }
- # })
-
- # plate5 = get_well_container("PlateT5")
- # plate5.load_state({
- # "Material": {
- # "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
- # "Code": "ZX-019-2.2",
- # "Name": "96深孔板"
- # }
- # })
- # plate6 = get_well_container("PlateT6")
-
- # plate6.load_state({
- # "Material": {
- # "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
- # "Code": "ZX-019-2.2",
- # "Name": "96深孔板"
- # }
- # })
-
- # deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
- # deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
- # deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
- # deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
- # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
- # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
-
- # # # plate_2_liquids = [[('water', 500)]]*96
-
- # # # plate2.set_well_liquids(plate_2_liquids)
-
- # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
- # timeout=10.0, setup=False, debug=False,
- # simulator=True,
- # matrix_id="71593",
- # channel_num=8, axis="Left") # Initialize the handler with the deck and host settings
-
- # plate_2_liquids = handler.set_group("water", plate2.children[:8], [200]*8)
-
- # plate5_liquids = handler.set_group("master_mix", plate5.children[:8], [100]*8)
-
- # handler.set_tiprack([plate1])
- # asyncio.run(handler.setup()) # Initialize the handler and setup the connection
- # from pylabrobot.resources import set_volume_tracking
- # from pylabrobot.resources import set_tip_tracking
- # set_volume_tracking(enabled=True)
- # from unilabos.resources.graphio import *
- # # A = tree_to_list([resource_plr_to_ulab(deck)])
- # # with open("deck_9300_new.json", "w", encoding="utf-8") as f:
- # # json.dump(A, f, indent=4, ensure_ascii=False)
- # asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
- # asyncio.run(handler.transfer_group("water", "master_mix", 100)) # Reset tip tracking
-
- # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
- # print(plate1.children[:8])
- # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
- # print(plate2.children[:8])
- # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
- # print(plate5.children[:8])
-
- # #asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
- # asyncio.run(handler.discard_tips([0,1,2,3,4,5,6,7]))
-
- # asyncio.run(handler.mix(well_containers.children[:8
- # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
- # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
- # asyncio.run(handler.add_liquid(
- # asp_vols=[100]*16,
- # dis_vols=[100]*16,
- # reagent_sources=plate2.children[:16],
- # targets=plate5.children[:16],
- # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
- # flow_rates=[None] * 32,
- # offsets=[Coordinate(0, 0, 0)] * 32,
- # liquid_height=[None] * 16,
- # blow_out_air_volume=[None] * 16,
- # delays=None,
- # mix_time=3,
- # mix_vol=50,
- # spread="wide",
- # ))
- # asyncio.run(handler.run_protocol()) # Run the protocol
- # asyncio.run(handler.remove_liquid(
- # vols=[100]*16,
- # sources=plate2.children[-16:],
- # waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
- # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
- # flow_rates=[None] * 32,
- # offsets=[Coordinate(0, 0, 0)] * 32,
- # liquid_height=[None] * 32,
- # blow_out_air_volume=[None] * 32,
- # spread="wide",
- # ))
-
- # acid = [20]*8+[40]*8+[60]*8+[80]*8+[100]*8+[120]*8+[140]*8+[160]*8+[180]*8+[200]*8+[220]*8+[240]*8
- # alkaline = acid[::-1] # Reverse the acid list for alkaline
- # asyncio.run(handler.transfer_liquid(
- # asp_vols=acid,
- # dis_vols=acid,
- # tip_racks=[plate1],
- # sources=plate2.children[:],
- # targets=plate5.children[:],
- # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
- # offsets=[Coordinate(0, 0, 0)] * 32,
- # asp_flow_rates=[None] * 16,
- # dis_flow_rates=[None] * 16,
- # liquid_height=[None] * 32,
- # blow_out_air_volume=[None] * 32,
- # mix_times=3,
- # mix_vol=50,
- # spread="wide",
- # ))
- # asyncio.run(handler.run_protocol()) # Run the protocol
- # # input("Running protocol...")
- # # input("Press Enter to continue...") # Wait for user input before proceeding
- # # print("PRCXI9300Handler initialized with deck and host settings.")
-
- ### 9320 ###
-
- deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
-
- from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
- from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
-
- def get_well_container(name: str) -> PRCXI9300Plate:
- well_containers = corning_96_wellplate_360ul_flat(name).serialize()
- plate = PRCXI9300Plate(
- name=name, size_x=50, size_y=50, size_z=10, category="plate", ordered_items=well_containers["ordering"]
- )
- plate_serialized = plate.serialize()
- plate_serialized["parent_name"] = deck.name
- well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
- new_plate: PRCXI9300Plate = PRCXI9300Plate.deserialize(well_containers)
- return new_plate
-
- def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300TipRack:
- tip_racks = opentrons_96_tiprack_10ul(name).serialize()
- tip_rack = PRCXI9300TipRack(
- name=name,
- size_x=50,
- size_y=50,
- size_z=10,
- category="tip_rack",
- ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
- )
- tip_rack_serialized = tip_rack.serialize()
- tip_rack_serialized["parent_name"] = deck.name
- tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
- new_tip_rack: PRCXI9300TipRack = PRCXI9300TipRack.deserialize(tip_racks)
- return new_tip_rack
-
- plate1 = get_tip_rack("RackT1")
- plate1.load_state(
- {"Material": {"uuid": "068b3815e36b4a72a59bae017011b29f", "Code": "ZX-001-10+", "Name": "10μL加长 Tip头"}}
- )
- plate2 = get_well_container("PlateT2")
- plate2.load_state(
- {"Material": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "Code": "ZX-78-096", "Name": "细菌培养皿"}}
- )
- plate3 = get_well_container("PlateT3")
- plate3.load_state(
- {
- "Material": {
- "uuid": "04211a2dc93547fe9bf6121eac533650",
- }
- }
- )
- plate4 = get_well_container("PlateT4")
- plate4.load_state(
- {"Material": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "Code": "ZX-78-096", "Name": "细菌培养皿"}}
- )
-
- plate5 = get_tip_rack("RackT5")
- plate5.load_state(
- {
- "Material": {
- "uuid": "076250742950465b9d6ea29a225dfb00",
- "Code": "ZX-001-300",
- "SupplyType": 1,
- "Name": "300μL Tip头",
- }
- }
- )
- plate6 = get_well_container("PlateT6")
- plate6.load_state(
- {
- "Material": {
- "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
- "Code": "1",
- "SupplyType": 1,
- "Name": "ep适配器",
- "SummaryName": "ep适配器",
- }
- }
- )
- plate7 = PRCXI9300Plate(
- name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordered_items=collections.OrderedDict()
- )
- plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
- plate8 = get_tip_rack("PlateT8")
- plate8.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
- plate9 = get_well_container("PlateT9")
- plate9.load_state(
- {
- "Material": {
- "uuid": "4a043a07c65a4f9bb97745e1f129b165",
- "Code": "ZX-58-0001",
- "SupplyType": 2,
- "Name": "全裙边 PCR适配器",
- "SummaryName": "全裙边 PCR适配器",
- }
- }
- )
- plate10 = get_well_container("PlateT10")
- plate10.load_state(
- {
- "Material": {
- "uuid": "4a043a07c65a4f9bb97745e1f129b165",
- "Code": "ZX-58-0001",
- "SupplyType": 2,
- "Name": "全裙边 PCR适配器",
- "SummaryName": "全裙边 PCR适配器",
- }
- }
- )
- plate11 = get_well_container("PlateT11")
- plate11.load_state(
- {
- "Material": {
- "uuid": "04211a2dc93547fe9bf6121eac533650",
- }
- }
- )
- plate12 = get_well_container("PlateT12")
- plate12.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
- plate13 = get_well_container("PlateT13")
- plate13.load_state(
- {
- "Material": {
- "uuid": "4a043a07c65a4f9bb97745e1f129b165",
- "Code": "ZX-58-0001",
- "SupplyType": 2,
- "Name": "全裙边 PCR适配器",
- "SummaryName": "全裙边 PCR适配器",
- }
- }
- ),
- plate14 = get_well_container("PlateT14")
- plate14.load_state(
- {
- "Material": {
- "uuid": "4a043a07c65a4f9bb97745e1f129b165",
- "Code": "ZX-58-0001",
- "SupplyType": 2,
- "Name": "全裙边 PCR适配器",
- "SummaryName": "全裙边 PCR适配器",
- }
- }
- ),
- plate15 = get_well_container("PlateT15")
- plate15.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
-
- trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
- trash.load_state({"Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}})
-
- # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-
- deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(
- PRCXI9300Plate(
- name="container_for_nothin3",
- size_x=50,
- size_y=50,
- size_z=10,
- category="plate",
- ordered_items=collections.OrderedDict(),
- ),
- location=Coordinate(0, 0, 0),
- )
- deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(
- PRCXI9300Plate(
- name="container_for_nothing7",
- size_x=50,
- size_y=50,
- size_z=10,
- category="plate",
- ordered_items=collections.OrderedDict(),
- ),
- location=Coordinate(0, 0, 0),
- )
- deck.assign_child_resource(
- PRCXI9300Plate(
- name="container_for_nothing8",
- size_x=50,
- size_y=50,
- size_z=10,
- category="plate",
- ordered_items=collections.OrderedDict(),
- ),
- location=Coordinate(0, 0, 0),
- )
- deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(
- PRCXI9300Plate(
- name="container_for_nothing11",
- size_x=50,
- size_y=50,
- size_z=10,
- category="plate",
- ordered_items=collections.OrderedDict(),
- ),
- location=Coordinate(0, 0, 0),
- )
- deck.assign_child_resource(
- PRCXI9300Plate(
- name="container_for_nothing12",
- size_x=50,
- size_y=50,
- size_z=10,
- category="plate",
- ordered_items=collections.OrderedDict(),
- ),
- location=Coordinate(0, 0, 0),
- )
- deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(plate14, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(plate15, location=Coordinate(0, 0, 0))
- deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
-
- from unilabos.resources.graphio import tree_to_list, resource_plr_to_ulab
-
- A = tree_to_list([resource_plr_to_ulab(deck)])
- with open("deck.json", "w", encoding="utf-8") as f:
- A.insert(0, {
- "id": "PRCXI",
- "name": "PRCXI",
- "parent": None,
- "type": "device",
- "class": "liquid_handler.prcxi",
- "position": {
- "x": 0,
- "y": 0,
- "z": 0
- },
- "config": {
- "deck": {
- "_resource_child_name": "PRCXI_Deck",
- "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
- },
- "host": "192.168.0.121",
- "port": 9999,
- "timeout": 10.0,
- "axis": "Right",
- "channel_num": 1,
- "setup": False,
- "debug": True,
- "simulator": True,
- "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
- "is_9320": True
- },
- "data": {},
- "children": [
- "PRCXI_Deck"
- ]
- })
- A[1]["parent"] = "PRCXI"
- json.dump({
- "nodes": A,
- "links": []
- }, f, indent=4, ensure_ascii=False)
-
- handler = PRCXI9300Handler(
- deck=deck,
- host="192.168.1.201",
- port=9999,
- timeout=10.0,
- setup=True,
- debug=False,
- matrix_id="5de524d0-3f95-406c-86dd-f83626ebc7cb",
- channel_num=1,
- axis="Right",
- simulator=False,
- is_9320=True,
- )
- backend: PRCXI9300Backend = handler.backend
- from pylabrobot.resources import set_volume_tracking
-
- set_volume_tracking(enabled=True)
- # res = backend.api_client.get_all_materials()
- asyncio.run(handler.setup()) # Initialize the handler and setup the connection
- handler.set_tiprack([plate1, plate5]) # Set the tip rack for the handler
- handler.set_liquid([plate9.get_well("H12")], ["water"], [5])
- asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))
- asyncio.run(handler.pick_up_tips([plate5.get_item("C5")], [0]))
- asyncio.run(handler.aspirate([plate9.get_item("H12")], [5], [0]))
-
- for well in plate13.get_all_items():
- # well_pos = well.name.split("_")[1] # 走一行
- # if well_pos.startswith("A"):
- if well.name.startswith("PlateT13"): # 走整个Plate
- asyncio.run(handler.dispense([well], [0.01], [0]))
-
- # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
- # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
- # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
- asyncio.run(handler.mix([plate10.get_item("H12")], mix_time=3, mix_vol=5))
- asyncio.run(handler.discard_tips([0]))
- asyncio.run(handler.run_protocol())
- time.sleep(5)
- os._exit(0)
-
-
- prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
- prcxi_api.list_matrices()
- prcxi_api.get_all_materials()
-
- # 第一种情景：一个孔往多个孔加液
- # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
- # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
- # 第二个情景：多个孔往多个孔加液(但是个数得对应)
- plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
- plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
-
- # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
-
- # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
-
- # A = tree_to_list([resource_plr_to_ulab(deck)])
- # # with open("deck.json", "w", encoding="utf-8") as f:
- # # json.dump(A, f, indent=4, ensure_ascii=False)
-
- # print(plate11.get_well(0).tracker.get_used_volume())
- # Initialize the backend and setup the connection
- asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
-
- # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
- # print(plate8.children[8])
- # asyncio.run(handler.run_protocol())
- # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
- # print(plate11.children[0])
- # # asyncio.run(handler.run_protocol())
- # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
- # print(plate1.children[0])
- # asyncio.run(handler.run_protocol())
- # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
- # print(plate1.children[0])
- # asyncio.run(handler.discard_tips([0]))
-
- # asyncio.run(handler.add_liquid(
- # asp_vols=[10]*7,
- # dis_vols=[10]*7,
- # reagent_sources=plate11.children[:7],
- # targets=plate1.children[2:9],
- # use_channels=[0],
- # flow_rates=[None] * 7,
- # offsets=[Coordinate(0, 0, 0)] * 7,
- # liquid_height=[None] * 7,
- # blow_out_air_volume=[None] * 2,
- # delays=None,
- # mix_time=3,
- # mix_vol=5,
- # spread="custom",
- # ))
-
- # asyncio.run(handler.run_protocol()) # Run the protocol
-
- # # # asyncio.run(handler.transfer_liquid(
- # # # asp_vols=[10]*2,
- # # # dis_vols=[10]*2,
- # # # sources=plate11.children[:2],
- # # # targets=plate11.children[-2:],
- # # # use_channels=[0],
- # # # offsets=[Coordinate(0, 0, 0)] * 4,
- # # # liquid_height=[None] * 2,
- # # # blow_out_air_volume=[None] * 2,
- # # # delays=None,
- # # # mix_times=3,
- # # # mix_vol=5,
- # # # spread="wide",
- # # # tip_racks=[plate8]
- # # # ))
-
- # # # asyncio.run(handler.remove_liquid(
- # # # vols=[10]*2,
- # # # sources=plate11.children[:2],
- # # # waste_liquid=plate11.children[43],
- # # # use_channels=[0],
- # # # offsets=[Coordinate(0, 0, 0)] * 4,
- # # # liquid_height=[None] * 2,
- # # # blow_out_air_volume=[None] * 2,
- # # # delays=None,
- # # # spread="wide"
- # # # ))
- # # asyncio.run(handler.run_protocol())
-
- # # # asyncio.run(handler.discard_tips())
- # # # asyncio.run(handler.mix(well_containers.children[:8
- # # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
- # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
-
- # # # asyncio.run(handler.remove_liquid(
- # # # vols=[100]*16,
- # # # sources=well_containers.children[-16:],
- # # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
- # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
- # # # flow_rates=[None] * 32,
- # # # offsets=[Coordinate(0, 0, 0)] * 32,
- # # # liquid_height=[None] * 32,
- # # # blow_out_air_volume=[None] * 32,
- # # # spread="wide",
- # # # ))
- # # # asyncio.run(handler.transfer_liquid(
- # # # asp_vols=[100]*16,
- # # # dis_vols=[100]*16,
- # # # tip_racks=[tip_rack],
- # # # sources=well_containers.children[-16:],
- # # # targets=well_containers.children[:16],
- # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
- # # # offsets=[Coordinate(0, 0, 0)] * 32,
- # # # asp_flow_rates=[None] * 16,
- # # # dis_flow_rates=[None] * 16,
- # # # liquid_height=[None] * 32,
- # # # blow_out_air_volume=[None] * 32,
- # # # mix_times=3,
- # # # mix_vol=50,
- # # # spread="wide",
- # # # ))
- # # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
- # # # input("pick_up_tips add step")
- # asyncio.run(handler.run_protocol()) # Run the protocol
- # # # input("Running protocol...")
- # # # input("Press Enter to continue...") # Wait for user input before proceeding
- # # # print("PRCXI9300Handler initialized with deck and host settings.")
-
- # 一些推荐版位组合的测试样例：
-
- # 一些推荐版位组合的测试样例：
-
- with open("prcxi_material.json", "r") as f:
- material_info = json.load(f)
-
- layout = DefaultLayout("PRCXI9320")
- layout.add_lab_resource(material_info)
- MatrixLayout_1, dict_1 = layout.recommend_layout(
- [
- ("reagent_1", "96 细胞培养皿", 3),
- ("reagent_2", "12道储液槽", 1),
- ("reagent_3", "200μL Tip头", 7),
- ("reagent_4", "10μL加长 Tip头", 1),
- ]
- )
- print(dict_1)
- MatrixLayout_2, dict_2 = layout.recommend_layout(
- [
- ("reagent_1", "96深孔板", 4),
- ("reagent_2", "12道储液槽", 1),
- ("reagent_3", "200μL Tip头", 1),
- ("reagent_4", "10μL加长 Tip头", 1),
- ]
- )
-
-# with open("prcxi_material.json", "r") as f:
-# material_info = json.load(f)
-
-# layout = DefaultLayout("PRCXI9320")
-# layout.add_lab_resource(material_info)
-# MatrixLayout_1, dict_1 = layout.recommend_layout([
-# ("reagent_1", "96 细胞培养皿", 3),
-# ("reagent_2", "12道储液槽", 1),
-# ("reagent_3", "200μL Tip头", 7),
-# ("reagent_4", "10μL加长 Tip头", 1),
-# ])
-# print(dict_1)
-# MatrixLayout_2, dict_2 = layout.recommend_layout([
-# ("reagent_1", "96深孔板", 4),
-# ("reagent_2", "12道储液槽", 1),
-# ("reagent_3", "200μL Tip头", 1),
-# ("reagent_4", "10μL加长 Tip头", 1),
-# ])
diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py b/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
deleted file mode 100644
index b87e1e23..00000000
--- a/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
+++ /dev/null
@@ -1,841 +0,0 @@
-from typing import Optional
-from pylabrobot.resources import Tube, Coordinate
-from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
-from pylabrobot.resources.tip import Tip, TipCreator
-from pylabrobot.resources.tip_rack import TipRack, TipSpot
-from pylabrobot.resources.utils import create_ordered_items_2d
-from pylabrobot.resources.height_volume_functions import (
- compute_height_from_volume_rectangle,
- compute_volume_from_height_rectangle,
-)
-
-from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
-
-def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
- """
- PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
- """
- return Tip(
- has_filter=False, # 默认无滤芯
- maximal_volume=volume,
- total_tip_length=length,
- fitting_depth=depth
- )
-
-# =========================================================================
-# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID
-# =========================================================================
-def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板)
- 原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL
- """
- return PRCXI9300Plate(
- name=name,
- size_x=127.1,
- size_y=85.0,
- size_z=44.2,
- lid=None,
- model="PRCXI_BioER_96_wellplate",
- category="plate",
- material_info={
- "uuid": "ca877b8b114a4310b429d1de4aae96ee",
- "Code": "ZX-019-2.2",
- "Name": "2.2ml 深孔板",
- "materialEnum": 0,
- "SupplyType": 1
- },
-
- ordered_items=create_ordered_items_2d(
- Well,
- size_x=8.25,
- size_y=8.25,
- size_z=39.3, # 修改过
- dx=9.5,
- dy=7.5,
- dz=6,
- material_z_thickness=0.8,
- item_dx=9.0,
- item_dy=9.0,
- num_items_x=12,
- num_items_y=8,
- cross_section_type=CrossSectionType.RECTANGLE,
- bottom_type=WellBottomType.V, # 是否需要修改？
- max_volume=2200,
- ),
- )
-def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: ZX-58-10000 (储液槽)
- 原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb
- """
- well_size_x = 127.76 - (14.38 - 9 / 2) * 2
- well_size_y = 85.48 - (11.24 - 9 / 2) * 2
- well_kwargs = {
- "size_x": well_size_x,
- "size_y": well_size_y,
- "size_z": 26.85,
- "bottom_type": WellBottomType.V,
- "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
- liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
- ),
- "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
- liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
- ),
- "material_z_thickness": 31.4 - 26.85 - 3.55,
- }
-
- return PRCXI9300Plate(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=31.4,
- lid=None,
- model="PRCXI_Nest_1_troughplate",
- category="plate",
- material_info={
- "uuid": "04211a2dc93547fe9bf6121eac533650",
- "Code": "ZX-58-10000",
- "Name": "储液槽",
- "materialEnum": 0,
- "SupplyType": 1
- },
-
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=1,
- num_items_y=1,
- dx=14.38 - 9 / 2,
- dy=11.24 - 9 / 2,
- dz=3.55,
- item_dx=9.0,
- item_dy=9.0,
- **well_kwargs, # 传入上面计算好的孔参数
- ),
- )
-def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: q3 (384板)
- 原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb
- """
- return PRCXI9300Plate(
- name=name,
- # 直接抄录 PLR 标准品的物理尺寸
- size_x=127.76,
- size_y=85.48,
- size_z=10.40,
- model="BioRad_384_wellplate_50uL_Vb",
- category="plate",
- # 2. 注入 Unilab 必须的 UUID 信息
- material_info={
- "uuid": "853dcfb6226f476e8b23c250217dc7da",
- "Code": "q3",
- "Name": "384板",
- "SupplyType": 1,
- },
- # 3. 定义孔的排列 (抄录标准参数)
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=24,
- num_items_y=16,
- dx=10.58, # A1 左边缘距离板子左边缘 需要进一步测量
- dy=7.44, # P1 下边缘距离板子下边缘 需要进一步测量
- dz=1.05,
- item_dx=4.5,
- item_dy=4.5,
- size_x=3.10,
- size_y=3.10,
- size_z=9.35,
- max_volume=50,
- material_z_thickness=1,
- bottom_type=WellBottomType.V,
- cross_section_type=CrossSectionType.CIRCLE,
- )
- )
-def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: sdfrth654 (4道储液槽)
- 原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb
- """
- INNER_WELL_WIDTH = 26.1
- INNER_WELL_LENGTH = 71.2
- well_kwargs = {
- "size_x": 26,
- "size_y": 71.2,
- "size_z": 42.55,
- "bottom_type": WellBottomType.FLAT,
- "cross_section_type": CrossSectionType.RECTANGLE,
- "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
- liquid_volume,
- INNER_WELL_LENGTH,
- INNER_WELL_WIDTH,
- ),
- "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
- liquid_height,
- INNER_WELL_LENGTH,
- INNER_WELL_WIDTH,
- ),
- "material_z_thickness": 1,
- }
-
- return PRCXI9300Plate(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=43.80,
- model="PRCXI_AGenBio_4_troughplate",
- category="plate",
- material_info={
- "uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
- "Code": "sdfrth654",
- "Name": "4道储液槽",
- "materialEnum": 0,
- "SupplyType": 1
- },
-
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=4,
- num_items_y=1,
- dx=9.8,
- dy=7.2,
- dz=0.9,
- item_dx=INNER_WELL_WIDTH + 1, # 1 mm wall thickness
- item_dy=INNER_WELL_LENGTH,
- **well_kwargs,
- ),
- )
-def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: 12道储液槽 (12道储液槽)
- 原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb
- """
- well_size_x = 8.2
- well_size_y = 71.2
- well_kwargs = {
- "size_x": well_size_x,
- "size_y": well_size_y,
- "size_z": 26.85,
- "bottom_type": WellBottomType.V,
- "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
- liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
- ),
- "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
- liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
- ),
- "material_z_thickness": 31.4 - 26.85 - 3.55,
- }
-
- return PRCXI9300Plate(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=31.4,
- lid=None,
- model="PRCXI_nest_12_troughplate",
- category="plate",
- material_info={
- "uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
- "Code": "12道储液槽",
- "Name": "12道储液槽",
- "materialEnum": 0,
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=12,
- num_items_y=1,
- dx=14.38 - 8.2 / 2,
- dy=(85.48 - 71.2) / 2,
- dz=3.55,
- item_dx=9.0,
- item_dy=9.0,
- **well_kwargs,
- ),
- )
-def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: ZX-78-096 (细菌培养皿)
- 原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb
- """
- well_kwargs = {
- "size_x": 6.96,
- "size_y": 6.96,
- "size_z": 10.04,
- "bottom_type": WellBottomType.FLAT,
- "material_z_thickness": 1.75,
- "cross_section_type": CrossSectionType.CIRCLE,
- "max_volume": 300,
- }
-
- return PRCXI9300Plate(
- name=name,
- size_x=127.61,
- size_y=85.24,
- size_z=14.30,
- lid=None,
- model="PRCXI_CellTreat_96_wellplate",
- category="plate",
- material_info={
- "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
- "Code": "ZX-78-096",
- "Name": "细菌培养皿",
- "materialEnum": 4,
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=12,
- num_items_y=8,
- dx=10.83,
- dy=7.67,
- dz=4.05,
- item_dx=9,
- item_dy=9,
- **well_kwargs,
- ),
- )
-# =========================================================================
-# 自定义/需测量品 (Custom Measurement)
-# =========================================================================
-def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
- """
- 对应 JSON Code: ZX-001-10+
- """
- return PRCXI9300TipRack(
- name=name,
- size_x=122.11,
- size_y=85.48, #修改
- size_z=58.23,
- model="PRCXI_10ul_eTips",
- material_info={
- "uuid": "068b3815e36b4a72a59bae017011b29f",
- "Code": "ZX-001-10+",
- "Name": "10μL加长 Tip头",
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- TipSpot,
- num_items_x=12,
- num_items_y=8,
- dx=7.97, #需要修改
- dy=5.0, #需修改
- dz=2.0, #需修改
- item_dx=9.0,
- item_dy=9.0,
- size_x=7.0,
- size_y=7.0,
- size_z=0,
- make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1)
- )
- )
-def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
- """
- 对应 JSON Code: ZX-001-300
- 吸头盒通常比较特殊，需要定义 Tip 对象
- """
- return PRCXI9300TipRack(
- name=name,
- size_x=122.11,
- size_y=85.48, #修改
- size_z=58.23,
- model="PRCXI_300ul_Tips",
- material_info={
- "uuid": "076250742950465b9d6ea29a225dfb00",
- "Code": "ZX-001-300",
- "Name": "300μL Tip头",
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- TipSpot,
- num_items_x=12,
- num_items_y=8,
- dx=7.97, #需要修改
- dy=5.0, #需修改
- dz=2.0, #需修改
- item_dx=9.0,
- item_dy=9.0,
- size_x=7.0,
- size_y=7.0,
- size_z=0,
- make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0)
- )
- )
-def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
- """
- return PRCXI9300Plate(
- name=name,
- size_x=119.5,
- size_y=80.0,
- size_z=26.0,
- model="PRCXI_PCR_Plate_200uL_nonskirted",
- plate_type="non-skirted",
- category="plate",
- material_info={
- "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
- "Code": "ZX-023-0.2",
- "Name": "0.2ml PCR 板",
- "materialEnum": 0,
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=12,
- num_items_y=8,
- dx=7,
- dy=5,
- dz=0.0,
- item_dx=9,
- item_dy=9,
- size_x=6,
- size_y=6,
- size_z=15.17,
- bottom_type=WellBottomType.V,
- cross_section_type=CrossSectionType.CIRCLE,
- ),
-)
-def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
- """
- return PRCXI9300Plate(
- name=name,
- size_x=126,
- size_y=86,
- size_z=21.2,
- model="PRCXI_PCR_Plate_200uL_semiskirted",
- plate_type="semi-skirted",
- category="plate",
- material_info={
- "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
- "Code": "ZX-023-0.2",
- "Name": "0.2ml PCR 板",
- "materialEnum": 0,
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=12,
- num_items_y=8,
- dx=11,
- dy=8,
- dz=0.0,
- item_dx=9,
- item_dy=9,
- size_x=6,
- size_y=6,
- size_z=15.17,
- bottom_type=WellBottomType.V,
- cross_section_type=CrossSectionType.CIRCLE,
- ),
-)
-def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
- """
- return PRCXI9300Plate(
- name=name,
- size_x=127.76,
- size_y=86,
- size_z=16.1,
- model="PRCXI_PCR_Plate_200uL_skirted",
- plate_type="skirted",
- category="plate",
- material_info={
- "uuid": "73bb9b10bc394978b70e027bf45ce2d3",
- "Code": "ZX-023-0.2",
- "Name": "0.2ml PCR 板",
- "materialEnum": 0,
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=12,
- num_items_y=8,
- dx=11,
- dy=8.49,
- dz=0.8,
- item_dx=9,
- item_dy=9,
- size_x=6,
- size_y=6,
- size_z=15.1,
- bottom_type=WellBottomType.V,
- cross_section_type=CrossSectionType.CIRCLE,
- ),
-)
-def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash:
- """
- 对应 JSON Code: q1 (废弃槽)
- """
- return PRCXI9300Trash(
- name="trash",
- size_x=126.59,
- size_y=84.87,
- size_z=89.5, # 修改
- category="trash",
- model="PRCXI_trash",
- material_info={
- "uuid": "730067cf07ae43849ddf4034299030e9",
- "Code": "q1",
- "Name": "废弃槽",
- "materialEnum": 0,
- "SupplyType": 1
- }
- )
-def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate:
- """
- 对应 JSON Code: q2 (96深孔板)
- """
- return PRCXI9300Plate(
- name=name,
- size_x=127.3,
- size_y=85.35,
- size_z=45.0, #修改
- model="PRCXI_96_DeepWell",
- material_info={
- "uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid
- "Code": "q2",
- "Name": "96深孔板",
- "materialEnum": 0
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=12,
- num_items_y=8,
- dx=10.9,
- dy=8.25,
- dz=2.0,
- item_dx=9.0,
- item_dy=9.0,
- size_x=8.2,
- size_y=8.2,
- size_z=42.0,
- max_volume=2200
- )
- )
-def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack:
- """
- 对应 JSON Code: 1 (ep适配器)
- 这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管
- """
- ep_tube_prototype = Tube(
- name="EP_Tube_1.5mL",
- size_x=10.6,
- size_y=10.6,
- size_z=40.0, # 管子本身的高度，通常比架子孔略高或持平
- max_volume=1500,
- model="EP_Tube_1.5mL"
- )
-
- # 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy
- dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6
- dx_calc = 3.54
- return PRCXI9300TubeRack(
- name=name,
- size_x=128.04,
- size_y=85.8,
- size_z=42.66,
- model="PRCXI_EP_Adapter",
- category="tube_rack",
- material_info={
- "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
- "Code": "1",
- "Name": "ep适配器",
- "materialEnum": 0,
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Tube,
- num_items_x=6,
- num_items_y=4,
- dx=dx_calc,
- dy=dy_calc,
- dz=42.66 - 38.08, # 架高 - 孔深
- item_dx=21.0,
- item_dy=18.0,
- size_x=10.6,
- size_y=10.6,
- size_z=40.0,
- max_volume=1500
- )
- )
-# =========================================================================
-# 无实物，需要测量
-# =========================================================================
-def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-58-1250 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=128,
- size_y=85,
- size_z=20,
- material_info={
- "uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
- "Code": "ZX-58-1250",
- "Name": "Tip头适配器 1250uL",
- "SupplyType": 2
- }
- )
-def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-58-300 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=127,
- size_y=85,
- size_z=81,
- material_info={
- "uuid": "7c822592b360451fb59690e49ac6b181",
- "Code": "ZX-58-300",
- "Name": "ZHONGXI 适配器 300uL",
- "SupplyType": 2
- }
- )
-def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-58-10 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=128,
- size_y=85,
- size_z=72.3,
- material_info={
- "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
- "Code": "ZX-58-10",
- "Name": "吸头10ul 适配器",
- "SupplyType": 2
- }
- )
-def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack:
- """ Code: ZX-001-1250 """
- return PRCXI9300TipRack(
- name=name,
- size_x=118.09,
- size_y=80.7,
- size_z=107.67,
- model="PRCXI_1250uL_Tips",
- material_info={
- "uuid": "7960f49ddfe9448abadda89bd1556936",
- "Code": "ZX-001-1250",
- "Name": "1250μL Tip头",
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- TipSpot,
- num_items_x=12,
- num_items_y=8,
- dx=9.545 - 7.95/2,
- dy=8.85 - 7.95/2,
- dz=2.0,
- item_dx=9,
- item_dy=9,
- size_x=7.0,
- size_y=7.0,
- size_z=0,
- make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8)
- )
- )
-def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
- """ Code: ZX-001-10 """
- return PRCXI9300TipRack(
- name=name,
- size_x=120.98,
- size_y=82.12,
- size_z=67,
- model="PRCXI_10uL_Tips",
- material_info={
- "uuid": "45f2ed3ad925484d96463d675a0ebf66",
- "Code": "ZX-001-10",
- "Name": "10μL Tip头",
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- TipSpot,
- num_items_x=12,
- num_items_y=8,
- dx=10.99 - 5/2,
- dy=9.56 - 5/2,
- dz=2.0,
- item_dx=9,
- item_dy=9,
- size_x=7.0,
- size_y=7.0,
- size_z=0,
- make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5)
- )
- )
-def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack:
- """ Code: ZX-001-1000 """
- return PRCXI9300TipRack(
- name=name,
- size_x=128.09,
- size_y=85.8,
- size_z=98,
- model="PRCXI_1000uL_Tips",
- material_info={
- "uuid": "80652665f6a54402b2408d50b40398df",
- "Code": "ZX-001-1000",
- "Name": "1000μL Tip头",
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- TipSpot,
- num_items_x=12,
- num_items_y=8,
- dx=14.5 - 7.95/2,
- dy=7.425,
- dz=2.0,
- item_dx=9,
- item_dy=9,
- size_x=7.0,
- size_y=7.0,
- size_z=0,
- make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8)
- )
- )
-def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
- """ Code: ZX-001-200 """
- return PRCXI9300TipRack(
- name=name,
- size_x=120.98,
- size_y=82.12,
- size_z=66.9,
- model="PRCXI_200uL_Tips",
- material_info={
- "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
- "Code": "ZX-001-200",
- "Name": "200μL Tip头",
- "SupplyType": 1},
- ordered_items=create_ordered_items_2d(
- TipSpot,
- num_items_x=12,
- num_items_y=8,
- dx=10.99 - 5.5/2,
- dy=9.56 - 5.5/2,
- dz=2.0,
- item_dx=9,
- item_dy=9,
- size_x=7.0,
- size_z=0,
- size_y=7.0,
- make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5)
- )
- )
-def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """
- 对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器)
- """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=127.76,
- size_y=85.48,
- size_z=21.69,
- model="PRCXI_PCR_Adapter",
- material_info={
- "uuid": "4a043a07c65a4f9bb97745e1f129b165",
- "Code": "ZX-58-0001",
- "Name": "全裙边 PCR适配器",
- "materialEnum": 3,
- "SupplyType": 2
- }
- )
-def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-ADP-001 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=133,
- size_y=91.8,
- size_z=70,
- material_info={
- "uuid": "6bdfdd7069df453896b0806df50f2f4d",
- "Code": "ZX-ADP-001",
- "Name": "储液槽 适配器",
- "SupplyType": 2
- }
- )
-def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-002-300 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=136.4,
- size_y=93.8,
- size_z=96,
- material_info={
- "uuid": "9a439bed8f3344549643d6b3bc5a5eb4",
- "Code": "ZX-002-300",
- "Name": "300ul深孔板适配器",
- "SupplyType": 2
- }
- )
-def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-002-10 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=136.5,
- size_y=93.8,
- size_z=121.5,
- material_info={
- "uuid": "4dc8d6ecfd0449549683b8ef815a861b",
- "Code": "ZX-002-10",
- "Name": "10ul专用深孔板适配器",
- "SupplyType": 2
- }
- )
-def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: Fhh478 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=120,
- size_y=90,
- size_z=86,
- material_info={
- "uuid": "adfabfffa8f24af5abfbba67b8d0f973",
- "Code": "Fhh478",
- "Name": "适配器",
- "SupplyType": 2
- }
- )
-def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate:
- """ Code: 22 (48孔深孔板) """
- print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.")
- return PRCXI9300Plate(
- name=name,
- size_x=127,
- size_y=85,
- size_z=44,
- model="PRCXI_48_DeepWell",
- material_info={
- "uuid": "026c5d5cf3d94e56b4e16b7fb53a995b",
- "Code": "22",
- "Name": "48孔深孔板",
- "SupplyType": 1
- },
- ordered_items=create_ordered_items_2d(
- Well,
- num_items_x=6,
- num_items_y=8,
- dx=10,
- dy=10,
- dz=1,
- item_dx=18.5,
- item_dy=9,
- size_x=8,
- size_y=8,
- size_z=40
- )
- )
-def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
- """ Code: ZX-58-30 """
- return PRCXI9300PlateAdapter(
- name=name,
- size_x=132,
- size_y=93.5,
- size_z=30,
- material_info={
- "uuid": "a0757a90d8e44e81a68f306a608694f2",
- "Code": "ZX-58-30",
- "Name": "30mm适配器",
- "SupplyType": 2
- }
- )
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/revvity.py b/unilabos/devices/liquid_handling/revvity.py
deleted file mode 100644
index d080ba0b..00000000
--- a/unilabos/devices/liquid_handling/revvity.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import time
-import sys
-import io
-# sys.path.insert(0, r'C:\kui\winprep_cli\winprep_c_Uni-lab\x64\Debug')
-
-try:
- import winprep_c
-except ImportError as e:
- print("Error importing winprep_c:", e)
- print("Please ensure that the winprep_c module is correctly installed and accessible.")
-from queue import Queue
-
-
-class Revvity:
- _success: bool = False
- _status: str = "Idle"
- _status_queue: Queue = Queue()
-
- def __init__(self):
- self._status = "Idle"
- self._success = False
- self._status_queue = Queue()
-
-
- @property
- def success(self) -> bool:
- # print("success")
- return self._success
- @property
- def status(self) -> str:
- if not self._status_queue.empty():
- self._status = self._status_queue.get()
- return self._status
- def _run_script(self, file_path: str):
- output = io.StringIO()
- sys.stdout = output # 重定向标准输出
-
- try:
- # 执行 winprep_c.test_mtp_script 并打印结果
- winprep_c.test_mtp_script(file_path)
- except Exception as e:
- # 捕获执行过程中的异常
- print(e)
- self._status_queue.put(f"Error: {str(e)}")
-
- finally:
- sys.stdout = sys.__stdout__ # 恢复标准输出
-
- # 获取捕获的输出并逐行更新状态
- for line in output.getvalue().splitlines():
- print(line)
- self._status_queue.put(line)
- self._status=line
-
- def run(self, file_path: str, params:str, resource: dict = {"AichemecoHiwo": {"id": "AichemecoHiwo"}}):
- # 设置状态为 Running
- self._status = "Running"
- winprep_c.test_mtp_script(file_path)
-
- # 在一个新的线程中运行 MTP 脚本，避免阻塞主线程
- # thread = threading.Thread(target=self._run_script, args=(file_path,))
- # thread.start()
- # self._run_script(file_path)
-#
- # # 在主线程中持续访问状态
- # while thread.is_alive() or self._success == False:
- # current_status = self.status() # 获取当前的状态
- # print(f"Current Status: {current_status}")
- # time.sleep(0.5)
-
- # output = io.StringIO()
- # sys.stdout = output # 重定向标准输出
-
- # try:
- # # 执行 winprep_c.test_mtp_script 并打印结果
- # winprep_c.test_mtp_script(file_path)
- # finally:
- # sys.stdout = sys.__stdout__ # 恢复标准输出
-
- # # 获取捕获的输出并逐行更新状态
- # for line in output.getvalue().splitlines():
- # self._status_queue.put(line)
- # self._success = True
- # 修改物料信息
- workstation = list(resource.values())[0]
- input_plate_wells = list(workstation["children"]["test-GL96-2A02"]["children"].values())
- output_plate_wells = list(workstation["children"]["HPLC_Plate"]["children"].values())
-
- for j in range(8):
- output_plate_wells[j]["data"]["liquid"] += input_plate_wells[j]["data"]["liquid"]
- output_plate_wells[j]["sample_id"] = input_plate_wells[j]["sample_id"]
-
- self._status = "Idle"
- self._success = True
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/rviz_backend.py b/unilabos/devices/liquid_handling/rviz_backend.py
deleted file mode 100644
index 3bd2c2f8..00000000
--- a/unilabos/devices/liquid_handling/rviz_backend.py
+++ /dev/null
@@ -1,321 +0,0 @@
-
-import json
-import threading
-from typing import List, Optional, Union
-
-from pylabrobot.liquid_handling.backends.backend import (
- LiquidHandlerBackend,
-)
-from pylabrobot.liquid_handling.standard import (
- Drop,
- DropTipRack,
- MultiHeadAspirationContainer,
- MultiHeadAspirationPlate,
- MultiHeadDispenseContainer,
- MultiHeadDispensePlate,
- Pickup,
- PickupTipRack,
- ResourceDrop,
- ResourceMove,
- ResourcePickup,
- SingleChannelAspiration,
- SingleChannelDispense,
-)
-from pylabrobot.resources import Resource, Tip
-
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-import time
-from rclpy.action import ActionClient
-from unilabos_msgs.action import SendCmd
-import re
-
-from unilabos.devices.ros_dev.liquid_handler_joint_publisher_node import LiquidHandlerJointPublisher
-
-
-class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
- """Chatter box backend for device-free testing. Prints out all operations."""
-
- _pip_length = 5
- _vol_length = 8
- _resource_length = 20
- _offset_length = 16
- _flow_rate_length = 10
- _blowout_length = 10
- _lld_z_length = 10
- _kwargs_length = 15
- _tip_type_length = 12
- _max_volume_length = 16
- _fitting_depth_length = 20
- _tip_length_length = 16
- _filter_length = 10
-
- def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, **kwargs):
- """Initialize a chatter box backend."""
- super().__init__()
- self._num_channels = num_channels
- self.tip_length = tip_length
- self.total_height = total_height
- self.joint_config = kwargs.get("joint_config", None)
- self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
- if not rclpy.ok():
- rclpy.init()
- self.joint_state_publisher = None
- self.executor = None
- self.executor_thread = None
-
- async def setup(self):
- self.joint_state_publisher = LiquidHandlerJointPublisher(
- joint_config=self.joint_config,
- lh_device_id=self.lh_device_id,
- simulate_rviz=True)
-
- # 启动ROS executor
- self.executor = rclpy.executors.MultiThreadedExecutor()
- self.executor.add_node(self.joint_state_publisher)
- self.executor_thread = threading.Thread(target=self.executor.spin, daemon=True)
- self.executor_thread.start()
-
- await super().setup()
-
- print("Setting up the liquid handler.")
-
- async def stop(self):
- # 停止ROS executor
- if self.executor and self.joint_state_publisher:
- self.executor.remove_node(self.joint_state_publisher)
- if self.executor_thread and self.executor_thread.is_alive():
- self.executor.shutdown()
- print("Stopping the liquid handler.")
-
- def serialize(self) -> dict:
- return {**super().serialize(), "num_channels": self.num_channels}
-
- @property
- def num_channels(self) -> int:
- return self._num_channels
-
- async def assigned_resource_callback(self, resource: Resource):
- print(f"Resource {resource.name} was assigned to the liquid handler.")
-
- async def unassigned_resource_callback(self, name: str):
- print(f"Resource {name} was unassigned from the liquid handler.")
-
- async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
- print("Picking up tips:")
- # print(ops.tip)
- header = (
- f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
- f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
- f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
- f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
- f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
- # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
- f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
- )
- # print(header)
-
- for op, channel in zip(ops, use_channels):
- offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
- row = (
- f" p{channel}: "
- f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
- f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
- f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
- f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
- # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
- f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
- )
- # print(row)
- # print(op.resource.get_absolute_location())
-
- self.tip_length = ops[0].tip.total_tip_length
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
- # print("moving")
- self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
- # goback()
-
-
-
-
- async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
- print("Dropping tips:")
- header = (
- f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
- f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
- f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
- f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
- f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
- # f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
- f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
- )
- # print(header)
-
- for op, channel in zip(ops, use_channels):
- offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
- row = (
- f" p{channel}: "
- f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
- f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
- f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
- f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
- # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
- f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
- )
- # print(row)
-
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
- # print(x, y, z)
- # print("moving")
- self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "drop_trash",channels=use_channels)
- # goback()
-
- async def aspirate(
- self,
- ops: List[SingleChannelAspiration],
- use_channels: List[int],
- **backend_kwargs,
- ):
- print("Aspirating:")
- header = (
- f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
- f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
- f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
- f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
- f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}} "
- # f"{'liquids':<20}" # TODO: add liquids
- )
- for key in backend_kwargs:
- header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
- # print(header)
-
- for o, p in zip(ops, use_channels):
- offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
- row = (
- f" p{p}: "
- f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
- f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
- f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
- f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
- # f"{o.liquids if o.liquids is not None else 'none'}"
- )
- for key, value in backend_kwargs.items():
- if isinstance(value, list) and all(isinstance(v, bool) for v in value):
- value = "".join("T" if v else "F" for v in value)
- if isinstance(value, list):
- value = "".join(map(str, value))
- row += f" {value:<15}"
- # print(row)
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
- # print(x, y, z)
- # print("moving")
- self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "",channels=use_channels)
-
-
- async def dispense(
- self,
- ops: List[SingleChannelDispense],
- use_channels: List[int],
- **backend_kwargs,
- ):
- # print("Dispensing:")
- header = (
- f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
- f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
- f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
- f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
- f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}} "
- # f"{'liquids':<20}" # TODO: add liquids
- )
- for key in backend_kwargs:
- header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
- # print(header)
-
- for o, p in zip(ops, use_channels):
- offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
- row = (
- f" p{p}: "
- f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
- f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
- f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
- f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
- f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
- f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
- # f"{o.liquids if o.liquids is not None else 'none'}"
- )
- for key, value in backend_kwargs.items():
- if isinstance(value, list) and all(isinstance(v, bool) for v in value):
- value = "".join("T" if v else "F" for v in value)
- if isinstance(value, list):
- value = "".join(map(str, value))
- row += f" {value:<{UniLiquidHandlerRvizBackend._kwargs_length}}"
- # print(row)
- coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
- offset_xyz = ops[0].offset
- x = coordinate.x + offset_xyz.x
- y = coordinate.y + offset_xyz.y
- z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
-
- self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "",channels=use_channels)
-
- async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
- print(f"Picking up tips from {pickup.resource.name}.")
-
- async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
- print(f"Dropping tips to {drop.resource.name}.")
-
- async def aspirate96(
- self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
- ):
- if isinstance(aspiration, MultiHeadAspirationPlate):
- resource = aspiration.wells[0].parent
- else:
- resource = aspiration.container
- print(f"Aspirating {aspiration.volume} from {resource}.")
-
- async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
- if isinstance(dispense, MultiHeadDispensePlate):
- resource = dispense.wells[0].parent
- else:
- resource = dispense.container
- print(f"Dispensing {dispense.volume} to {resource}.")
-
- async def pick_up_resource(self, pickup: ResourcePickup):
- print(f"Picking up resource: {pickup}")
-
- async def move_picked_up_resource(self, move: ResourceMove):
- print(f"Moving picked up resource: {move}")
-
- async def drop_resource(self, drop: ResourceDrop):
- print(f"Dropping resource: {drop}")
-
- def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
- return True
-
diff --git a/unilabos/devices/liquid_handling/test liquid handler/convert_biomek.py b/unilabos/devices/liquid_handling/test liquid handler/convert_biomek.py
deleted file mode 100644
index 712fdd9f..00000000
--- a/unilabos/devices/liquid_handling/test liquid handler/convert_biomek.py
+++ /dev/null
@@ -1,154 +0,0 @@
-
-import json
-from typing import Sequence, Optional, List, Union, Literal
-json_path = "/Users/guangxinzhang/Documents/Deep Potential/opentrons/convert/protocols/enriched_steps/sci-lucif-assay4.json"
-
-with open(json_path, "r") as f:
- data = json.load(f)
-
-transfer_example = data[0]
-#print(transfer_example)
-
-
-temp_protocol = []
-TipLocation = "BC1025F" # Assuming this is a fixed tip location for the transfer
-sources = transfer_example["sources"] # Assuming sources is a list of Container objects
-targets = transfer_example["targets"] # Assuming targets is a list of Container objects
-tip_racks = transfer_example["tip_racks"] # Assuming tip_racks is a list of TipRack objects
-asp_vols = transfer_example["asp_vols"] # Assuming asp_vols is a list of volumes
-solvent = "PBS"
-
-def transfer_liquid(
- #self,
- sources,#: Sequence[Container],
- targets,#: Sequence[Container],
- tip_racks,#: Sequence[TipRack],
- TipLocation,
- # *,
- # use_channels: Optional[List[int]] = None,
- asp_vols: Union[List[float], float],
- solvent: Optional[str] = None,
- # dis_vols: Union[List[float], float],
- # asp_flow_rates: Optional[List[Optional[float]]] = None,
- # dis_flow_rates: Optional[List[Optional[float]]] = None,
- # offsets,#: Optional[List[]] = None,
- # touch_tip: bool = False,
- # liquid_height: Optional[List[Optional[float]]] = None,
- # blow_out_air_volume: Optional[List[Optional[float]]] = None,
- # spread: Literal["wide", "tight", "custom"] = "wide",
- # is_96_well: bool = False,
- # mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
- # mix_times,#: Optional[list() = None,
- # mix_vol: Optional[int] = None,
- # mix_rate: Optional[int] = None,
- # mix_liquid_height: Optional[float] = None,
- # delays: Optional[List[int]] = None,
- # none_keys: List[str] = []
- ):
- # -------- Build Biomek transfer step --------
- # 1) Construct default parameter scaffold (values mirror Biomek “Transfer” block).
-
- transfer_params = {
- "Span8": False,
- "Pod": "Pod1",
- "items": {}, # to be filled below
- "Wash": False,
- "Dynamic?": True,
- "AutoSelectActiveWashTechnique": False,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": False,
- "ChangeTipsBetweenSources": False,
- "DefaultCaption": "", # filled after we know first pair/vol
- "UseExpression": False,
- "LeaveTipsOn": False,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": False,
- "Replicates": "1",
- "ShowTipHandlingDetails": False,
- "ShowTransferDetails": True,
- "Solvent": "Water",
- "Span8Wash": False,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": False,
- "SplitVolumeCleaning": False,
- "Stop": "Destinations",
- "TipLocation": "BC1025F",
- "UseCurrentTips": False,
- "UseDisposableTips": True,
- "UseFixedTips": False,
- "UseJIT": True,
- "UseMandrelSelection": True,
- "UseProbes": [True, True, True, True, True, True, True, True],
- "WashCycles": "1",
- "WashVolume": "110%",
- "Wizard": False
- }
-
- items: dict = {}
- for idx, (src, dst) in enumerate(zip(sources, targets)):
- items[str(idx)] = {
- "Source": str(src),
- "Destination": str(dst),
- "Volume": asp_vols[idx]
- }
- transfer_params["items"] = items
- transfer_params["Solvent"] = solvent if solvent else "Water"
- transfer_params["TipLocation"] = TipLocation
-
- if len(tip_racks) == 1:
- transfer_params['UseCurrentTips'] = True
- elif len(tip_racks) > 1:
- transfer_params["ChangeTipsBetweenDests"] = True
-
- return transfer_params
-
-action = transfer_liquid(sources=sources,targets=targets,tip_racks=tip_racks, asp_vols=asp_vols,solvent = solvent, TipLocation=TipLocation)
-print(json.dumps(action,indent=2))
-# print(action)
-
-
-
-
-"""
- "transfer": {
-
- "items": {},
- "Wash": false,
- "Dynamic?": true,
- "AutoSelectActiveWashTechnique": false,
- "ActiveWashTechnique": "",
- "ChangeTipsBetweenDests": true,
- "ChangeTipsBetweenSources": false,
- "DefaultCaption": "Transfer 100 µL from P13 to P3",
- "UseExpression": false,
- "LeaveTipsOn": false,
- "MandrelExpression": "",
- "Repeats": "1",
- "RepeatsByVolume": false,
- "Replicates": "1",
- "ShowTipHandlingDetails": true,
- "ShowTransferDetails": true,
-
- "Span8Wash": false,
- "Span8WashVolume": "2",
- "Span8WasteVolume": "1",
- "SplitVolume": false,
- "SplitVolumeCleaning": false,
- "Stop": "Destinations",
- "TipLocation": "BC1025F",
- "UseCurrentTips": false,
- "UseDisposableTips": false,
- "UseFixedTips": false,
- "UseJIT": true,
- "UseMandrelSelection": true,
- "UseProbes": [true, true, true, true, true, true, true, true],
- "WashCycles": "3",
- "WashVolume": "110%",
- "Wizard": false
-"""
-
-
-
-
diff --git a/unilabos/devices/liquid_handling/test liquid handler/sci-lucif-assay4.json b/unilabos/devices/liquid_handling/test liquid handler/sci-lucif-assay4.json
deleted file mode 100644
index 012a1606..00000000
--- a/unilabos/devices/liquid_handling/test liquid handler/sci-lucif-assay4.json
+++ /dev/null
@@ -1,4033 +0,0 @@
-[
- {
- "template": "transfer",
- "sources": [
- {
- "well": "A1",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A2",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A3",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A4",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A5",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A6",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A7",
- "labware": "working plate",
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- },
- {
- "well": "A8",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A9",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A10",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A11",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A12",
- "labware": "working plate",
- "slot": 6
- }
- ],
- "targets": [
- {
- "well": "A1",
- "labware": "waste",
- "slot": 9
- },
- {
- "well": "A1",
- "labware": "waste",
- "slot": 9
- },
- {
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- "labware": "waste",
- "slot": 9
- },
- {
- "well": "A1",
- "labware": "waste",
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- },
- {
- "well": "A1",
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- },
- {
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- {
- "well": "A1",
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- {
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- "labware": "waste",
- "slot": 9
- },
- {
- "well": "A1",
- "labware": "waste",
- "slot": 9
- },
- {
- "well": "A1",
- "labware": "waste",
- "slot": 9
- }
- ],
- "tip_racks": [
- {
- "well": "A1",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A2",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A3",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A4",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A5",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A6",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A7",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A8",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A9",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A10",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A11",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- },
- {
- "well": "A12",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 8
- }
- ],
- "use_channels": null,
- "asp_vols": [
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- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0
- ],
- "asp_flow_rates": [
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- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8,
- 18.8
- ],
- "disp_vols": [
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0,
- 120.0
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- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
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- 282.0,
- 282.0
- ],
- "offsets": null,
- "touch_tip": false,
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- 0.0,
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- 0.0,
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- "is_96_well": false,
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- "mix_vol": null,
- "mix_rate": null,
- "mix_liquid_height": null,
- "delays": [
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- null,
- null,
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- null,
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- null,
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- {
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- ]
- },
- {
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- {
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- "well": "A1",
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- "well": "A1",
- "labware": "reagent stock",
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- ],
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- "labware": "working plate",
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- "well": "A3",
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- {
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- "slot": 6
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- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A6",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A7",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A8",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A9",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A10",
- "labware": "working plate",
- "slot": 6
- },
- {
- "well": "A11",
- "labware": "working plate",
- "slot": 6
- },
- {
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- "labware": "working plate",
- "slot": 6
- }
- ],
- "tip_racks": [
- {
- "well": "A1",
- "type": "Opentrons OT-2 96 Tip Rack 300 \u00b5L",
- "slot": 11
- }
- ],
- "use_channels": null,
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- 70.0,
- 70.0,
- 70.0,
- 70.0,
- 70.0,
- 70.0,
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- 282.0,
- 282.0
- ],
- "disp_vols": [
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0,
- 75.0
- ],
- "dis_flow_rates": [
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0,
- 282.0
- ],
- "offsets": null,
- "touch_tip": true,
- "liquid_height": null,
- "blow_out_air_volume": [
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- "is_96_well": false,
- "mix_stage": "after",
- "mix_times": [
- 3
- ],
- "mix_vol": 75.0,
- "mix_rate": null,
- "mix_liquid_height": null,
- "delays": [
- 2,
- 2,
- 2,
- 2,
- 2,
- 2,
- 2,
- 2,
- 2,
- 2,
- 2,
- 2
- ],
- "top": [
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5,
- null,
- -0.5
- ],
- "bottom": [
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null,
- 0.5,
- null
- ],
- "move": [
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null,
- null
- ],
- "center": [
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false,
- false
- ],
- "move_to": [
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- }
- ],
- "mix_detail": [
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- },
- {
- "top": [],
- "bottom": [],
- "move": [],
- "center": []
- },
- {
- "top": [
- null
- ],
- "bottom": [
- 0.5
- ],
- "move": [
- null
- ],
- "center": [
- false
- ]
- }
- ]
- }
-]
\ No newline at end of file
diff --git a/unilabos/devices/liquid_handling/test_transfer_liquid.py b/unilabos/devices/liquid_handling/test_transfer_liquid.py
deleted file mode 100644
index f13980f0..00000000
--- a/unilabos/devices/liquid_handling/test_transfer_liquid.py
+++ /dev/null
@@ -1,13 +0,0 @@
-"""
-说明：
-这里放一个“入口文件”，方便在 `unilabos/devices/liquid_handling` 目录下直接找到
-`transfer_liquid` 的测试。
-
-实际测试用例实现放在仓库标准测试目录：
-`tests/devices/liquid_handling/test_transfer_liquid.py`
-"""
-
-# 让 pytest 能从这里发现同一套测试（避免复制两份测试代码）。
-from tests.devices.liquid_handling.test_transfer_liquid import * # noqa: F401,F403
-
-
diff --git a/unilabos/devices/motor/Consts.py b/unilabos/devices/motor/Consts.py
deleted file mode 100644
index f3603fab..00000000
--- a/unilabos/devices/motor/Consts.py
+++ /dev/null
@@ -1,4 +0,0 @@
-class Config(object):
- DEBUG_MODE = True
- OPEN_DEVICE = True
- DEVICE_ADDRESS = 0x01
\ No newline at end of file
diff --git a/unilabos/devices/motor/FakeSerial.py b/unilabos/devices/motor/FakeSerial.py
deleted file mode 100644
index bcf897e7..00000000
--- a/unilabos/devices/motor/FakeSerial.py
+++ /dev/null
@@ -1,21 +0,0 @@
-class FakeSerial:
- def __init__(self):
- self.data = b''
-
- def write(self, data):
- print("发送数据: ", end="")
- for i in data:
- print(f"{i:02x}", end=" ")
- print() # 换行
- # 这里可模拟把假数据写到某个内部缓存
- # self.data = ...
-
- def setRTS(self, b):
- pass
-
- def read(self, n):
- # 这里可返回预设的响应，例如 b'\x01\x03\x02\x00\x19\x79\x8E'
- return b'\x01\x03\x02\x00\x19\x79\x8E'
-
- def close(self):
- pass
\ No newline at end of file
diff --git a/unilabos/devices/motor/Grasp.py b/unilabos/devices/motor/Grasp.py
deleted file mode 100644
index 08c8611e..00000000
--- a/unilabos/devices/motor/Grasp.py
+++ /dev/null
@@ -1,153 +0,0 @@
-import time
-from serial import Serial
-from threading import Thread
-
-from unilabos.device_comms.universal_driver import UniversalDriver
-
-class EleGripper(UniversalDriver):
- @property
- def status(self) -> str:
- return f"spin_pos: {self.rot_data[0]}, grasp_pos: {self.gri_data[0]}, spin_v: {self.rot_data[1]}, grasp_v: {self.gri_data[1]}, spin_F: {self.rot_data[2]}, grasp_F: {self.gri_data[2]}"
-
- def __init__(self,port,baudrate=115200, pos_error=-11, id = 9):
- self.ser = Serial(port,baudrate)
- self.pos_error = pos_error
-
- self.success = False
-
- # [pos, speed, force]
- self.gri_data = [0,0,0]
- self.rot_data = [0,0,0]
-
- self.id = id
-
- self.init_gripper()
- self.wait_for_gripper_init()
-
- t = Thread(target=self.data_loop)
- t.start()
-
- self.gripper_move(0,255,255)
- self.rotate_move_abs(0,255,255)
-
- def modbus_crc(self, data: bytes) -> bytes:
- crc = 0xFFFF
- for pos in data:
- crc ^= pos
- for _ in range(8):
- if (crc & 0x0001) != 0:
- crc >>= 1
- crc ^= 0xA001
- else:
- crc >>= 1
- return crc.to_bytes(2, byteorder='little')
-
- def send_cmd(self, id, fun, address, data:str):
- data_len = len(bytes.fromhex(data))
- data_ = f"{id:02X} {fun} {address} {data_len//2:04X} {data_len:02X} {data}"
- data_bytes = bytes.fromhex(data_)
- data_with_checksum = data_bytes + self.modbus_crc(data_bytes)
- self.ser.write(data_with_checksum)
- time.sleep(0.01)
- self.ser.read(8)
-
- def read_address(self, id , address, data_len):
- data = f"{id:02X} 03 {address} {data_len:04X}"
- data_bytes = bytes.fromhex(data)
- data_with_checksum = data_bytes + self.modbus_crc(data_bytes)
- self.ser.write(data_with_checksum)
- time.sleep(0.01)
- res_len = 5+data_len*2
- res = self.ser.read(res_len)
- return res
-
- def init_gripper(self):
- self.send_cmd(self.id,'10','03 E8','00 01')
- self.send_cmd(self.id,'10','03 E9','00 01')
-
- def gripper_move(self, pos, speed, force):
- self.send_cmd(self.id,'10', '03 EA', f"{speed:02x} {pos:02x} {force:02x} 01")
-
- def rotate_move_abs(self, pos, speed, force):
- pos += self.pos_error
- if pos < 0:
- pos = (1 << 16) + pos
- self.send_cmd(self.id,'10', '03 EC', f"{(pos):04x} {force:02x} {speed:02x} 0000 00 01")
-
- # def rotate_move_rel(self, pos, speed, force):
- # if pos < 0:
- # pos = (1 << 16) + pos
- # print(f'{pos:04x}')
- # self.send_cmd(self.id,'10', '03 EC', f"0000 {force:02x} {speed:02x} {pos:04x} 00 02")
-
- def wait_for_gripper_init(self):
- res = self.read_address(self.id, "07 D0", 1)
- res_r = self.read_address(self.id, "07 D1", 1)
- while res[4] == 0x08 or res_r[4] == 0x08:
- res = self.read_address(self.id, "07 D0", 1)
- res_r = self.read_address(self.id, "07 D1", 1)
- time.sleep(0.1)
-
- def wait_for_gripper(self):
- while self.gri_data[1] != 0:
- time.sleep(0.1)
-
- def wait_for_rotate(self):
- while self.rot_data[1] != 0:
- time.sleep(0.1)
-
- def data_reader(self):
- res_g = self.read_address(self.id, "07 D2", 2)
- res_r = self.read_address(self.id, "07 D4", 4)
- int32_value = (res_r[3] << 8) | res_r[4]
- if int32_value > 0x7FFF:
- int32_value -= 0x10000
- self.gri_data = (int(res_g[4]), int(res_g[3]), int(res_g[5]))
- self.rot_data = (int32_value, int(res_r[5]), int(res_r[6]))
-
- def data_loop(self):
- while True:
- self.data_reader()
- time.sleep(0.1)
-
-
- def node_gripper_move(self, cmd:str):
- self.success = False
-
- try:
- cmd_list = [int(x) for x in cmd.replace(' ','').split(',')]
- self.gripper_move(*cmd_list)
- self.wait_for_gripper()
- except Exception as e:
- raise e
-
- self.success = True
-
- def node_rotate_move(self, cmd:str):
- self.success = False
-
- try:
- cmd_list = [int(x) for x in cmd.replace(' ','').split(',')]
- self.rotate_move_abs(*cmd_list)
- self.wait_for_rotate()
- except Exception as e:
- raise e
-
- self.success = True
-
- def move_and_rotate(self, spin_pos, grasp_pos, spin_v, grasp_v, spin_F, grasp_F):
- self.gripper_move(grasp_pos, grasp_v, grasp_F)
- self.wait_for_gripper()
- self.rotate_move_abs(spin_pos, spin_v, spin_F)
- self.wait_for_rotate()
-
-if __name__ == "__main__":
- gripper = EleGripper("COM12")
- gripper.init_gripper()
- gripper.wait_for_gripper_init()
- gripper.gripper_move(210,127,255)
- gripper.wait_for_gripper()
- gripper.rotate_move_abs(135,10,255)
- gripper.data_reader()
- print(gripper.rot_data)
-
diff --git a/unilabos/devices/motor/Utils.py b/unilabos/devices/motor/Utils.py
deleted file mode 100644
index 20c44ad7..00000000
--- a/unilabos/devices/motor/Utils.py
+++ /dev/null
@@ -1,87 +0,0 @@
-import struct
-import time
-from typing import Union
-
-from .Consts import Config
-
-def calculate_modbus_crc16(data: bytes) -> tuple[int, int]:
- """
- 计算 Modbus RTU 的 CRC16 校验码，返回 (low_byte, high_byte)。
- data 可以是 bytes 或者 bytearray
- """
- crc = 0xFFFF
- for byte in data:
- crc ^= byte
- for _ in range(8):
- if (crc & 0x0001):
- crc = (crc >> 1) ^ 0xA001
- else:
- crc >>= 1
-
- # 低字节在前、高字节在后
- low_byte = crc & 0xFF
- high_byte = (crc >> 8) & 0xFF
- return low_byte, high_byte
-
-
-def create_command(slave_id, func_code, address, data):
- """
- 生成完整的 Modbus 通信指令：
- - 第1字节: 从站地址
- - 第2字节: 功能码
- - 第3~4字节: 寄存器地址 (大端)
- - 第5~6字节: 数据(或读寄存器个数) (大端)
- - 第7~8字节: CRC校验, 先低后高
- """
- # 按照大端格式打包：B(1字节), B(1字节), H(2字节), H(2字节)
- # 例如: 0x03, 0x03, 0x0191, 0x0001
- # 生成的命令将是: 03 03 01 91 00 01 (不含 CRC)
- command = struct.pack(">B B H H", slave_id, func_code, address, data)
-
- # 计算CRC，并将低字节、后高字节拼到末尾
- low_byte, high_byte = calculate_modbus_crc16(command)
- return command + bytes([low_byte, high_byte])
-
-
-def send_command(ser, command) -> Union[bytes, str]:
- """通过串口发送指令并打印响应"""
- # Modbus RTU 半双工，发送前拉高 RTS
- ser.setRTS(True)
- time.sleep(0.02)
- ser.write(command) # 发送指令
- if Config.OPEN_DEVICE:
- # 如果是实际串口，就打印16进制的发送内容
- print(f"发送的数据: ", end="")
- for ind, c in enumerate(command.hex().upper()):
- if ind % 2 == 0 and ind != 0:
- print(" ", end="")
- print(c, end="")
-
- # 发送完成后，切换到接收模式
- ser.setRTS(False)
-
- # 读取响应，具体长度要看从站返回，有时多字节
- response = ser.read(8) # 假设响应是8字节
- print(f"接收到的数据: ", end="")
- for ind, c in enumerate(response.hex().upper()):
- if ind % 2 == 0 and ind != 0:
- print(" ", end="")
- print(c, end="")
- print()
- return response
-
-def get_result_byte_int(data: bytes, byte_start: int = 6, byte_end: int = 10) -> int:
- return int(data.hex()[byte_start:byte_end], 16)
-
-def get_result_byte_str(data: bytes, byte_start: int = 6, byte_end: int = 10) -> str:
- return data.hex()[byte_start:byte_end]
-
-def run_commands(ser, duration=0.1, *commands):
- for cmd in commands:
- if isinstance(cmd, list):
- for c in cmd:
- send_command(ser, c)
- time.sleep(duration)
- else:
- send_command(ser, cmd)
- time.sleep(duration)
diff --git a/unilabos/devices/motor/__init__.py b/unilabos/devices/motor/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/motor/base_types/PrPath.py b/unilabos/devices/motor/base_types/PrPath.py
deleted file mode 100644
index 86b3bfe4..00000000
--- a/unilabos/devices/motor/base_types/PrPath.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from enum import Enum
-
-class PR_PATH(Enum):
- # TYPE (Bit0-3)
- TYPE_NO_ACTION = 0x0000 # 无动作
- TYPE_POSITIONING = 0x0001 # 位置定位
- TYPE_VELOCITY = 0x0002 # 速度运行
- TYPE_HOME = 0x0003 # 回零
-
- # INS (Bit4) - 默认都是插断模式
- INS_INTERRUPT = 0x0010 # 插断
-
- # OVLP (Bit5) - 默认都是不重叠
- OVLP_NO_OVERLAP = 0x0000 # 不重叠
-
- # POSITION MODE (Bit6)
- POS_ABSOLUTE = 0x0000 # 绝对位置
- POS_RELATIVE = 0x0040 # 相对位置
-
- # MOTOR MODE (Bit7)
- MOTOR_ABSOLUTE = 0x0000 # 绝对电机
- MOTOR_RELATIVE = 0x0080 # 相对电机
-
- # 常用组合（默认都是插断且不重叠）
- # 位置定位相关
- ABS_POS = TYPE_POSITIONING | INS_INTERRUPT | OVLP_NO_OVERLAP | POS_ABSOLUTE # 绝对定位
- REL_POS = TYPE_POSITIONING | INS_INTERRUPT | OVLP_NO_OVERLAP | POS_RELATIVE # 相对定位
-
- # 速度运行相关
- VELOCITY = TYPE_VELOCITY | INS_INTERRUPT | OVLP_NO_OVERLAP # 速度模式
-
- # 回零相关
- HOME = TYPE_HOME | INS_INTERRUPT | OVLP_NO_OVERLAP # 回零模式
-
- # 电机模式组合
- ABS_POS_REL_MOTOR = ABS_POS | MOTOR_RELATIVE # 绝对定位+相对电机
- REL_POS_REL_MOTOR = REL_POS | MOTOR_RELATIVE # 相对定位+相对电机
diff --git a/unilabos/devices/motor/base_types/__init__.py b/unilabos/devices/motor/base_types/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/motor/commands/PositionControl.py b/unilabos/devices/motor/commands/PositionControl.py
deleted file mode 100644
index b3cabbf8..00000000
--- a/unilabos/devices/motor/commands/PositionControl.py
+++ /dev/null
@@ -1,92 +0,0 @@
-
-from ..base_types.PrPath import PR_PATH
-from ..Utils import create_command, get_result_byte_int, get_result_byte_str, send_command
-
-
-def create_position_commands(slave_id: int, which: int, how: PR_PATH,
- position: float, velocity: int = 300,
- acc_time: int = 50, dec_time: int = 50,
- special: int = 0) -> list[list[bytes]]:
- """
- 创建位置相关的Modbus命令列表
-
- Args:
- slave_id: 从站地址
- which: PR路径号(0-7)
- how: PR_PATH枚举，定义运动方式
- position: 目标位置(Pulse)
- velocity: 运行速度(rpm)
- acc_time: 加速时间(ms/Krpm)，默认50
- dec_time: 减速时间(ms/Krpm)，默认50
- special: 特殊参数，默认0
-
- Returns:
- 包含所有设置命令的列表
- """
- if not 0 <= which <= 7:
- raise ValueError("which必须在0到7之间")
-
- base_addr = 0x6200 + which * 8
-
- # 位置值保持原样（Pulse）
- position = int(position)
- print(f"路径方式 {' '.join(bin(how.value)[2:])} 位置 {position} 速度 {velocity}")
- position_high = (position >> 16) & 0xFFFF # 获取高16位
- position_low = position & 0xFFFF # 获取低16位
-
- # 速度值（rpm）转换为0x0000格式
- velocity_value = 0x0000 + velocity
-
- # 加减速时间（ms/Krpm）转换为0x0000格式
- acc_time_value = 0x0000 + int(acc_time)
- dec_time_value = 0x0000 + int(dec_time)
-
- # 特殊参数转换为0x0000格式
- special_value = 0x0000 + special
- return [
- create_command(slave_id, 0x06, base_addr + 0, how.value), # 路径方式
- create_command(slave_id, 0x06, base_addr + 1, position_high), # 位置高16位
- create_command(slave_id, 0x06, base_addr + 2, position_low), # 位置低16位
- create_command(slave_id, 0x06, base_addr + 3, velocity_value), # 运行速度
- create_command(slave_id, 0x06, base_addr + 4, acc_time_value), # 加速时间
- create_command(slave_id, 0x06, base_addr + 5, dec_time_value), # 减速时间
- create_command(slave_id, 0x06, base_addr + 6, special_value), # 特殊参数
- ]
-
-def create_position_run_command(slave_id: int, which: int) -> list[list[bytes]]:
- print(f"运行路径 PR{which}")
- return [create_command(slave_id, 0x06, 0x6002, 0x0010 + which)]
-
-def run_set_position_zero(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
- print(f"手动回零")
- send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x6002, 0x0021))
-
-def run_stop(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
- print(f"急停")
- send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x6002, 0x0040))
-
-def run_set_forward_run(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
- print(f"设定正方向运动")
- send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x0007, 0x0000))
-
-def run_set_backward_run(ser, DEVICE_ADDRESS) -> list[list[bytes]]:
- print(f"设定反方向运动")
- send_command(ser, create_command(DEVICE_ADDRESS, 0x06, 0x0007, 0x0001))
-
-def run_get_command_position(ser, DEVICE_ADDRESS, print_pos=True) -> int:
- retH = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602A, 0x0001)) # 命令位置H
- retL = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602B, 0x0001)) # 命令位置L
- value = get_result_byte_str(retH) + get_result_byte_str(retL)
- value = int(value, 16)
- if print_pos:
- print(f"命令位置: {value}")
- return value
-
-def run_get_motor_position(ser, DEVICE_ADDRESS, print_pos=True) -> int:
- retH = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602C, 0x0001)) # 电机位置H
- retL = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x602D, 0x0001)) # 电机位置L
- value = get_result_byte_str(retH) + get_result_byte_str(retL)
- value = int(value, 16)
- if print_pos:
- print(f"电机位置: {value}")
- return value
diff --git a/unilabos/devices/motor/commands/Status.py b/unilabos/devices/motor/commands/Status.py
deleted file mode 100644
index c9d954c7..00000000
--- a/unilabos/devices/motor/commands/Status.py
+++ /dev/null
@@ -1,44 +0,0 @@
-import time
-from ..Utils import create_command, send_command
-from .PositionControl import run_get_motor_position
-
-
-def run_get_status(ser, DEVICE_ADDRESS, print_status=True) -> list[list[bytes]]:
- # Bit0 故障
- # Bit1 使能
- # Bit2 运行
- # Bit4 指令完成
- # Bit5 路径完成
- # Bit6 回零完成
- ret = send_command(ser, create_command(DEVICE_ADDRESS, 0x03, 0x1003, 0x0001))
- status = bin(int(ret.hex()[6:10], 16))[2:]
- # 用0左位补齐
- status = status.zfill(8)
- status_info_list = []
- if status[-1] == "1":
- status_info_list.append("故障")
- if status[-2] == "1":
- status_info_list.append("使能")
- if status[-3] == "1":
- status_info_list.append("运行")
- if status[-5] == "1":
- status_info_list.append("指令完成")
- if status[-6] == "1":
- status_info_list.append("路径完成")
- if status[-7] == "1":
- status_info_list.append("回零完成")
- if print_status:
- print(f"获取状态: {' '.join(status_info_list)}")
- return status_info_list
-
-def run_until_status(ser, DEVICE_ADDRESS, status_info: str, max_time=10):
- start_time = time.time()
- while True:
- ret = run_get_status(ser, DEVICE_ADDRESS)
- if status_info in ret:
- break
- if time.time() - start_time > max_time:
- print(f"状态未达到 {status_info} 超时")
- return False
- time.sleep(0.05)
- return True
diff --git a/unilabos/devices/motor/commands/Warning.py b/unilabos/devices/motor/commands/Warning.py
deleted file mode 100644
index 6744e072..00000000
--- a/unilabos/devices/motor/commands/Warning.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from serial import Serial
-from ..Consts import Config
-from ..Utils import create_command, send_command
-
-
-def create_elimate_warning_command(DEVICE_ADDRESS):
- return create_command(DEVICE_ADDRESS, 0x06, 0x0145, 0x0087)
-
-
-def run_elimate_warning(ser: Serial, DEVICE_ADDRESS):
- send_command(ser, create_elimate_warning_command(DEVICE_ADDRESS))
- print("清除警报")
diff --git a/unilabos/devices/motor/commands/__init__.py b/unilabos/devices/motor/commands/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/motor/iCL42.py b/unilabos/devices/motor/iCL42.py
deleted file mode 100644
index 57bc4678..00000000
--- a/unilabos/devices/motor/iCL42.py
+++ /dev/null
@@ -1,126 +0,0 @@
-import os
-import sys
-from abc import abstractmethod
-from typing import Optional
-
-import serial
-
-from .Consts import Config
-from .FakeSerial import FakeSerial
-from .Utils import run_commands
-from .base_types.PrPath import PR_PATH
-from .commands.PositionControl import run_get_command_position, run_set_forward_run, create_position_commands, \
- create_position_run_command
-from .commands.Warning import run_elimate_warning
-
-try:
- from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
- from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
- from unilabos.device_comms import universal_driver as ud
-except Exception as e:
- sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
- from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
- from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
- from unilabos.device_comms import universal_driver as ud
- print(f"使用文件DEBUG运行: {e}")
-
-
-class iCL42Driver(UniversalDriver):
- _ser: Optional[serial.Serial | FakeSerial] = None
- _motor_position: Optional[int] = None
- _DEVICE_COM: Optional[str] = None
- _DEVICE_ADDRESS: Optional[int] = None
- # 运行状态
- _is_executing_run: bool = False
- _success: bool = False
-
- @property
- def motor_position(self) -> int:
- return self._motor_position
-
- @property
- def is_executing_run(self) -> bool:
- return self._is_executing_run
-
- @property
- def success(self) -> bool:
- return self._success
-
- def init_device(self):
- # 配置串口参数
- if Config.OPEN_DEVICE:
- self._ser = serial.Serial(
- port=self._DEVICE_COM, # 串口号
- baudrate=38400, # 波特率
- bytesize=serial.EIGHTBITS, # 数据位
- parity=serial.PARITY_NONE, # 校验位 N-无校验
- stopbits=serial.STOPBITS_TWO, # 停止位
- timeout=1 # 超时时间
- )
- else:
- self._ser = FakeSerial()
-
- def run_motor(self, mode: str, position: float, velocity: int):
- if self._ser is None:
- print("Device is not initialized")
- self._success = False
- return False
- def post_func(res, _):
- self._success = res
- if not res:
- self._is_executing_run = False
- ins: SingleRunningExecutor = SingleRunningExecutor.get_instance(
- self.execute_run_motor, post_func
- )
- # if not ins.is_ended and ins.is_started:
- # print("Function is running")
- # self._success = False
- # return False
- # elif not ins.is_started:
- # print("Function started")
- # ins.start() # 开始执行
- # else:
- # print("Function reset and started")
- ins.reset()
- ins.start(mode=mode, position=position, velocity=velocity)
-
- def execute_run_motor(self, mode: str, position: float, velocity: int):
- position = int(position * 1000)
- PR = 0
- run_elimate_warning(self._ser, self._DEVICE_ADDRESS)
- run_set_forward_run(self._ser, self._DEVICE_ADDRESS)
- run_commands(
- self._ser, 0.1,
- create_position_commands(self._DEVICE_ADDRESS, PR, PR_PATH[mode], position, velocity), # 41.8cm 21.8cm
- create_position_run_command(self._DEVICE_ADDRESS, PR),
- )
- # if run_until_status(self._ser, self._DEVICE_ADDRESS, "路径完成"):
- # pass
-
-
- def __init__(self, device_com: str = "COM9", device_address: int = 0x01):
- self._DEVICE_COM = device_com
- self._DEVICE_ADDRESS = device_address
- self.init_device()
- # 启动所有监控器
- self.checkers = [
- # PositionChecker(self, 1),
- ]
- for checker in self.checkers:
- checker.start_monitoring()
-
-@abstractmethod
-class DriverChecker(ud.DriverChecker):
- driver: iCL42Driver
-
-class PositionChecker(DriverChecker):
- def check(self):
- # noinspection PyProtectedMember
- if self.driver._ser is not None:
- # noinspection PyProtectedMember
- self.driver._motor_position = run_get_command_position(self.driver._ser, self.driver._DEVICE_ADDRESS)
-
-# 示例用法
-if __name__ == "__main__":
- driver = iCL42Driver("COM3")
- driver._is_executing_run = True
diff --git a/unilabos/devices/motor/test.py b/unilabos/devices/motor/test.py
deleted file mode 100644
index dea221ba..00000000
--- a/unilabos/devices/motor/test.py
+++ /dev/null
@@ -1,79 +0,0 @@
-# 使用pyserial进行485的协议通信，端口指定为COM4
-import serial
-from serial.rs485 import RS485Settings
-import traceback
-
-
-from Consts import Config
-from FakeSerial import FakeSerial
-from base_types.PrPath import PR_PATH
-from Utils import run_commands
-from commands.PositionControl import create_position_commands, create_position_run_command, run_get_command_position, run_get_motor_position, run_set_forward_run
-from commands.Status import run_get_status, run_until_status
-from commands.Warning import run_elimate_warning
-from Grasp import EleGripper
-
-
-DEVICE_ADDRESS = Config.DEVICE_ADDRESS
-
-# 配置串口参数
-if Config.OPEN_DEVICE:
- ser = serial.Serial(
- port='COM11', # 串口号
- baudrate=38400, # 波特率
- bytesize=serial.EIGHTBITS, # 数据位
- parity=serial.PARITY_NONE, # 校验位 N-无校验
- stopbits=serial.STOPBITS_TWO, # 停止位
- timeout=1 # 超时时间
- )
-else:
- ser = FakeSerial()
-
-# RS485模式支持（如果需要）
-try:
- ser.rs485_mode = RS485Settings(
- rts_level_for_tx=True,
- rts_level_for_rx=False,
- # delay_before_tx=0.01,
- # delay_before_rx=0.01
- )
-except AttributeError:
- traceback.print_exc()
- print("RS485模式需要支持的硬件和pyserial版本")
-
-# run_set_position_zero(ser, DEVICE_ADDRESS)
-
-# api.get_running_state(ser, DEVICE_ADDRESS)
-gripper = EleGripper("COM12")
-gripper.init_gripper()
-gripper.wait_for_gripper_init()
-PR = 0
-run_get_status(ser, DEVICE_ADDRESS)
-run_elimate_warning(ser, DEVICE_ADDRESS)
-run_set_forward_run(ser, DEVICE_ADDRESS)
-run_commands(
- ser, 0.1,
- create_position_commands(DEVICE_ADDRESS, PR, PR_PATH.ABS_POS, 20 * 1000, 300), # 41.8cm 21.8cm
- create_position_run_command(DEVICE_ADDRESS, PR),
-)
-if run_until_status(ser, DEVICE_ADDRESS, "路径完成"):
- pass
-gripper.gripper_move(210,127,255)
-gripper.wait_for_gripper()
-gripper.rotate_move_abs(135,10,255)
-gripper.data_reader()
-print(gripper.rot_data)
-run_commands(
- ser, 0.1,
- create_position_commands(DEVICE_ADDRESS, PR, PR_PATH.ABS_POS, 30 * 1000, 300), # 41.8cm 21.8cm
- create_position_run_command(DEVICE_ADDRESS, PR),
-)
-gripper.gripper_move(210,127,255)
-gripper.wait_for_gripper()
-gripper.rotate_move_abs(135,10,255)
-gripper.data_reader()
-
-# run_get_command_position(ser, DEVICE_ADDRESS)
-# run_get_motor_position(ser, DEVICE_ADDRESS)
-
-# ser.close()
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
deleted file mode 100644
index 21826dff..00000000
--- a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md
+++ /dev/null
@@ -1,560 +0,0 @@
-# 新威电池测试系统 - OSS 上传功能说明
-
-## 功能概述
-
-本次更新为新威电池测试系统添加了**阿里云 OSS 文件上传功能**，采用统一的 API 方式，允许将测试数据备份文件上传到云端存储。
-
-## 版本更新说明
-
-### ⚠️ 重大变更（2025-12-17）
-
-本次更新将 OSS 上传方式从 **`oss2` 库** 改为 **统一 API 方式**，实现与团队其他系统的统一。
-
-**主要变化**：
-- ✅ 用 `requests` 库
-- ✅ 通过统一 API 获取预签名 URL 进行上传
-- ✅ 简化环境变量配置（仅需要 JWT Token）
-- ✅ 返回文件访问 URL
-
-## 主要改动
-
-### 1. OSS 上传工具函数重构（第30-200行）
-
-#### 新增函数
-
-- **`get_upload_token(base_url, auth_token, scene, filename)`**
- 从统一 API 获取文件上传的预签名 URL
-
-- **`upload_file_with_presigned_url(upload_info, file_path)`**
- 使用预签名 URL 上传文件到 OSS
-
-#### 更新的函数
-
-- **`upload_file_to_oss(local_file_path, oss_object_name)`**
- 上传单个文件到阿里云 OSS（使用统一 API 方式）
- - 返回值变更：成功时返回文件访问 URL，失败时返回 `False`
-
-- **`upload_files_to_oss(file_paths, oss_prefix)`**
- 批量上传文件列表
- - `oss_prefix` 参数保留但暂不使用（接口兼容性）
-
-- **`upload_directory_to_oss(local_dir, oss_prefix)`**
- 上传整个目录
- - 简化实现，直接使用文件名上传
-
-### 2. 环境变量配置简化
-
-#### 新方式（推荐）
-```bash
-# ✅ 必需
-UNI_LAB_AUTH_TOKEN # API Key 格式: "Api xxxxxx"
-
-# ✅ 可选（有默认值）
-UNI_LAB_BASE_URL (默认: https://uni-lab.test.bohrium.com)
-UNI_LAB_UPLOAD_SCENE (默认: job，其他值会被改成 default)
-```
-
-### 3. 初始化方法（保持不变）
-
-`__init__` 方法中的 OSS 相关配置参数：
-
-```python
-# OSS 上传配置
-self.oss_upload_enabled = False # 默认不启用 OSS 上传
-self.oss_prefix = "neware_backup" # OSS 对象路径前缀
-self._last_backup_dir = None # 记录最近一次的 backup_dir
-```
-
-**默认行为**：OSS 上传功能默认关闭（`oss_upload_enabled=False`），不影响现有系统。
-
-### 4. upload_backup_to_oss 方法（保持不变）
-
-```python
-def upload_backup_to_oss(
- self,
- backup_dir: str = None,
- file_pattern: str = "*",
- oss_prefix: str = None
-) -> dict
-```
-
-## 使用说明
-
-### 前置条件
-
-#### 1. 安装依赖
-
-```bash
-# requests 库（通常已安装）
-pip install requests
-```
-
-#### 2. 配置环境变量
-
-根据您使用的终端类型配置环境变量：
-
-##### PowerShell（推荐）
-
-```powershell
-# 必需：设置认证 Token（API Key 格式）
-$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
-
-# 可选：自定义服务器地址（默认为 test 环境）
-$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
-
-# 可选：自定义上传场景（默认为 job）
-$env:UNI_LAB_UPLOAD_SCENE = "job"
-
-# 验证是否设置成功
-echo $env:UNI_LAB_AUTH_TOKEN
-```
-
-##### CMD / 命令提示符
-
-```cmd
-REM 必需：设置认证 Token（API Key 格式）
-set UNI_LAB_AUTH_TOKEN=Api xxxx
-
-REM 可选：自定义配置
-set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
-set UNI_LAB_UPLOAD_SCENE=job
-
-REM 验证是否设置成功
-echo %UNI_LAB_AUTH_TOKEN%
-```
-
-##### Linux/Mac
-
-```bash
-# 必需：设置认证 Token（API Key 格式）
-export UNI_LAB_AUTH_TOKEN="Api xxxx"
-
-# 可选：自定义配置
-export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
-export UNI_LAB_UPLOAD_SCENE="job"
-
-# 验证是否设置成功
-echo $UNI_LAB_AUTH_TOKEN
-```
-
-#### 3. 获取认证 Token
-
-> **重要**：从 Uni-Lab 主页 → 账号安全 中获取 API Key。
-
-**获取步骤**：
-1. 登录 Uni-Lab 系统
-2. 进入主页 → 账号安全
-3. 复制 API Key
-
-Token 格式示例：
-```
-Api 48ccxx336fba44f39e1e37db93xxxxx
-```
-
-> **提示**：
-> - 如果 Token 已经包含 `Api ` 前缀，直接使用
-> - 如果没有前缀，代码会自动添加 `Api ` 前缀
-> - 旧版 `Bearer` JWT Token 格式仍然兼容
-
-#### 4. 持久化配置（可选）
-
-**临时配置**：上述命令设置的环境变量只在当前终端会话中有效。
-
-**持久化方式 1：PowerShell 配置文件**
-```powershell
-# 编辑 PowerShell 配置文件
-notepad $PROFILE
-
-# 在打开的文件中添加：
-$env:UNI_LAB_AUTH_TOKEN = "Api 你的API_Key"
-```
-
-**持久化方式 2：Windows 系统环境变量**
-- 右键"此电脑" → "属性" → "高级系统设置" → "环境变量"
-- 添加用户变量或系统变量：
- - 变量名：`UNI_LAB_AUTH_TOKEN`
- - 变量值：`Api 你的API_Key`
-
-### 使用流程
-
-#### 步骤 1：启用 OSS 上传功能
-
-**推荐方式：在 `device.json` 中配置**
-
-编辑设备配置文件 `unilabos/devices/neware_battery_test_system/device.json`，在 `config` 中添加：
-
-```json
-{
- "nodes": [
- {
- "id": "NEWARE_BATTERY_TEST_SYSTEM",
- "config": {
- "ip": "127.0.0.1",
- "port": 502,
- "machine_id": 1,
- "oss_upload_enabled": true,
- "oss_prefix": "neware_backup/2025-12"
- }
- }
- ]
-}
-```
-
-**参数说明**：
-- `oss_upload_enabled`: 设置为 `true` 启用 OSS 上传
-- `oss_prefix`: OSS 文件路径前缀，建议按日期或项目组织（暂时未使用，保留接口兼容性）
-
-**其他方式：通过初始化参数**
-
-```python
-device = NewareBatteryTestSystem(
- ip="127.0.0.1",
- port=502,
- oss_upload_enabled=True, # 启用 OSS 上传
- oss_prefix="neware_backup/2025-12" # 可选：自定义路径前缀
-)
-```
-
-**配置完成后，重启 ROS 节点使配置生效。**
-
-#### 步骤 2：提交测试任务
-
-使用 `submit_from_csv` 提交测试任务：
-
-```python
-result = device.submit_from_csv(
- csv_path="test_data.csv",
- output_dir="D:/neware_output"
-)
-```
-
-此时会创建以下目录结构：
-```
-D:/neware_output/
-├── xml_dir/ # XML 配置文件
-└── backup_dir/ # 测试数据备份（由新威设备生成）
-```
-
-#### 步骤 3：等待测试完成
-
-等待新威设备完成测试，备份文件会生成到 `backup_dir` 中。
-
-#### 步骤 4：上传备份文件到 OSS
-
-**方法 A：使用默认设置（推荐）**
-```python
-# 自动使用最近一次的 backup_dir，上传所有文件
-result = device.upload_backup_to_oss()
-```
-
-**方法 B：指定备份目录**
-```python
-# 手动指定备份目录
-result = device.upload_backup_to_oss(
- backup_dir="D:/neware_output/backup_dir"
-)
-```
-
-**方法 C：筛选特定文件**
-```python
-# 仅上传 CSV 文件
-result = device.upload_backup_to_oss(
- backup_dir="D:/neware_output/backup_dir",
- file_pattern="*.csv"
-)
-
-# 仅上传特定电池编号的文件
-result = device.upload_backup_to_oss(
- file_pattern="Battery_A001_*.nda"
-)
-```
-
-### 返回结果示例
-
-**成功上传所有文件**：
-```python
-{
- "return_info": "全部上传成功: 15/15 个文件",
- "success": True,
- "uploaded_count": 15,
- "total_count": 15,
- "failed_files": [],
- "uploaded_files": [
- {
- "filename": "Battery_A001.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
- },
- {
- "filename": "Battery_A002.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
- }
- # ... 其他 13 个文件
- ]
-}
-```
-
-**部分上传成功**：
-```python
-{
- "return_info": "部分上传成功: 12/15 个文件，失败 3 个",
- "success": True,
- "uploaded_count": 12,
- "total_count": 15,
- "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
- "uploaded_files": [
- {
- "filename": "Battery_A001.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
- },
- {
- "filename": "Battery_A002.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
- }
- # ... 其他 10 个成功上传的文件
- ]
-}
-```
-
-> **说明**：`uploaded_files` 字段包含所有成功上传文件的详细信息：
-> - `filename`: 文件名（不含路径）
-> - `url`: 文件在 OSS 上的完整访问 URL
-
-## 错误处理
-
-### OSS 上传未启用
-
-如果 `oss_upload_enabled=False`，调用 `upload_backup_to_oss` 会返回：
-```python
-{
- "return_info": "OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: ...",
- "success": False,
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": []
-}
-```
-
-**解决方法**：设置 `device.oss_upload_enabled = True`
-
-### 环境变量未配置
-
-如果缺少 `UNI_LAB_AUTH_TOKEN`，会返回：
-```python
-{
- "return_info": "OSS 环境变量配置错误: 请设置环境变量: UNI_LAB_AUTH_TOKEN",
- "success": False,
- ...
-}
-```
-
-**解决方法**：按照前置条件配置环境变量
-
-### 备份目录不存在
-
-如果指定的备份目录不存在，会返回：
-```python
-{
- "return_info": "备份目录不存在: D:/neware_output/backup_dir",
- "success": False,
- ...
-}
-```
-
-**解决方法**：检查目录路径是否正确，或等待测试生成备份文件
-
-### API 认证失败
-
-如果 Token 无效或过期，会返回：
-```python
-{
- "return_info": "获取凭证失败: 认证失败",
- "success": False,
- ...
-}
-```
-
-**解决方法**：检查 Token 是否正确，或联系开发团队获取新 Token
-
-## 技术细节
-
-### OSS 上传流程（新方式）
-
-```mermaid
-flowchart TD
- A[开始上传] --> B[验证配置和环境变量]
- B --> C[扫描备份目录]
- C --> D[筛选符合 pattern 的文件]
- D --> E[遍历每个文件]
- E --> F[调用 API 获取预签名 URL]
- F --> G{获取成功?}
- G -->|是| H[使用预签名 URL 上传文件]
- G -->|否| I[记录失败]
- H --> J{上传成功?}
- J -->|是| K[记录成功 + 文件 URL]
- J -->|否| I
- I --> L{还有文件?}
- K --> L
- L -->|是| E
- L -->|否| M[返回统计结果]
-```
-
-### 上传 API 流程
-
-1. **获取预签名 URL**
- - 请求：`GET /api/v1/applications/token?scene={scene}&filename={filename}`
- - 认证：`Authorization: Bearer {token}`
- - 响应：`{code: 0, data: {url: "预签名URL", path: "文件路径"}}`
-
-2. **上传文件**
- - 请求：`PUT {预签名URL}`
- - 内容：文件二进制数据
- - 响应：HTTP 200 表示成功
-
-3. **生成访问 URL**
- - 格式：`https://{OSS_PUBLIC_HOST}/{path}`
- - 示例：`https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
-
-### 日志记录
-
-所有上传操作都会通过 ROS 日志系统记录：
-- `INFO` 级别：上传进度和成功信息
-- `WARNING` 级别：空目录、未启用等警告
-- `ERROR` 级别：上传失败、配置错误
-
-## 注意事项
-
-1. **上传时机**：`backup_dir` 中的文件是在新威设备执行测试过程中实时生成的，请确保测试已完成再上传。
-
-2. **文件命名**：上传到 OSS 的文件会保留原始文件名，路径由统一 API 分配。
-
-3. **网络要求**：上传需要稳定的网络连接到阿里云 OSS 服务。
-
-4. **Token 有效期**：JWT Token 有过期时间，过期后需要重新获取。
-
-5. **成本考虑**：OSS 存储和流量会产生费用，请根据需要合理设置文件筛选规则。
-
-6. **并发上传**：当前实现为串行上传，大量文件上传可能需要较长时间。
-
-7. **文件大小限制**：请注意单个文件大小是否有上传限制（由统一 API 控制）。
-
-## 兼容性
-
-- ✅ **向后兼容**：默认 `oss_upload_enabled=False`，不影响现有系统
-- ✅ **可选功能**：仅在需要时启用
-- ✅ **独立操作**：上传失败不会影响测试任务的提交和执行
-- ⚠️ **环境变量变更**：需要更新环境变量配置（从 OSS AK/SK 改为 JWT Token）
-
-## 迁移指南
-
-如果您之前使用 `oss2` 库方式，请按以下步骤迁移：
-
-### 1. 卸载旧依赖（可选）
-```bash
-pip uninstall oss2
-```
-
-### 2. 删除旧环境变量
-```powershell
-# PowerShell
-Remove-Item Env:\OSS_ACCESS_KEY_ID
-Remove-Item Env:\OSS_ACCESS_KEY_SECRET
-Remove-Item Env:\OSS_BUCKET_NAME
-Remove-Item Env:\OSS_ENDPOINT
-```
-
-### 3. 设置新环境变量
-```powershell
-# PowerShell
-$env:UNI_LAB_AUTH_TOKEN = "Bearer 你的token..."
-```
-
-### 4. 测试上传功能
-```python
-# 验证上传是否正常工作
-result = device.upload_backup_to_oss(backup_dir="测试目录")
-print(result)
-```
-
-## 常见问题
-
-**Q: 为什么要从 `oss2` 改为统一 API？**
-A: 为了与团队其他系统保持一致，简化配置，并统一认证方式。
-
-**Q: Token 在哪里获取？**
-A: 请联系开发团队获取有效的 JWT Token。
-
-**Q: Token 过期了怎么办？**
-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？**
-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？**
-A: 上传成功后会返回文件访问 URL，格式为 `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
-
-**Q: 如何删除已上传的文件？**
-A: 需要通过 OSS 控制台或 API 操作，本功能仅负责上传。
-
-## 验证上传结果
-
-### 方法1：通过阿里云控制台查看
-
-1. 登录 [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
-2. 点击左侧 **Bucket列表**
-3. 选择 `uni-lab-test` Bucket
-4. 点击 **文件管理**
-5. 查看上传的文件列表
-
-### 方法2：使用返回的文件 URL
-
-上传成功后，`upload_file_to_oss()` 会返回文件访问 URL：
-```python
-url = upload_file_to_oss("local_file.csv")
-print(f"文件访问 URL: {url}")
-# 输出示例：https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
-```
-
-> **注意**：OSS 文件默认为私有访问，直接访问 URL 可能需要签名认证。
-
-### 方法3：使用 ossutil 命令行工具
-
-安装 [ossutil](https://help.aliyun.com/document_detail/120075.html) 后：
-
-```bash
-# 列出文件
-ossutil ls oss://uni-lab-test/job/
-
-# 下载文件到本地
-ossutil cp oss://uni-lab-test/job/20251217/文件名 ./本地路径
-
-# 生成签名URL（有效期1小时）
-ossutil sign oss://uni-lab-test/job/20251217/文件名 --timeout 3600
-```
-
-## 更新日志
-
-- **2025-12-17**: v2.0（重大更新）
- - ⚠️ 从 `oss2` 库改为统一 API 方式
- - 简化环境变量配置（仅需 JWT Token）
- - 新增 `get_upload_token()` 和 `upload_file_with_presigned_url()` 函数
- - `upload_file_to_oss()` 返回值改为文件访问 URL
- - 更新文档和迁移指南
-
-- **2025-12-15**: v1.1
- - 添加初始化参数 `oss_upload_enabled` 和 `oss_prefix`
- - 支持在 `device.json` 中配置 OSS 上传
- - 更新使用说明，添加验证方法
-
-- **2025-12-13**: v1.0 初始版本
- - 添加 OSS 上传工具函数（基于 `oss2` 库）
- - 创建 `upload_backup_to_oss` 动作方法
- - 支持文件筛选和自定义 OSS 路径
-
-## 参考资料
-
-- [Uni-Lab 统一文件上传 API 文档](https://uni-lab.test.bohrium.com/api/docs)（如有）
-- [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
-- [ossutil 工具文档](https://help.aliyun.com/document_detail/120075.html)
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
deleted file mode 100644
index e989c64a..00000000
--- a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md
+++ /dev/null
@@ -1,574 +0,0 @@
-# Neware Battery Test System - OSS Upload Feature
-
-## Overview
-
-This update adds **Aliyun OSS file upload functionality** to the Neware Battery Test System using a unified API approach, allowing test data backup files to be uploaded to cloud storage.
-
-## Version Updates
-
-### ⚠️ Breaking Changes (2025-12-17)
-
-This update changes the OSS upload method from **`oss2` library** to **unified API approach** to align with other team systems.
-
-**Main Changes**:
-- ✅ Use `requests` library
-- ✅ Upload via presigned URLs obtained through unified API
-- ✅ Simplified environment variable configuration (only API Key required)
-- ✅ Returns file access URLs
-
-## Main Changes
-
-### 1. OSS Upload Functions Refactored (Lines 30-200)
-
-#### New Functions
-
-- **`get_upload_token(base_url, auth_token, scene, filename)`**
- Obtain presigned URL for file upload from unified API
-
-- **`upload_file_with_presigned_url(upload_info, file_path)`**
- Upload file to OSS using presigned URL
-
-#### Updated Functions
-
-- **`upload_file_to_oss(local_file_path, oss_object_name)`**
- Upload single file to Aliyun OSS (using unified API approach)
- - Return value changed: returns file access URL on success, `False` on failure
-
-- **`upload_files_to_oss(file_paths, oss_prefix)`**
- Batch upload file list
- - `oss_prefix` parameter retained but not used (interface compatibility)
-
-- **`upload_directory_to_oss(local_dir, oss_prefix)`**
- Upload entire directory
- - Simplified implementation, uploads using filenames directly
-
-### 2. Simplified Environment Variable Configuration
-
-#### Old Method (Deprecated)
-```bash
-# ❌ No longer used
-OSS_ACCESS_KEY_ID
-OSS_ACCESS_KEY_SECRET
-OSS_BUCKET_NAME
-OSS_ENDPOINT
-```
-
-#### New Method (Recommended)
-```bash
-# ✅ Required
-UNI_LAB_AUTH_TOKEN # API Key format: "Api xxxxxx"
-
-# ✅ Optional (with defaults)
-UNI_LAB_BASE_URL (default: https://uni-lab.test.bohrium.com)
-UNI_LAB_UPLOAD_SCENE (default: job, other values will be changed to default)
-```
-
-### 3. Initialization Method (Unchanged)
-
-OSS-related configuration parameters in `__init__` method:
-
-```python
-# OSS upload configuration
-self.oss_upload_enabled = False # OSS upload disabled by default
-self.oss_prefix = "neware_backup" # OSS object path prefix
-self._last_backup_dir = None # Record last backup_dir
-```
-
-**Default Behavior**: OSS upload is disabled by default (`oss_upload_enabled=False`), does not affect existing systems.
-
-### 4. upload_backup_to_oss Method (Unchanged)
-
-```python
-def upload_backup_to_oss(
- self,
- backup_dir: str = None,
- file_pattern: str = "*",
- oss_prefix: str = None
-) -> dict
-```
-
-## Usage Guide
-
-### Prerequisites
-
-#### 1. Install Dependencies
-
-```bash
-# requests library (usually pre-installed)
-pip install requests
-```
-
-> **Note**: No longer need to install `oss2` library
-
-#### 2. Configure Environment Variables
-
-Configure environment variables based on your terminal type:
-
-##### PowerShell (Recommended)
-
-```powershell
-# Required: Set authentication Token (API Key format)
-$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
-
-# Optional: Custom server URL (defaults to test environment)
-$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
-
-# Optional: Custom upload scene (defaults to job)
-$env:UNI_LAB_UPLOAD_SCENE = "job"
-
-# Verify if set successfully
-echo $env:UNI_LAB_AUTH_TOKEN
-```
-
-##### CMD / Command Prompt
-
-```cmd
-REM Required: Set authentication Token (API Key format)
-set UNI_LAB_AUTH_TOKEN=Api xxxx
-
-REM Optional: Custom configuration
-set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
-set UNI_LAB_UPLOAD_SCENE=job
-
-REM Verify if set successfully
-echo %UNI_LAB_AUTH_TOKEN%
-```
-
-##### Linux/Mac
-
-```bash
-# Required: Set authentication Token (API Key format)
-export UNI_LAB_AUTH_TOKEN="Api xxxx"
-
-# Optional: Custom configuration
-export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
-export UNI_LAB_UPLOAD_SCENE="job"
-
-# Verify if set successfully
-echo $UNI_LAB_AUTH_TOKEN
-```
-
-#### 3. Obtain Authentication Token
-
-> **Important**: Obtain API Key from Uni-Lab Homepage → Account Security.
-
-**Steps to Obtain**:
-1. Login to Uni-Lab system
-2. Go to Homepage → Account Security
-3. Copy your API Key
-
-Token format example:
-```
-Api 48ccxx336fba44f39e1e37db93xxxxx
-```
-
-> **Tips**:
-> - If Token already includes `Api ` prefix, use directly
-> - If no prefix, code will automatically add `Api ` prefix
-> - Old `Bearer` JWT Token format is still compatible
-
-#### 4. Persistent Configuration (Optional)
-
-**Temporary Configuration**: Environment variables set with the above commands are only valid for the current terminal session.
-
-**Persistence Method 1: PowerShell Profile**
-```powershell
-# Edit PowerShell profile
-notepad $PROFILE
-
-# Add to the opened file:
-$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
-```
-
-**Persistence Method 2: Windows System Environment Variables**
-- Right-click "This PC" → "Properties" → "Advanced system settings" → "Environment Variables"
-- Add user or system variable:
- - Variable name: `UNI_LAB_AUTH_TOKEN`
- - Variable value: `Api your_API_Key`
-
-### Usage Workflow
-
-#### Step 1: Enable OSS Upload Feature
-
-**Recommended: Configure in `device.json`**
-
-Edit device configuration file `unilabos/devices/neware_battery_test_system/device.json`, add to `config`:
-
-```json
-{
- "nodes": [
- {
- "id": "NEWARE_BATTERY_TEST_SYSTEM",
- "config": {
- "ip": "127.0.0.1",
- "port": 502,
- "machine_id": 1,
- "oss_upload_enabled": true,
- "oss_prefix": "neware_backup/2025-12"
- }
- }
- ]
-}
-```
-
-**Parameter Description**:
-- `oss_upload_enabled`: Set to `true` to enable OSS upload
-- `oss_prefix`: OSS file path prefix, recommended to organize by date or project (currently unused, retained for interface compatibility)
-
-**Alternative: Via Initialization Parameters**
-
-```python
-device = NewareBatteryTestSystem(
- ip="127.0.0.1",
- port=502,
- oss_upload_enabled=True, # Enable OSS upload
- oss_prefix="neware_backup/2025-12" # Optional: custom path prefix
-)
-```
-
-**After configuration, restart the ROS node for changes to take effect.**
-
-#### Step 2: Submit Test Tasks
-
-Use `submit_from_csv` to submit test tasks:
-
-```python
-result = device.submit_from_csv(
- csv_path="test_data.csv",
- output_dir="D:/neware_output"
-)
-```
-
-This creates the following directory structure:
-```
-D:/neware_output/
-├── xml_dir/ # XML configuration files
-└── backup_dir/ # Test data backup (generated by Neware device)
-```
-
-#### Step 3: Wait for Test Completion
-
-Wait for the Neware device to complete testing. Backup files will be generated in the `backup_dir`.
-
-#### Step 4: Upload Backup Files to OSS
-
-**Method A: Use Default Settings (Recommended)**
-```python
-# Automatically uses the last backup_dir, uploads all files
-result = device.upload_backup_to_oss()
-```
-
-**Method B: Specify Backup Directory**
-```python
-# Manually specify backup directory
-result = device.upload_backup_to_oss(
- backup_dir="D:/neware_output/backup_dir"
-)
-```
-
-**Method C: Filter Specific Files**
-```python
-# Upload only CSV files
-result = device.upload_backup_to_oss(
- backup_dir="D:/neware_output/backup_dir",
- file_pattern="*.csv"
-)
-
-# Upload files for specific battery IDs
-result = device.upload_backup_to_oss(
- file_pattern="Battery_A001_*.nda"
-)
-```
-
-### Return Result Examples
-
-**All Files Uploaded Successfully**:
-```python
-{
- "return_info": "All uploads successful: 15/15 files",
- "success": True,
- "uploaded_count": 15,
- "total_count": 15,
- "failed_files": [],
- "uploaded_files": [
- {
- "filename": "Battery_A001.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
- },
- {
- "filename": "Battery_A002.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
- }
- # ... other 13 files
- ]
-}
-```
-
-**Partial Upload Success**:
-```python
-{
- "return_info": "Partial upload success: 12/15 files, 3 failed",
- "success": True,
- "uploaded_count": 12,
- "total_count": 15,
- "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
- "uploaded_files": [
- {
- "filename": "Battery_A001.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
- },
- {
- "filename": "Battery_A002.ndax",
- "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
- }
- # ... other 10 successfully uploaded files
- ]
-}
-```
-
-> **Note**: The `uploaded_files` field contains detailed information for all successfully uploaded files:
-> - `filename`: Filename (without path)
-> - `url`: Complete OSS access URL for the file
-
-## Error Handling
-
-### OSS Upload Not Enabled
-
-If `oss_upload_enabled=False`, calling `upload_backup_to_oss` returns:
-```python
-{
- "return_info": "OSS upload not enabled (oss_upload_enabled=False), skipping upload. Backup directory: ...",
- "success": False,
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": []
-}
-```
-
-**Solution**: Set `device.oss_upload_enabled = True`
-
-### Environment Variables Not Configured
-
-If `UNI_LAB_AUTH_TOKEN` is missing, returns:
-```python
-{
- "return_info": "OSS environment variable configuration error: Please set environment variable: UNI_LAB_AUTH_TOKEN",
- "success": False,
- ...
-}
-```
-
-**Solution**: Configure environment variables as per prerequisites
-
-### Backup Directory Does Not Exist
-
-If specified backup directory doesn't exist, returns:
-```python
-{
- "return_info": "Backup directory does not exist: D:/neware_output/backup_dir",
- "success": False,
- ...
-}
-```
-
-**Solution**: Check if directory path is correct, or wait for test to generate backup files
-
-### API Authentication Failed
-
-If Token is invalid or expired, returns:
-```python
-{
- "return_info": "Failed to get credentials: Authentication failed",
- "success": False,
- ...
-}
-```
-
-**Solution**: Check if Token is correct, or contact development team for new Token
-
-## Technical Details
-
-### OSS Upload Process (New Method)
-
-```mermaid
-flowchart TD
- A[Start Upload] --> B[Verify Configuration and Environment Variables]
- B --> C[Scan Backup Directory]
- C --> D[Filter Files Matching Pattern]
- D --> E[Iterate Each File]
- E --> F[Call API to Get Presigned URL]
- F --> G{Success?}
- G -->|Yes| H[Upload File Using Presigned URL]
- G -->|No| I[Record Failure]
- H --> J{Upload Success?}
- J -->|Yes| K[Record Success + File URL]
- J -->|No| I
- I --> L{More Files?}
- K --> L
- L -->|Yes| E
- L -->|No| M[Return Statistics]
-```
-
-### Upload API Flow
-
-1. **Get Presigned URL**
- - Request: `GET /api/v1/lab/storage/token?scene={scene}&filename={filename}&path={path}`
- - Authentication: `Authorization: Api {api_key}` or `Authorization: Bearer {token}`
- - Response: `{code: 0, data: {url: "presigned_url", path: "file_path"}}`
-
-2. **Upload File**
- - Request: `PUT {presigned_url}`
- - Content: File binary data
- - Response: HTTP 200 indicates success
-
-3. **Generate Access URL**
- - Format: `https://{OSS_PUBLIC_HOST}/{path}`
- - Example: `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
-
-### Logging
-
-All upload operations are logged through ROS logging system:
-- `INFO` level: Upload progress and success information
-- `WARNING` level: Empty directory, not enabled warnings
-- `ERROR` level: Upload failures, configuration errors
-
-## Important Notes
-
-1. **Upload Timing**: Files in `backup_dir` are generated in real-time during test execution. Ensure testing is complete before uploading.
-
-2. **File Naming**: Files uploaded to OSS retain original filenames. Paths are assigned by unified API.
-
-3. **Network Requirements**: Upload requires stable network connection to Aliyun OSS service.
-
-4. **Token Expiration**: JWT Tokens have expiration time. Need to obtain new token after expiration.
-
-5. **Cost Considerations**: OSS storage and traffic incur costs. Set file filtering rules appropriately.
-
-6. **Concurrent Upload**: Current implementation uses serial upload. Large number of files may take considerable time.
-
-7. **File Size Limits**: Note single file size upload limits (controlled by unified API).
-
-## Compatibility
-
-- ✅ **Backward Compatible**: Default `oss_upload_enabled=False`, does not affect existing systems
-- ✅ **Optional Feature**: Enable only when needed
-- ✅ **Independent Operation**: Upload failures do not affect test task submission and execution
-- ⚠️ **Environment Variable Changes**: Need to update environment variable configuration (from OSS AK/SK to API Key)
-
-## Migration Guide
-
-If you previously used the `oss2` library method, follow these steps to migrate:
-
-### 1. Uninstall Old Dependencies (Optional)
-```bash
-pip uninstall oss2
-```
-
-### 2. Remove Old Environment Variables
-```powershell
-# PowerShell
-Remove-Item Env:\OSS_ACCESS_KEY_ID
-Remove-Item Env:\OSS_ACCESS_KEY_SECRET
-Remove-Item Env:\OSS_BUCKET_NAME
-Remove-Item Env:\OSS_ENDPOINT
-```
-
-### 3. Set New Environment Variables
-```powershell
-# PowerShell
-$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
-```
-
-### 4. Test Upload Functionality
-```python
-# Verify upload works correctly
-result = device.upload_backup_to_oss(backup_dir="test_directory")
-print(result)
-```
-
-## FAQ
-
-**Q: Why change from `oss2` to unified API?**
-A: To maintain consistency with other team systems, simplify configuration, and unify authentication methods.
-
-**Q: Where to get the Token?**
-A: Obtain API Key from Uni-Lab Homepage → Account Security.
-
-**Q: What if Token expires?**
-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`?**
-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?**
-A: Upload success returns file access URL in format `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
-
-**Q: How to delete uploaded files?**
-A: Need to operate through OSS console or API. This feature only handles uploads.
-
-## Verifying Upload Results
-
-### Method 1: Via Aliyun Console
-
-1. Login to [Aliyun OSS Console](https://oss.console.aliyun.com/)
-2. Click **Bucket List** on the left
-3. Select the `uni-lab-test` Bucket
-4. Click **File Management**
-5. View uploaded file list
-
-### Method 2: Using Returned File URL
-
-After successful upload, `upload_file_to_oss()` returns file access URL:
-```python
-url = upload_file_to_oss("local_file.csv")
-print(f"File access URL: {url}")
-# Example output: https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
-```
-
-> **Note**: OSS files are private by default, direct URL access may require signature authentication.
-
-### Method 3: Using ossutil CLI Tool
-
-After installing [ossutil](https://help.aliyun.com/document_detail/120075.html):
-
-```bash
-# List files
-ossutil ls oss://uni-lab-test/job/
-
-# Download file to local
-ossutil cp oss://uni-lab-test/job/20251217/filename ./local_path
-
-# Generate signed URL (valid for 1 hour)
-ossutil sign oss://uni-lab-test/job/20251217/filename --timeout 3600
-```
-
-## Changelog
-
-- **2025-12-17**: v2.0 (Major Update)
- - ⚠️ Changed from `oss2` library to unified API approach
- - Simplified environment variable configuration (only API Key required)
- - Added `get_upload_token()` and `upload_file_with_presigned_url()` functions
- - `upload_file_to_oss()` return value changed to file access URL
- - Updated documentation and migration guide
- - Token format: Support both `Api Key` and `Bearer JWT`
- - API endpoint: `/api/v1/lab/storage/token`
- - Scene parameter: Fixed to `job` (other values changed to `default`)
-
-- **2025-12-15**: v1.1
- - Added initialization parameters `oss_upload_enabled` and `oss_prefix`
- - Support OSS upload configuration in `device.json`
- - Updated usage guide, added verification methods
-
-- **2025-12-13**: v1.0 Initial Version
- - Added OSS upload utility functions (based on `oss2` library)
- - Created `upload_backup_to_oss` action method
- - Support file filtering and custom OSS paths
-
-## References
-
-- [Uni-Lab Unified File Upload API Documentation](https://uni-lab.test.bohrium.com/api/docs) (if available)
-- [Aliyun OSS Console](https://oss.console.aliyun.com/)
-- [ossutil Tool Documentation](https://help.aliyun.com/document_detail/120075.html)
diff --git a/unilabos/devices/neware_battery_test_system/device.json b/unilabos/devices/neware_battery_test_system/device.json
deleted file mode 100644
index 696112de..00000000
--- a/unilabos/devices/neware_battery_test_system/device.json
+++ /dev/null
@@ -1,35 +0,0 @@
-{
- "nodes": [
- {
- "id": "NEWARE_BATTERY_TEST_SYSTEM",
- "name": "Neware Battery Test System",
- "parent": null,
- "type": "device",
- "class": "neware_battery_test_system",
- "position": {
- "x": 620.0,
- "y": 200.0,
- "z": 0
- },
- "config": {
- "ip": "127.0.0.1",
- "port": 502,
- "machine_id": 1,
- "devtype": "27",
- "timeout": 20,
- "size_x": 500.0,
- "size_y": 500.0,
- "size_z": 2000.0,
- "oss_upload_enabled": true,
- "oss_prefix": "neware_backup/2025-12"
- },
- "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"
- },
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
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
deleted file mode 100644
index 0a811458..00000000
--- a/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py
+++ /dev/null
@@ -1,1838 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-"""
-新威电池测试系统设备类
-- 提供TCP通信接口查询电池通道状态
-- 支持720个通道（devid 1-7, 8, 86）
-- 兼容BTSAPI getchlstatus协议
-
-设备特点：
-- TCP连接: 默认127.0.0.1:502
-- 通道映射: devid->subdevid->chlid 三级结构
-- 状态类型: working/stop/finish/protect/pause/false/unknown
-"""
-
-import os
-import sys
-import socket
-import xml.etree.ElementTree as ET
-import json
-import time
-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.ros.nodes.base_device_node import ROS2DeviceNode
-from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-
-# ========================
-# OSS 上传工具函数
-# ========================
-
-import requests
-
-# 服务器地址和OSS配置
-OSS_PUBLIC_HOST = "uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com"
-
-def get_upload_token(base_url, auth_token, scene, filename):
- """
- 获取文件上传的预签名URL
-
- Args:
- base_url: API服务器地址
- auth_token: 认证Token (JWT)，需要包含 "Bearer " 前缀
- scene: 上传场景 (例如: "job")
- filename: 文件名
-
- Returns:
- dict: 包含上传URL和路径的字典，失败返回None
- """
- url = f"{base_url}/api/v1/lab/storage/token"
- params = {
- "scene": scene,
- "filename": filename,
- "path": "neware_backup", # 添加 path 参数
- }
- headers = {
- "Authorization": auth_token,
- }
-
- print(f"正在从 {url} 获取上传凭证...")
- try:
- response = requests.get(url, params=params, headers=headers)
- response.raise_for_status()
-
- data = response.json()
- if data.get("code") == 0 and "data" in data and "url" in data["data"]:
- print("成功获取上传凭证!")
- return data["data"]
- else:
- print(f"获取凭证失败: {data.get('msg', '未知错误')}")
- return None
-
- except requests.exceptions.RequestException as e:
- print(f"请求上传凭证时发生错误: {e}")
- return None
-
-
-def upload_file_with_presigned_url(upload_info, file_path):
- """
- 使用预签名URL上传文件到OSS
-
- Args:
- upload_info: 包含上传URL的字典
- file_path: 本地文件路径
-
- Returns:
- bool: 上传是否成功
- """
- upload_url = upload_info['url']
-
- print(f"开始上传文件: {file_path} 到 {upload_url}")
- try:
- with open(file_path, 'rb') as f:
- file_data = f.read()
- response = requests.put(upload_url, data=file_data)
- response.raise_for_status()
-
- print("文件上传成功!")
- return True
-
- except FileNotFoundError:
- print(f"错误: 文件未找到 {file_path}")
- return False
- except requests.exceptions.RequestException as e:
- print(f"文件上传失败: {e}")
- print(f"服务器响应: {e.response.text if e.response else '无响应'}")
- return False
-
-
-def upload_file_to_oss(local_file_path, oss_object_name=None):
- """
- 上传文件到阿里云OSS (使用统一API方式)
-
- Args:
- local_file_path: 本地文件路径
- oss_object_name: OSS对象名称 (暂时未使用，保留接口兼容性)
-
- Returns:
- bool or str: 上传成功返回文件访问URL，失败返回False
- """
- # 从环境变量获取配置
- base_url = os.getenv('UNI_LAB_BASE_URL', 'https://uni-lab.test.bohrium.com')
- auth_token = os.getenv('UNI_LAB_AUTH_TOKEN')
- upload_scene = os.getenv('UNI_LAB_UPLOAD_SCENE', 'job') # 必须使用 job，其他值会被改成 default
-
- # 检查环境变量是否设置
- if not auth_token:
- raise ValueError("请设置环境变量: UNI_LAB_AUTH_TOKEN")
-
- # 确保 auth_token 包含正确的前缀
- # 支持两种格式: "Bearer xxx" (JWT) 或 "Api xxx" (API Key)
- if not auth_token.startswith("Bearer ") and not auth_token.startswith("Api "):
- # 默认使用 Api 格式
- auth_token = f"Api {auth_token}"
-
- # 检查文件是否存在
- if not os.path.exists(local_file_path):
- print(f"错误: 无法找到要上传的文件 '{local_file_path}'")
- return False
-
- filename = os.path.basename(local_file_path)
-
- # 1. 获取上传信息
- upload_info = get_upload_token(base_url, auth_token, upload_scene, filename)
-
- if not upload_info:
- print("无法继续上传，因为没有获取到有效的上传信息。")
- return False
-
- # 2. 上传文件
- success = upload_file_with_presigned_url(upload_info, local_file_path)
-
- if success:
- access_url = f"https://{OSS_PUBLIC_HOST}/{upload_info['path']}"
- print(f"文件访问URL: {access_url}")
- return access_url
- else:
- return False
-
-
-def upload_files_to_oss(file_paths, oss_prefix=""):
- """
- 批量上传文件到OSS
-
- Args:
- file_paths: 本地文件路径列表
- oss_prefix: OSS对象前缀 (暂时未使用，保留接口兼容性)
-
- Returns:
- int: 成功上传的文件数量
- """
- success_count = 0
- print(f"开始批量上传 {len(file_paths)} 个文件到OSS...")
- for i, fp in enumerate(file_paths, 1):
- print(f"[{i}/{len(file_paths)}] 上传文件: {fp}")
- try:
- result = upload_file_to_oss(fp)
- if result:
- success_count += 1
- print(f"[{i}/{len(file_paths)}] 上传成功")
- else:
- print(f"[{i}/{len(file_paths)}] 上传失败")
- except ValueError as e:
- print(f"[{i}/{len(file_paths)}] 环境变量错误: {e}")
- break
- except Exception as e:
- print(f"[{i}/{len(file_paths)}] 上传异常: {e}")
- print(f"批量上传完成: {success_count}/{len(file_paths)} 个文件成功")
- return success_count
-
-
-def upload_directory_to_oss(local_dir, oss_prefix=""):
- """
- 上传整个目录到OSS
-
- Args:
- local_dir: 本地目录路径
- oss_prefix: OSS对象前缀 (暂时未使用，保留接口兼容性)
- """
- for root, dirs, files in os.walk(local_dir):
- for file in files:
- local_file_path = os.path.join(root, file)
- upload_file_to_oss(local_file_path)
-
-
-# ========================
-# 内部数据类和结构
-# ========================
-
-@dataclass(frozen=True)
-class ChannelKey:
- devid: int
- subdevid: int
- chlid: int
-
-
-@dataclass
-class ChannelStatus:
- state: str # working/stop/finish/protect/pause/false/unknown
- color: str # 状态对应颜色
- current_A: float # 电流 (A)
- voltage_V: float # 电压 (V)
- totaltime_s: float # 总时间 (s)
-
-
-class BatteryTestPositionState(TypedDict):
- voltage: float # 电压 (V)
- current: float # 电流 (A)
- time: float # 时间 (s) - 使用totaltime
- capacity: float # 容量 (Ah)
- energy: float # 能量 (Wh)
-
- status: str # 通道状态
- color: str # 状态对应颜色
-
-
-
-class BatteryTestPosition(ResourceHolder):
- def __init__(
- self,
- name,
- size_x=60,
- size_y=60,
- size_z=60,
- rotation=None,
- category="resource_holder",
- model=None,
- child_location: Coordinate = Coordinate.zero(),
- ):
- super().__init__(name, size_x, size_y, size_z, rotation, category, model, child_location=child_location)
- self._unilabos_state: Dict[str, Any] = {}
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state)
- return data
-
-
-class NewareBatteryTestSystem:
- """
- 新威电池测试系统设备类
-
- 提供电池测试通道状态查询、控制等功能。
- 支持720个通道的状态监控和数据导出。
- 包含完整的物料管理系统，支持2盘电池的状态映射。
-
- Attributes:
- ip (str): TCP服务器IP地址，默认127.0.0.1
- port (int): TCP端口，默认502
- devtype (str): 设备类型，默认"27"
- timeout (int): 通信超时时间（秒），默认20
- """
-
- # ========================
- # 基本通信与协议参数
- # ========================
- BTS_IP = "127.0.0.1"
- BTS_PORT = 502
- DEVTYPE = "27"
- TIMEOUT = 20 # 秒
- REQ_END = b"#\r\n" # 常见实现以 "#\\r\\n" 作为报文结束
-
- # ========================
- # 状态与颜色映射（前端可直接使用）
- # ========================
- 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
- }
-
- # 字母常量
- ascii_lowercase = 'abcdefghijklmnopqrstuvwxyz'
- ascii_uppercase = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
- LETTERS = ascii_uppercase + ascii_lowercase
-
- def __init__(self,
- ip: str = None,
- port: int = None,
- machine_id: int = 1,
- devtype: str = None,
- timeout: int = None,
-
- size_x: float = 50,
- size_y: float = 50,
- size_z: float = 20,
-
- oss_upload_enabled: bool = False,
- oss_prefix: str = "neware_backup",
- ):
- """
- 初始化新威电池测试系统
-
- Args:
- ip: TCP服务器IP地址
- port: TCP端口
- 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.devtype = devtype or self.DEVTYPE
- self.timeout = timeout or self.TIMEOUT
-
- # 存储设备物理尺寸
- self.size_x = size_x
- self.size_y = size_y
- self.size_z = size_z
-
- # OSS 上传配置
- self.oss_upload_enabled = oss_upload_enabled
- self.oss_prefix = oss_prefix
-
- self._last_status_update = None
- 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
-
-
- def post_init(self, ros_node):
- """
- ROS节点初始化后的回调方法，用于建立设备连接
-
- Args:
- ros_node: ROS节点实例
- """
- self._ros_node = ros_node
- # 创建2盘电池的物料管理系统
- self._setup_material_management()
- # 初始化通道映射
- self._channels = self._build_channel_map()
- try:
- # 测试设备连接
- if self.test_connection():
- ros_node.lab_logger().info(f"新威电池测试系统连接成功: {self.ip}:{self.port}")
- else:
- ros_node.lab_logger().warning(f"新威电池测试系统连接失败: {self.ip}:{self.port}")
- except Exception as e:
- 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 _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
- )
- 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
- 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, **{
- "resources": [deck_main]
- })
- 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）
- # ========================
-
- @property
- def status(self) -> str:
- """设备状态属性 - 会被自动识别并定时广播"""
- try:
- if self.test_connection():
- return "Connected"
- else:
- return "Disconnected"
- except:
- return "Error"
-
- @property
- def channel_status(self) -> Dict[int, Dict]:
- """
- 获取所有通道状态（按设备ID分组）
-
- 这个属性会执行实际的TCP查询并返回格式化的状态数据。
- 结果按设备ID分组，包含统计信息和详细状态。
-
- Returns:
- Dict[int, Dict]: 按设备ID分组的通道状态统计
- """
- 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, {})
-
- 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
- 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"
- )
-
- # 确保有默认的数据结构
- if not status_current_machine:
- status_current_machine = {
- "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}},
- "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)
-
- 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}"
- )
- 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
- ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
- "resources": list(self.station_resources.values())
- })
-
- @property
- def connection_info(self) -> Dict[str, str]:
- """获取连接信息"""
- return {
- "ip": self.ip,
- "port": str(self.port),
- "devtype": self.devtype,
- "timeout": f"{self.timeout}s"
- }
-
- @property
- def total_channels(self) -> int:
- """获取总通道数"""
- return len(self._channels)
-
- # ========================
- # 设备动作方法（Uni-Lab标准）
- # ========================
-
- def export_status_json(self, filepath: str = "bts_status.json") -> dict:
- """
- 导出当前状态到JSON文件（ROS2动作）
-
- Args:
- filepath: 输出文件路径
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- grouped_status = self.channel_status
- payload = {
- "timestamp": time.time(),
- "device_info": {
- "ip": self.ip,
- "port": self.port,
- "devtype": self.devtype,
- "total_channels": self.total_channels
- },
- "data": grouped_status,
- "color_mapping": self.STATUS_COLOR
- }
-
- with open(filepath, "w", encoding="utf-8") as f:
- json.dump(payload, f, ensure_ascii=False, indent=2)
-
- success_msg = f"状态数据已成功导出到: {filepath}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
-
- except Exception as e:
- error_msg = f"导出JSON失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def _plate_status(self) -> Dict[str, Any]:
- """
- 获取所有盘的状态信息（内部方法）
-
- Returns:
- 包含所有盘状态信息的字典
- """
- try:
- # 确保先更新所有资源的状态数据
- _ = self.channel_status # 这会触发状态更新并调用load_state
-
- # 手动计算两盘的状态
- plate1_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
- plate1_active = []
-
- for name, resource in self.station_resources_plate1.items():
- state = getattr(resource, '_unilabos_state', {})
- status = state.get('status', 'unknown')
- plate1_stats[status] += 1
-
- if status != 'unknown':
- plate1_active.append({
- 'name': name,
- 'status': status,
- 'color': state.get('color', self.STATUS_COLOR['unknown']),
- 'voltage': state.get('voltage', 0.0),
- 'current': state.get('current', 0.0),
- })
-
- plate2_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
- plate2_active = []
-
- for name, resource in self.station_resources_plate2.items():
- state = getattr(resource, '_unilabos_state', {})
- status = state.get('status', 'unknown')
- plate2_stats[status] += 1
-
- if status != 'unknown':
- plate2_active.append({
- 'name': name,
- 'status': status,
- 'color': state.get('color', self.STATUS_COLOR['unknown']),
- 'voltage': state.get('voltage', 0.0),
- 'current': state.get('current', 0.0),
- })
-
- return {
- "plate1": {
- 'plate_num': 1,
- 'stats': plate1_stats,
- 'total_positions': len(self.station_resources_plate1),
- 'active_positions': len(plate1_active),
- 'resources': plate1_active
- },
- "plate2": {
- 'plate_num': 2,
- 'stats': plate2_stats,
- 'total_positions': len(self.station_resources_plate2),
- 'active_positions': len(plate2_active),
- 'resources': plate2_active
- },
- "total_plates": 2
- }
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"获取盘状态失败: {e}")
- return {
- "plate1": {"error": str(e)},
- "plate2": {"error": str(e)},
- "total_plates": 2
- }
-
-
-
-
-
-
- def debug_resource_names(self) -> dict:
- """
- 调试方法：显示所有资源的实际名称（ROS2动作）
-
- Returns:
- dict: ROS2动作结果格式，包含所有资源名称信息
- """
- try:
- debug_info = {
- "total_resources": len(self.station_resources),
- "plate1_resources": len(self.station_resources_plate1),
- "plate2_resources": len(self.station_resources_plate2),
- "plate1_names": list(self.station_resources_plate1.keys())[:10], # 显示前10个
- "plate2_names": list(self.station_resources_plate2.keys())[:10], # 显示前10个
- "all_resource_names": list(self.station_resources.keys())[:20], # 显示前20个
- }
-
- # 检查是否有用户提到的命名格式
- batterytestposition_names = [name for name in self.station_resources.keys()
- if "batterytestposition" in name]
- debug_info["batterytestposition_names"] = batterytestposition_names[:10]
-
- success_msg = f"资源调试信息获取成功，共{debug_info['total_resources']}个资源"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- self._ros_node.lab_logger().info(f"调试信息: {debug_info}")
-
- return {
- "return_info": success_msg,
- "success": True,
- "debug_data": debug_info
- }
-
- except Exception as e:
- error_msg = f"获取资源调试信息失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def get_plate_status(self, plate_num: int = None) -> dict:
- """
- 获取指定盘或所有盘的状态信息（ROS2动作）
-
- Args:
- plate_num: 盘号 (1 或 2)，如果为None则返回所有盘的状态
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool, "plate_data": dict}
- """
- try:
- # 获取所有盘的状态
- all_plates_data = self._plate_status()
-
- # 如果指定了盘号，只返回该盘的数据
- if plate_num is not None:
- if plate_num not in [1, 2]:
- error_msg = f"无效的盘号: {plate_num}，必须是 1 或 2"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {
- "return_info": error_msg,
- "success": False,
- "plate_data": {}
- }
-
- plate_key = f"plate{plate_num}"
- plate_data = all_plates_data.get(plate_key, {})
-
- success_msg = f"成功获取盘 {plate_num} 的状态信息"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
-
- return {
- "return_info": success_msg,
- "success": True,
- "plate_data": plate_data
- }
- else:
- # 返回所有盘的状态
- success_msg = "成功获取所有盘的状态信息"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
-
- return {
- "return_info": success_msg,
- "success": True,
- "plate_data": all_plates_data
- }
-
- except Exception as e:
- error_msg = f"获取盘状态失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {
- "return_info": error_msg,
- "success": False,
- "plate_data": {}
- }
-
- # ========================
- # 辅助方法
- # ========================
-
- def test_connection(self) -> bool:
- """
- 测试TCP连接是否正常
-
- Returns:
- bool: 连接是否成功
- """
- try:
- with socket.create_connection((self.ip, self.port), timeout=5) as sock:
- return True
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().debug(f"连接测试失败: {e}")
- return False
-
- def print_status_summary(self) -> None:
- """
- 打印通道状态摘要信息（支持2盘电池）
- """
- try:
- status_data = self.channel_status
- if not status_data:
- print(" 未获取到状态数据")
- return
-
- print(f" 状态统计:")
- total_channels = 0
-
- # 从channel_status获取stats字段
- stats = status_data.get("stats", {})
- for state, count in stats.items():
- if isinstance(count, int) and count > 0:
- color = self.STATUS_COLOR.get(state, "#000000")
- print(f" {state}: {count} 个通道 ({color})")
- total_channels += count
-
- print(f" 总计: {total_channels} 个通道")
- print(f" 第1盘资源数: {len(self.station_resources_plate1)}")
- print(f" 第2盘资源数: {len(self.station_resources_plate2)}")
- print(f" 总资源数: {len(self.station_resources)}")
-
- except Exception as e:
- print(f" 获取状态失败: {e}")
-
- # ========================
- # CSV批量提交功能（新增）
- # ========================
-
- def _ensure_local_import_path(self):
- """确保本地模块导入路径"""
- base_dir = os.path.dirname(__file__)
- if base_dir not in sys.path:
- sys.path.insert(0, base_dir)
-
- def _canon(self, bs: str) -> str:
- """规范化电池体系名称"""
- return str(bs).strip().replace('-', '_').upper()
-
- def _compute_values(self, row):
- """
- 计算活性物质质量和容量
-
- Args:
- row: DataFrame行数据
-
- Returns:
- tuple: (活性物质质量mg, 容量mAh)
- """
- 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('%'):
- amv = float(am.rstrip('%')) / 100.0
- else:
- amv = float(am)
- act_mass = (pw - cm) * amv
- sc = float(row['克容量mah/g'])
- cap = act_mass * sc / 1000.0
- return round(act_mass, 2), round(cap, 3)
-
- def _get_xml_builder(self, gen_mod, key: str):
- """
- 获取对应电池体系的XML生成函数
-
- Args:
- gen_mod: generate_xml_content模块
- key: 电池体系标识
-
- Returns:
- callable: XML生成函数
- """
- fmap = {
- 'LB6': gen_mod.xml_LB6,
- 'GR_LI': gen_mod.xml_Gr_Li,
- 'LFP_LI': gen_mod.xml_LFP_Li,
- 'LFP_GR': gen_mod.xml_LFP_Gr,
- '811_LI_002': gen_mod.xml_811_Li_002,
- '811_LI_005': gen_mod.xml_811_Li_005,
- 'SIGR_LI_STEP': gen_mod.xml_SiGr_Li_Step,
- 'SIGR_LI': gen_mod.xml_SiGr_Li_Step,
- '811_SIGR': gen_mod.xml_811_SiGr,
- '811_CU_AGING': gen_mod.xml_811_Cu_aging,
- }
- if key not in fmap:
- raise ValueError(f"未定义电池体系映射: {key}")
- return fmap[key]
-
- def _save_xml(self, xml: str, path: str):
- """
- 保存XML文件
-
- Args:
- xml: XML内容
- path: 文件路径
- """
- with open(path, 'w', encoding='utf-8') as f:
- f.write(xml)
-
- def submit_from_csv(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）
-
- 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:
- # 确保可以导入本地模块
- 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: {csv_path}")
-
- # 读取CSV文件
- 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')
-
- # 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'
- ]
- 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}
-
- # 创建输出目录
- 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)
-
- # 记录备份目录供后续 OSS 上传使用
- 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={backup_dir}"
- )
-
- # 逐行处理CSV数据
- submitted_count = 0
- results = []
-
- 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
-
- # 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)
-
- # 获取设备信息
- devid = int(row['设备号'])
- subdevid = int(row['排号'])
- chlid = int(row['通道号'])
-
- # 保存XML文件
- recipe_path = os.path.join(
- xml_dir,
- f"{coin_id}_{devid}_{subdevid}_{chlid}.xml"
- )
- self._save_xml(xml_content, recipe_path)
-
- # 提交测试任务
- 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
- )
-
- 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}): {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)
-
- # 汇总结果
- success_msg = (
- f"批量提交完成: 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: 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: {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）
-
- Returns:
- 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)
- success_msg = f"设备摘要统计: {result_info}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": result_info, "success": True}
-
- except Exception as e:
- error_msg = f"获取设备摘要失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def test_connection_action(self) -> dict:
- """
- 测试TCP连接（设备动作）
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- is_connected = self.test_connection()
- if is_connected:
- success_msg = f"TCP连接测试成功: {self.ip}:{self.port}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
- else:
- error_msg = f"TCP连接测试失败: {self.ip}:{self.port}"
- if self._ros_node:
- self._ros_node.lab_logger().warning(error_msg)
- return {"return_info": error_msg, "success": False}
-
- except Exception as e:
- error_msg = f"连接测试异常: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def print_status_summary_action(self) -> dict:
- """
- 打印状态摘要（设备动作）
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- self.print_status_summary()
- success_msg = "状态摘要已打印到控制台"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
-
- except Exception as e:
- error_msg = f"打印状态摘要失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def upload_backup_to_oss(
- self,
- backup_dir: str = None,
- file_pattern: str = "*",
- oss_prefix: str = None
- ) -> dict:
- """
- 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
- 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
-
- Returns:
- dict: {
- "return_info": str,
- "success": bool,
- "uploaded_count": int,
- "total_count": int,
- "failed_files": List[str]
- }
- """
- try:
- # 确定备份目录
- target_backup_dir = backup_dir if backup_dir else self._last_backup_dir
-
- if not target_backup_dir:
- error_msg = "未指定 backup_dir 且没有可用的最近备份目录"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {
- "return_info": error_msg,
- "success": False,
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": [],
- "uploaded_files": []
- }
-
- # 检查目录是否存在
- if not os.path.exists(target_backup_dir):
- error_msg = f"备份目录不存在: {target_backup_dir}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {
- "return_info": error_msg,
- "success": False,
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": [],
- "uploaded_files": []
- }
-
- # 检查是否启用 OSS 上传
- if not self.oss_upload_enabled:
- warning_msg = f"OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: {target_backup_dir}"
- if self._ros_node:
- self._ros_node.lab_logger().warning(warning_msg)
- return { "return_info": warning_msg,
- "success": False,
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": [],
- "uploaded_files": []
- }
-
- # 确定 OSS 前缀
- target_oss_prefix = oss_prefix if oss_prefix else self.oss_prefix
-
- if self._ros_node:
- self._ros_node.lab_logger().info(
- f"开始上传备份文件到 OSS: {target_backup_dir} -> {target_oss_prefix}"
- )
-
- # 扫描匹配的文件
- import glob
- pattern_path = os.path.join(target_backup_dir, file_pattern)
- matched_files = glob.glob(pattern_path)
-
- if not matched_files:
- warning_msg = f"备份目录中没有匹配 '{file_pattern}' 的文件: {target_backup_dir}"
- if self._ros_node:
- self._ros_node.lab_logger().warning(warning_msg)
- return {
- "return_info": warning_msg,
- "success": True, # 没有文件也算成功
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": [],
- "uploaded_files": []
- }
-
- total_count = len(matched_files)
- if self._ros_node:
- self._ros_node.lab_logger().info(
- f"找到 {total_count} 个匹配文件，开始上传..."
- )
-
- # 批量上传文件
- uploaded_count = 0
- failed_files = []
- uploaded_files = [] # 记录成功上传的文件信息（文件名和URL）
-
- for i, file_path in enumerate(matched_files, 1):
- try:
- basename = os.path.basename(file_path)
- oss_object_name = f"{target_oss_prefix}/{basename}" if target_oss_prefix else basename
- oss_object_name = oss_object_name.replace('\\', '/')
-
- if self._ros_node:
- self._ros_node.lab_logger().info(
- f"[{i}/{total_count}] 上传: {file_path} -> {oss_object_name}"
- )
-
- # upload_file_to_oss 成功时返回 URL
- result = upload_file_to_oss(file_path, oss_object_name)
- if result:
- uploaded_count += 1
- # 解析文件名获取 Battery_Code 和 Electrolyte_Code
- name_without_ext = os.path.splitext(basename)[0]
- parts = name_without_ext.split('-', 1)
- battery_code = parts[0]
- electrolyte_code = parts[1] if len(parts) > 1 else ""
-
- # 记录成功上传的文件信息
- uploaded_files.append({
- "filename": basename,
- "url": result if isinstance(result, str) else f"https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{oss_object_name}",
- "Battery_Code": battery_code,
- "Electrolyte_Code": electrolyte_code
- })
- if self._ros_node:
- self._ros_node.lab_logger().info(
- f"[{i}/{total_count}] 上传成功: {result if isinstance(result, str) else oss_object_name}"
- )
- else:
- failed_files.append(basename)
- if self._ros_node:
- self._ros_node.lab_logger().error(
- f"[{i}/{total_count}] 上传失败: {basename}"
- )
-
- except ValueError as e:
- # OSS 环境变量错误，停止上传
- error_msg = f"OSS 环境变量配置错误: {e}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {
- "return_info": error_msg,
- "success": False,
- "uploaded_count": uploaded_count,
- "total_count": total_count,
- "failed_files": failed_files,
- "uploaded_files": uploaded_files
- }
-
- except Exception as e:
- failed_files.append(os.path.basename(file_path))
- if self._ros_node:
- self._ros_node.lab_logger().error(
- f"[{i}/{total_count}] 上传异常: {e}"
- )
-
- # 汇总结果
- if uploaded_count == total_count:
- success_msg = f"全部上传成功: {uploaded_count}/{total_count} 个文件"
- success = True
- elif uploaded_count > 0:
- success_msg = f"部分上传成功: {uploaded_count}/{total_count} 个文件，失败 {len(failed_files)} 个"
- success = True # 部分成功也算成功
- else:
- success_msg = f"全部上传失败: 0/{total_count} 个文件"
- success = False
-
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
-
- return {
- "return_info": success_msg,
- "success": success,
- "uploaded_count": uploaded_count,
- "total_count": total_count,
- "failed_files": failed_files,
- "uploaded_files": uploaded_files # 添加成功上传的文件 URL 列表
- }
-
- except Exception as e:
- error_msg = f"上传备份文件到 OSS 失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {
- "return_info": error_msg,
- "success": False,
- "uploaded_count": 0,
- "total_count": 0,
- "failed_files": [],
- "uploaded_files": []
- }
-
-
- def query_plate_action(self, plate_id: str = "P1") -> dict:
- """
- 查询指定盘的详细信息（设备动作）
-
- Args:
- plate_id: 盘号标识，如"P1"或"P2"
-
- Returns:
- dict: ROS2动作结果格式，包含指定盘的详细通道信息
- """
- try:
- # 解析盘号
- if plate_id.upper() == "P1":
- plate_num = 1
- elif plate_id.upper() == "P2":
- plate_num = 2
- else:
- error_msg = f"无效的盘号: {plate_id}，仅支持P1或P2"
- if self._ros_node:
- self._ros_node.lab_logger().warning(error_msg)
- return {"return_info": error_msg, "success": False}
-
- # 获取指定盘的详细信息
- plate_detail = self._get_plate_detail_info(plate_num)
-
- success_msg = f"成功获取{plate_id}盘详细信息，包含{len(plate_detail['channels'])}个通道"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
-
- return {
- "return_info": success_msg,
- "success": True,
- "plate_data": plate_detail
- }
-
- except Exception as e:
- error_msg = f"查询盘{plate_id}详细信息失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def _get_plate_detail_info(self, plate_num: int) -> dict:
- """
- 获取指定盘的详细信息，包含设备ID、子设备ID、通道ID映射
-
- Args:
- plate_num: 盘号 (1 或 2)
-
- Returns:
- dict: 包含详细通道信息的字典
- """
- # 获取最新的通道状态数据
- channel_status_data = self.channel_status
- subunits = channel_status_data.get('subunits', {})
-
- if plate_num == 1:
- devid = 1
- subdevid_range = range(1, 6) # 子设备ID 1-5
- elif plate_num == 2:
- devid = 1
- subdevid_range = range(6, 11) # 子设备ID 6-10
- else:
- raise ValueError("盘号必须是1或2")
-
- channels = []
-
- # 直接从subunits数据构建通道信息，而不依赖资源状态
- for subdev_id in subdevid_range:
- status_row = subunits.get(subdev_id, {})
-
- for chl_id in range(1, 9): # chlid 1-8
- try:
- # 计算在5×8网格中的位置
- if plate_num == 1:
- row_idx = (subdev_id - 1) # 0-4 (对应A-E)
- else: # plate_num == 2
- row_idx = (subdev_id - 6) # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E)
-
- col_idx = (chl_id - 1) # 0-7 (对应1-8)
- position = f"{self.LETTERS[row_idx]}{col_idx + 1}"
- name = f"P{plate_num}_{position}"
-
- # 从subunits直接获取通道状态数据
- status_channel = status_row.get(chl_id, {})
-
- # 提取metrics数据（如果存在）
- metrics = status_channel.get('metrics', {})
-
- channel_info = {
- 'name': name,
- 'devid': devid,
- 'subdevid': subdev_id,
- 'chlid': chl_id,
- 'position': position,
- 'status': status_channel.get('state', 'unknown'),
- 'color': status_channel.get('color', self.STATUS_COLOR['unknown']),
- 'voltage': metrics.get('voltage_V', 0.0),
- 'current': metrics.get('current_A', 0.0),
- 'time': metrics.get('totaltime_s', 0.0)
- }
-
- channels.append(channel_info)
-
- except (ValueError, IndexError, KeyError):
- # 如果解析失败，跳过该通道
- continue
-
- # 按位置排序（先按行，再按列）
- channels.sort(key=lambda x: (x['subdevid'], x['chlid']))
-
- # 统计状态
- stats = {s: 0 for s in self.STATUS_SET | {"unknown"}}
- for channel in channels:
- stats[channel['status']] += 1
-
- return {
- 'plate_id': f"P{plate_num}",
- 'plate_num': plate_num,
- 'devid': devid,
- 'subdevid_range': list(subdevid_range),
- 'total_channels': len(channels),
- 'stats': stats,
- 'channels': channels
- }
-
- # ========================
- # TCP通信和协议处理
- # ========================
-
- def _build_channel_map(self) -> List['ChannelKey']:
- """构建全量通道映射（720个通道）"""
- channels = []
-
- # devid 1-7: subdevid 1-10, chlid 1-8
- for devid in range(1, 8):
- for sub in range(1, 11):
- for ch in range(1, 9):
- channels.append(ChannelKey(devid, sub, ch))
-
- # devid 8: subdevid 11-20, chlid 1-8
- for sub in range(11, 21):
- for ch in range(1, 9):
- channels.append(ChannelKey(8, sub, ch))
-
- # devid 86: subdevid 1-10, chlid 1-8
- for sub in range(1, 11):
- for ch in range(1, 9):
- channels.append(ChannelKey(86, sub, ch))
-
- return channels
-
- def _query_all_channels(self) -> Dict['ChannelKey', dict]:
- """执行TCP查询获取所有通道状态"""
- try:
- req_xml = self._build_inquire_xml()
-
- with socket.create_connection((self.ip, self.port), timeout=self.timeout) as sock:
- sock.settimeout(self.timeout)
- sock.sendall(req_xml)
- response = self._recv_until(sock)
-
- return self._parse_inquire_resp(response)
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"查询通道状态失败: {e}")
- else:
- print(f"查询通道状态失败: {e}")
- return {}
-
- def _build_inquire_xml(self) -> bytes:
- """构造inquire请求XML"""
- lines = [
- '',
- '',
- 'inquire',
- f''
- ]
-
- for c in self._channels:
- lines.append(
- f'true'
- )
-
- lines.extend(['
', ''])
- xml_text = "\n".join(lines)
- return xml_text.encode("utf-8") + self.REQ_END
-
- def _recv_until(self, sock: socket.socket, end_token: bytes = None,
- alt_close_tag: bytes = b"") -> bytes:
- """接收TCP响应数据"""
- if end_token is None:
- end_token = self.REQ_END
-
- buf = bytearray()
- while True:
- chunk = sock.recv(8192)
- if not chunk:
- break
- buf.extend(chunk)
- if end_token in buf:
- cut = buf.rfind(end_token)
- return bytes(buf[:cut])
- if alt_close_tag in buf:
- cut = buf.rfind(alt_close_tag) + len(alt_close_tag)
- return bytes(buf[:cut])
- return bytes(buf)
-
- def _parse_inquire_resp(self, xml_bytes: bytes) -> Dict['ChannelKey', dict]:
- """解析inquire_resp响应XML"""
- mapping = {}
-
- try:
- xml_text = xml_bytes.decode("utf-8", errors="ignore").strip()
- if not xml_text:
- return mapping
-
- root = ET.fromstring(xml_text)
- cmd = root.findtext("cmd", default="").strip()
-
- if cmd != "inquire_resp":
- return mapping
-
- list_node = root.find("list")
- if list_node is None:
- return mapping
-
- for node in list_node.findall("inquire"):
- # 解析 dev="27-1-1-1-0"
- dev = node.get("dev", "")
- parts = dev.split("-")
- # 容错：至少需要 5 段
- if len(parts) < 5:
- continue
- try:
- devtype = int(parts[0]) # 未使用，但解析以校验正确性
- devid = int(parts[1])
- subdevid = int(parts[2])
- chlid = int(parts[3])
- aux = int(parts[4])
- except ValueError:
- continue
-
- key = ChannelKey(devid, subdevid, chlid)
-
- # 提取属性，带类型转换与缺省值
- def fget(name: str, cast, default):
- v = node.get(name)
- if v is None or v == "":
- return default
- try:
- return cast(v)
- except Exception:
- return default
-
- workstatus = (node.get("workstatus", "") or "").lower()
- if workstatus not in self.STATUS_SET:
- workstatus = "unknown"
-
- current = fget("current", float, 0.0)
- voltage = fget("voltage", float, 0.0)
- capacity = fget("capacity", float, 0.0)
- energy = fget("energy", float, 0.0)
- totaltime = fget("totaltime", float, 0.0)
- relativetime = fget("relativetime", float, 0.0)
- open_close = fget("open_or_close", int, 0)
- cycle_id = fget("cycle_id", int, 0)
- step_id = fget("step_id", int, 0)
- step_type = node.get("step_type", "") or ""
- log_code = node.get("log_code", "") or ""
- barcode = node.get("barcode")
-
- mapping[key] = {
- "state": workstatus,
- "color": self.STATUS_COLOR.get(workstatus, self.STATUS_COLOR["unknown"]),
- "current_A": current,
- "voltage_V": voltage,
- "capacity_Ah": capacity,
- "energy_Wh": energy,
- "totaltime_s": totaltime,
- "relativetime_s": relativetime,
- "open_or_close": open_close,
- "step_type": step_type,
- "cycle_id": cycle_id,
- "step_id": step_id,
- "log_code": log_code,
- **({"barcode": barcode} if barcode is not None else {}),
- }
-
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"解析XML响应失败: {e}")
- else:
- print(f"解析XML响应失败: {e}")
-
- return mapping
-
- def _group_by_devid(self, status_map: Dict['ChannelKey', dict]) -> Dict[int, Dict]:
- """按设备ID分组状态数据"""
- result = {}
-
- for key, val in status_map.items():
- if key.devid not in result:
- result[key.devid] = {
- "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}},
- "subunits": {}
- }
-
- dev = result[key.devid]
- state = val.get("state", "unknown")
- dev["stats"][state] = dev["stats"].get(state, 0) + 1
-
- subunits = dev["subunits"]
- if key.subdevid not in subunits:
- subunits[key.subdevid] = {}
-
- subunits[key.subdevid][key.chlid] = {
- "state": state,
- "color": val.get("color", self.STATUS_COLOR["unknown"]),
- "open_or_close": val.get("open_or_close", 0),
- "metrics": {
- "voltage_V": val.get("voltage_V", 0.0),
- "current_A": val.get("current_A", 0.0),
- "capacity_Ah": val.get("capacity_Ah", 0.0),
- "energy_Wh": val.get("energy_Wh", 0.0),
- "totaltime_s": val.get("totaltime_s", 0.0),
- "relativetime_s": val.get("relativetime_s", 0.0)
- },
- "meta": {
- "step_type": val.get("step_type", ""),
- "cycle_id": val.get("cycle_id", 0),
- "step_id": val.get("step_id", 0),
- "log_code": val.get("log_code", "")
- }
- }
-
- return result
-
-
-# ========================
-# 示例和测试代码
-# ========================
-def main():
- """测试和演示设备类的使用（支持2盘80颗电池）"""
- print("=== 新威电池测试系统设备类演示（2盘80颗电池） ===")
-
- # 创建设备实例
- bts = NewareBatteryTestSystem()
-
- # 创建一个模拟的ROS节点用于初始化
- class MockRosNode:
- def lab_logger(self):
- import logging
- return logging.getLogger(__name__)
-
- def update_resource(self, *args, **kwargs):
- pass # 空实现，避免ROS调用错误
-
- # 调用post_init进行正确的初始化
- mock_ros_node = MockRosNode()
- bts.post_init(mock_ros_node)
-
- # 测试连接
- print(f"\n1. 连接测试:")
- print(f" 连接信息: {bts.connection_info}")
- if bts.test_connection():
- print(" ✓ TCP连接正常")
- else:
- print(" ✗ TCP连接失败")
- return
-
- # 获取设备摘要
- print(f"\n2. 设备摘要:")
- print(f" 总通道数: {bts.total_channels}")
- summary_result = bts.get_device_summary()
- if summary_result["success"]:
- # 直接解析return_info，因为它就是JSON字符串
- summary = json.loads(summary_result["return_info"])
- for devid, count in summary.items():
- print(f" 设备ID {devid}: {count} 个通道")
- else:
- print(f" 获取设备摘要失败: {summary_result['return_info']}")
-
- # 显示物料管理系统信息
- print(f"\n3. 物料管理系统:")
- print(f" 第1盘资源数: {len(bts.station_resources_plate1)}")
- print(f" 第2盘资源数: {len(bts.station_resources_plate2)}")
- print(f" 总资源数: {len(bts.station_resources)}")
-
- # 获取实时状态
- print(f"\n4. 获取通道状态:")
- try:
- bts.print_status_summary()
- except Exception as e:
- print(f" 获取状态失败: {e}")
-
- # 分别获取两盘的状态
- print(f"\n5. 分盘状态统计:")
- try:
- plate_status_data = bts.plate_status
- for plate_num in [1, 2]:
- plate_key = f"plate{plate_num}" # 修正键名格式：plate1, plate2
- if plate_key in plate_status_data:
- plate_info = plate_status_data[plate_key]
- print(f" 第{plate_num}盘:")
- print(f" 总位置数: {plate_info['total_positions']}")
- print(f" 活跃位置数: {plate_info['active_positions']}")
- for state, count in plate_info['stats'].items():
- if count > 0:
- print(f" {state}: {count} 个位置")
- else:
- print(f" 第{plate_num}盘: 无数据")
- except Exception as e:
- print(f" 获取分盘状态失败: {e}")
-
- # 导出JSON
- print(f"\n6. 导出状态数据:")
- result = bts.export_status_json("demo_2plate_status.json")
- if result["success"]:
- print(" ✓ 状态数据已导出到 demo_2plate_status.json")
- else:
- print(" ✗ 导出失败")
-
-
-if __name__ == "__main__":
- main()
diff --git a/unilabos/devices/opsky_Raman/devices.json b/unilabos/devices/opsky_Raman/devices.json
deleted file mode 100644
index 1ab5398c..00000000
--- a/unilabos/devices/opsky_Raman/devices.json
+++ /dev/null
@@ -1,20 +0,0 @@
-{
- "nodes": [
- {
- "id": "opsky_ATR30007",
- "name": "opsky_ATR30007",
- "parent": null,
- "type": "device",
- "class": "opsky_ATR30007",
- "position": {
- "x": 620.6111111111111,
- "y": 171,
- "z": 0
- },
- "config": {},
- "data": {},
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/opsky_Raman/dmqfengzhuang.py b/unilabos/devices/opsky_Raman/dmqfengzhuang.py
deleted file mode 100644
index fce22c71..00000000
--- a/unilabos/devices/opsky_Raman/dmqfengzhuang.py
+++ /dev/null
@@ -1,71 +0,0 @@
-import socket
-import time
-import csv
-from datetime import datetime
-import threading
-
-csv_lock = threading.Lock() # 防止多线程写CSV冲突
-
-def scan_once(ip="192.168.1.50", port_in=2001, port_out=2002,
- csv_file="scan_results.csv", timeout=5, retries=3):
- """
- 改进版扫码函数：
- - 自动重试
- - 全程超时保护
- - 更安全的socket关闭
- - 文件写入加锁
- """
- def save_result(qrcode):
- timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
- with csv_lock:
- with open(csv_file, mode="a", newline="") as f:
- writer = csv.writer(f)
- writer.writerow([timestamp, qrcode])
- print(f"✅ 已保存结果: {timestamp}, {qrcode}")
-
- result = None
-
- for attempt in range(1, retries + 1):
- print(f"\n🟡 扫码尝试 {attempt}/{retries} ...")
-
- try:
- # -------- Step 1: 触发拍照 --------
- with socket.create_connection((ip, port_in), timeout=2) as client_in:
- cmd = "start"
- client_in.sendall(cmd.encode("ascii")) #把字符串转为byte字节流规则是ascii码
- print(f"→ 已发送触发指令: {cmd}")
-
- # -------- Step 2: 等待识别结果 --------
- with socket.create_connection((ip, port_out), timeout=timeout) as client_out:
- print(f" 已连接相机输出端口 {port_out}，等待结果...")
-
- # recv最多阻塞timeout秒
- client_out.settimeout(timeout)
- data = client_out.recv(2048).decode("ascii", errors="ignore").strip() #结果输出为ascii字符串，遇到无法解析的字节则忽略
- # .strip()：去掉字符串头尾的空白字符（包括 \n, \r, 空格等），便于后续判断是否为空或写入 CSV。
- if data:
- print(f"📷 识别结果: {data}")
- save_result(data) #调用 save_result(data) 把时间戳 + 识别字符串写入 CSV（线程安全）。
- result = data #把局部变量 result 设为 data，用于函数返回值
- break #如果读取成功跳出重试循环（for attempt in ...），不再进行后续重试。
- else:
- print("⚠️ 相机返回空数据，重试中...")
-
- except socket.timeout:
- print("⏰ 超时未收到识别结果，重试中...")
- except ConnectionRefusedError:
- print("❌ 无法连接到扫码器端口，请检查设备是否在线。")
- except OSError as e:
- print(f"⚠️ 网络错误: {e}")
- except Exception as e:
- print(f"❌ 未知异常: {e}")
-
- time.sleep(0.5) # 两次扫描之间稍作延时
-
- # -------- Step 3: 返回最终结果 --------
- if result:
- print(f"✅ 扫码成功：{result}")
- else:
- print("❌ 多次尝试后仍未获取二维码结果")
-
- return result
diff --git a/unilabos/devices/opsky_Raman/opsky_ATR30007.py b/unilabos/devices/opsky_Raman/opsky_ATR30007.py
deleted file mode 100644
index 8eee2bab..00000000
--- a/unilabos/devices/opsky_Raman/opsky_ATR30007.py
+++ /dev/null
@@ -1,398 +0,0 @@
-# opsky_atr30007.py
-import logging
-import time as time_mod
-import csv
-from datetime import datetime
-from typing import Optional, Dict, Any
-
-# 兼容 pymodbus 在不同版本中的位置与 API
-try:
- from pymodbus.client import ModbusTcpClient
-except Exception:
- ModbusTcpClient = None
-
-# 导入 run_raman_test（假定与本文件同目录）
-# 如果你的项目是包结构且原先使用相对导入，请改回 `from .raman_module import run_raman_test`
-try:
- from .raman_module import run_raman_test
-except Exception:
- # 延迟导入失败不会阻止主流程（在 run 时会再尝试）
- run_raman_test = None
-
-logger = logging.getLogger("opsky")
-logger.setLevel(logging.INFO)
-ch = logging.StreamHandler()
-formatter = logging.Formatter("%(asctime)s [%(levelname)s] %(message)s", "%y-%m-%d %H:%M:%S")
-ch.setFormatter(formatter)
-logger.addHandler(ch)
-
-
-class opsky_ATR30007:
- """
- 封装 UniLabOS 设备动作逻辑，兼容 pymodbus 2.x / 3.x。
- 放在独立文件中：opsky_atr30007.py
- """
-
- def __init__(
- self,
- plc_ip: str = "192.168.1.88",
- plc_port: int = 502,
- robot_ip: str = "192.168.1.200",
- robot_port: int = 502,
- scan_csv_file: str = "scan_results.csv",
- ):
- self.plc_ip = plc_ip
- self.plc_port = plc_port
- self.robot_ip = robot_ip
- self.robot_port = robot_port
- self.scan_csv_file = scan_csv_file
-
- # ----------------- 参数字符串转换 helpers -----------------
- @staticmethod
- def _str_to_int(s, default):
- try:
- return int(float(str(s).strip()))
- except Exception:
- return int(default)
-
- @staticmethod
- def _str_to_float(s, default):
- try:
- return float(str(s).strip())
- except Exception:
- return float(default)
-
- @staticmethod
- def _str_to_bool(s, default):
- try:
- v = str(s).strip().lower()
- if v in ("true", "1", "yes", "y", "t"):
- return True
- if v in ("false", "0", "no", "n", "f"):
- return False
- return default
- except Exception:
- return default
-
- # ----------------- Modbus / 安全读写 -----------------
- @staticmethod
- def _adapt_req_kwargs_for_read(func_name: str, args: tuple, kwargs: dict):
- # 如果调用方传的是 (address, count) positional，在新版接口可能是 address=..., count=...
- if len(args) == 2 and func_name.startswith("read_"):
- address, count = args
- args = ()
- kwargs.setdefault("address", address)
- kwargs.setdefault("count", count)
- return args, kwargs
-
- @staticmethod
- def _adapt_req_kwargs_for_write(func_name: str, args: tuple, kwargs: dict):
- if len(args) == 2 and func_name.startswith("write_"):
- address, value = args
- args = ()
- kwargs.setdefault("address", address)
- kwargs.setdefault("value", value)
- return args, kwargs
-
- def ensure_connected(self, client, name, ip, port):
- """确保连接存在，失败则尝试重连并返回新的 client 或 None"""
- if client is None:
- return None
- try:
- # 不同 pymodbus 版本可能有不同方法检测 socket
- is_open = False
- try:
- is_open = bool(client.is_socket_open())
- except Exception:
- # fallback: try to read nothing or attempt connection test
- try:
- # 轻试一次
- is_open = client.connected if hasattr(client, "connected") else False
- except Exception:
- is_open = False
-
- if not is_open:
- logger.warning("%s 掉线，尝试重连...", name)
- try:
- client.close()
- except Exception:
- pass
- time_mod.sleep(0.5)
- if ModbusTcpClient:
- new_client = ModbusTcpClient(ip, port=port)
- try:
- if new_client.connect():
- logger.info("%s 重新连接成功 (%s:%s)", name, ip, port)
- return new_client
- except Exception:
- pass
- logger.warning("%s 重连失败", name)
- time_mod.sleep(1)
- return None
- return client
- except Exception as e:
- logger.exception("%s 连接检查异常: %s", name, e)
- return None
-
- def safe_read(self, client, name, func, *args, retries=3, delay=0.3, **kwargs):
- """兼容 pymodbus 2.x/3.x 的读函数，返回 response 或 None"""
- if client is None:
- return None
- for attempt in range(1, retries + 1):
- try:
- # adapt args/kwargs for different API styles
- args, kwargs = self._adapt_req_kwargs_for_read(func.__name__, args, kwargs)
- # unit->slave compatibility
- if "unit" in kwargs:
- kwargs["slave"] = kwargs.pop("unit")
- res = func(*args, **kwargs)
- # pymodbus Response 在不同版本表现不同，尽量检测错误
- if res is None:
- raise RuntimeError("返回 None")
- if hasattr(res, "isError") and res.isError():
- raise RuntimeError("Modbus 返回 isError()")
- return res
- except Exception as e:
- logger.warning("%s 读异常 (尝试 %d/%d): %s", name, attempt, retries, e)
- time_mod.sleep(delay)
- logger.error("%s 连续读取失败 %d 次", name, retries)
- return None
-
- def safe_write(self, client, name, func, *args, retries=3, delay=0.3, **kwargs):
- """兼容 pymodbus 2.x/3.x 的写函数，返回 True/False"""
- if client is None:
- return False
- for attempt in range(1, retries + 1):
- try:
- args, kwargs = self._adapt_req_kwargs_for_write(func.__name__, args, kwargs)
- if "unit" in kwargs:
- kwargs["slave"] = kwargs.pop("unit")
- res = func(*args, **kwargs)
- if res is None:
- raise RuntimeError("返回 None")
- if hasattr(res, "isError") and res.isError():
- raise RuntimeError("Modbus 返回 isError()")
- return True
- except Exception as e:
- logger.warning("%s 写异常 (尝试 %d/%d): %s", name, attempt, retries, e)
- time_mod.sleep(delay)
- logger.error("%s 连续写入失败 %d 次", name, retries)
- return False
-
- def wait_with_quit_check(self, robot, seconds, addr_quit=270):
- """等待指定时间，同时每 0.2s 检查 R270 是否为 1（立即退出）"""
- if robot is None:
- time_mod.sleep(seconds)
- return False
- checks = max(1, int(seconds / 0.2))
- for _ in range(checks):
- rr = self.safe_read(robot, "机器人", robot.read_holding_registers, address=addr_quit, count=1)
- if rr and getattr(rr, "registers", [None])[0] == 1:
- logger.info("检测到 R270=1，立即退出等待")
- return True
- time_mod.sleep(0.2)
- return False
-
- # ----------------- 主流程 run_once -----------------
- def run_once(
- self,
- integration_time: str = "5000",
- laser_power: str = "200",
- save_csv: str = "true",
- save_plot: str = "true",
- normalize: str = "true",
- norm_max: str = "1.0",
- **_: Any,
- ) -> Dict[str, Any]:
- result: Dict[str, Any] = {"success": False, "event": "none", "details": {}}
-
- integration_time_v = self._str_to_int(integration_time, 5000)
- laser_power_v = self._str_to_int(laser_power, 200)
- save_csv_v = self._str_to_bool(save_csv, True)
- save_plot_v = self._str_to_bool(save_plot, True)
- normalize_v = self._str_to_bool(normalize, True)
- norm_max_v = None if norm_max in (None, "", "none", "null") else self._str_to_float(norm_max, 1.0)
-
- if ModbusTcpClient is None:
- result["details"]["error"] = "未安装 pymodbus，无法执行连接"
- logger.error(result["details"]["error"])
- return result
-
- # 建立连接
- plc = ModbusTcpClient(self.plc_ip, port=self.plc_port)
- robot = ModbusTcpClient(self.robot_ip, port=self.robot_port)
- try:
- if not plc.connect():
- result["details"]["error"] = "无法连接 PLC"
- logger.error(result["details"]["error"])
- return result
- if not robot.connect():
- plc.close()
- result["details"]["error"] = "无法连接 机器人"
- logger.error(result["details"]["error"])
- return result
-
- logger.info("✅ PLC 与 机器人连接成功")
- time_mod.sleep(0.2)
-
- # 伺服使能 (coil 写示例)
- if self.safe_write(plc, "PLC", plc.write_coil, 10, True):
- logger.info("✅ 伺服使能成功 (M10=True)")
- else:
- logger.warning("⚠️ 伺服使能失败")
-
- # 初始化 CSV 文件
- try:
- with open(self.scan_csv_file, "w", newline="", encoding="utf-8") as f:
- csv.writer(f).writerow(["Bottle_No", "Scan_Result", "Time"])
- except Exception as e:
- logger.warning("⚠️ 初始化CSV失败: %s", e)
-
- bottle_count = 0
- logger.info("🟢 等待机器人触发信号... (R260=1扫码 / R256=1拉曼 / R270=1退出)")
-
- # 主循环：仅响应事件（每次循环后短暂 sleep）
- while True:
- plc = self.ensure_connected(plc, "PLC", self.plc_ip, self.plc_port) or plc
- robot = self.ensure_connected(robot, "机器人", self.robot_ip, self.robot_port) or robot
-
- # 检查退出寄存器
- quit_signal = self.safe_read(robot, "机器人", robot.read_holding_registers, 270, 1)
- if quit_signal and getattr(quit_signal, "registers", [None])[0] == 1:
- logger.info("🟥 检测到 R270=1，准备退出...")
- result["event"] = "quit"
- result["success"] = True
- break
-
- # 读取关键寄存器（256..260）
- rr = self.safe_read(robot, "机器人", robot.read_holding_registers, 256, 5)
- if not rr or not hasattr(rr, "registers"):
- time_mod.sleep(0.3)
- continue
-
- r256, r257, r258, r259, r260 = (rr.registers + [0, 0, 0, 0, 0])[:5]
-
- # ---------- 扫码逻辑 ----------
- if r260 == 1:
- bottle_count += 1
- logger.info("📸 第 %d 瓶触发扫码 (R260=1)", bottle_count)
- try:
- # 调用外部扫码函数（用户实现）
- from .dmqfengzhuang import scan_once as scan_once_local
- scan_result = scan_once_local(ip="192.168.1.50", port_in=2001, port_out=2002)
- if scan_result:
- logger.info("✅ 扫码成功: %s", scan_result)
- timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
- with open(self.scan_csv_file, "a", newline="", encoding="utf-8") as f:
- csv.writer(f).writerow([bottle_count, scan_result, timestamp])
- else:
- logger.warning("⚠️ 扫码失败或无返回")
- except Exception as e:
- logger.exception("❌ 扫码异常: %s", e)
-
- # 写 R260->0, R261->1
- self.safe_write(robot, "机器人", robot.write_register, 260, 0)
- time_mod.sleep(0.15)
- self.safe_write(robot, "机器人", robot.write_register, 261, 1)
- logger.info("➡️ 扫码完成 (R260→0, R261→1)")
- result["event"] = "scan"
- result["success"] = True
-
- # ---------- 拉曼逻辑 ----------
- if r256 == 1:
- logger.info("⚙️ 检测到 R256=1（放瓶完成）")
- # PLC 电机右转指令
- self.safe_write(plc, "PLC", plc.write_register, 1199, 1)
- self.safe_write(plc, "PLC", plc.write_register, 1200, 1)
- logger.info("➡️ 电机右转中...")
- if self.wait_with_quit_check(robot, 3):
- result["event"] = "quit"
- break
- self.safe_write(plc, "PLC", plc.write_register, 1199, 0)
- logger.info("✅ 电机右转完成")
-
- # 调用拉曼测试（尽量捕获异常并记录）
- logger.info("🧪 开始拉曼测试...")
- try:
- # 尝试使用模块导入好的 run_raman_test，否则再动态导入
- rr_func = run_raman_test
- if rr_func is None:
- from raman_module import run_raman_test as rr_func
- success, file_prefix, df = rr_func(
- integration_time=integration_time_v,
- laser_power=laser_power_v,
- save_csv=save_csv_v,
- save_plot=save_plot_v,
- normalize=normalize_v,
- norm_max=norm_max_v,
- )
- if success:
- logger.info("✅ 拉曼测试完成: %s", file_prefix)
- result["event"] = "raman"
- result["success"] = True
- else:
- logger.warning("⚠️ 拉曼测试失败")
- except Exception as e:
- logger.exception("❌ 拉曼模块异常: %s", e)
-
- # 电机左转回位
- self.safe_write(plc, "PLC", plc.write_register, address=1299, value=1)
- self.safe_write(plc, "PLC", plc.write_register, address=1300, value=1)
- logger.info("⬅️ 电机左转中...")
- if self.wait_with_quit_check(robot, 3):
- result["event"] = "quit"
- break
- self.safe_write(plc, "PLC", plc.write_register, address=1299, value=0)
- logger.info("✅ 电机左转完成")
-
- # 通知机器人拉曼完成 R257=1
- self.safe_write(robot, "机器人", robot.write_register, address=257, value=1)
- logger.info("✅ 已写入 R257=1（拉曼完成）")
-
- # 延迟后清零 R256
- logger.info("⏳ 延迟4秒后清零 R256")
- if self.wait_with_quit_check(robot, 4):
- result["event"] = "quit"
- break
- self.safe_write(robot, "机器人", robot.write_register, address=256, value=0)
- logger.info("✅ 已清零 R256")
-
- # 等待机器人清 R257
- logger.info("等待 R257 清零中...")
- while True:
- rr2 = self.safe_read(robot, "机器人", robot.read_holding_registers, address=257, count=1)
- if rr2 and getattr(rr2, "registers", [None])[0] == 0:
- logger.info("✅ 检测到 R257=0，准备下一循环")
- break
- if self.wait_with_quit_check(robot, 1):
- result["event"] = "quit"
- break
- time_mod.sleep(0.2)
-
- time_mod.sleep(0.25)
-
- finally:
- logger.info("🧹 开始清理...")
- try:
- self.safe_write(plc, "PLC", plc.write_coil, address=10, value=False)
- except Exception:
- pass
- for addr in [256, 257, 260, 261, 270]:
- try:
- self.safe_write(robot, "机器人", robot.write_register, address=addr, value=0)
- except Exception:
- pass
-
- try:
- if plc:
- plc.close()
- except Exception:
- pass
- try:
- if robot:
- robot.close()
- except Exception:
- pass
- logger.info("🔚 已关闭所有连接")
-
- return result
diff --git a/unilabos/devices/opsky_Raman/raman_module.py b/unilabos/devices/opsky_Raman/raman_module.py
deleted file mode 100644
index 2bf76d27..00000000
--- a/unilabos/devices/opsky_Raman/raman_module.py
+++ /dev/null
@@ -1,180 +0,0 @@
-# raman_module.py
-import os
-import time as time_mod
-import numpy as np
-import pandas as pd
-
-# clr / ATRWrapper 依赖：在真实环境中使用 Windows + .NET wrapper
-# 本模块对缺少 clr 或 Wrapper 的情况提供“仿真”回退，方便离线/调试运行。
-try:
- import clr
- has_clr = True
-except Exception:
- clr = None
- has_clr = False
-
-# 本函数返回 (success: bool, file_prefix: str|None, df: pandas.DataFrame|None)
-def run_raman_test(integration_time=5000, laser_power=200,
- save_csv=True, save_plot=True,
- normalize=False, norm_max=None,
- max_wavenum=1300):
- """
- 拉曼测试流程（更稳健的实现）：
- - 若能加载 ATRWrapper 则使用之
- - 否则生成模拟光谱（方便调试）
- 返回 (success, file_prefix, df)
- """
- timestamp = time_mod.strftime("%Y%m%d_%H%M%S")
- file_prefix = f"raman_{timestamp}"
-
- wrapper = None
- used_real_device = False
-
- try:
- if has_clr:
- try:
- # 请根据你的 DLL 路径调整
- dll_path = r"D:\Raman\Raman_RS\ATRWrapper\ATRWrapper.dll"
- if os.path.exists(dll_path):
- clr.AddReference(dll_path)
- else:
- # 试图直接 AddReference 名称（若已在 PATH）
- try:
- clr.AddReference("ATRWrapper")
- except Exception:
- pass
-
- from Optosky.Wrapper import ATRWrapper # May raise
- wrapper = ATRWrapper()
- used_real_device = True
- except Exception as e:
- # 无法加载真实 wrapper -> fallback
- print("⚠️ 未能加载 ATRWrapper，使用模拟数据。详细:", e)
- wrapper = None
-
- if wrapper is None:
- # 生成模拟光谱（方便调试）
- # 模拟波数轴 50..1300
- WaveNum = np.linspace(50, max_wavenum, 1024)
- # 合成几条高斯峰 + 噪声
- def gauss(x, mu, sig, A):
- return A * np.exp(-0.5 * ((x - mu) / sig) ** 2)
- Spect_data = (gauss(WaveNum, 200, 8, 1000) +
- gauss(WaveNum, 520, 12, 600) +
- gauss(WaveNum, 810, 20, 400) +
- 50 * np.random.normal(scale=1.0, size=WaveNum.shape))
- Spect_bLC = Spect_data - np.min(Spect_data) * 0.05 # 简单 baseline
- Spect_smooth = np.convolve(Spect_bLC, np.ones(3) / 3, mode="same")
- df = pd.DataFrame({
- "WaveNum": WaveNum,
- "Raw_Spect": Spect_data,
- "BaseLineCorrected": Spect_bLC,
- "Smooth_Spect": Spect_smooth
- })
- success = True
- file_prefix = f"raman_sim_{timestamp}"
- # 保存 CSV / 绘图 等同真实设备
- else:
- # 使用真实设备 API（根据你提供的 wrapper 调用）
- On_flag = wrapper.OpenDevice()
- print("通讯连接状态:", On_flag)
- if not On_flag:
- wrapper.CloseDevice()
- return False, None, None
-
- wrapper.SetIntegrationTime(int(integration_time))
- wrapper.SetLdPower(int(laser_power), 1)
- # 可能的冷却设置（如果 wrapper 支持）
- try:
- wrapper.SetCool(-5)
- except Exception:
- pass
-
- Spect = wrapper.AcquireSpectrum()
- Spect_data = np.array(Spect.get_Data())
- if not Spect.get_Success():
- print("光谱采集失败")
- try:
- wrapper.CloseDevice()
- except Exception:
- pass
- return False, None, None
- WaveNum = np.array(wrapper.GetWaveNum())
- Spect_bLC = np.array(wrapper.BaseLineCorrect(Spect_data))
- Spect_smooth = np.array(wrapper.SmoothBoxcar(Spect_bLC, 3))
- df = pd.DataFrame({
- "WaveNum": WaveNum,
- "Raw_Spect": Spect_data,
- "BaseLineCorrected": Spect_bLC,
- "Smooth_Spect": Spect_smooth
- })
- wrapper.CloseDevice()
- success = True
-
- # 如果需要限定波数范围
- mask = df["WaveNum"] <= max_wavenum
- df = df[mask].reset_index(drop=True)
-
- # 可选归一化
- if normalize:
- arr = df["Smooth_Spect"].values
- mn, mx = arr.min(), arr.max()
- if mx == mn:
- df["Smooth_Spect"] = 0.0
- else:
- scale = 1.0 if norm_max is None else float(norm_max)
- df["Smooth_Spect"] = (arr - mn) / (mx - mn) * scale
- # 同时处理其它列（可选）
- arr_raw = df["Raw_Spect"].values
- mn_r, mx_r = arr_raw.min(), arr_raw.max()
- if mx_r == mn_r:
- df["Raw_Spect"] = 0.0
- else:
- scale = 1.0 if norm_max is None else float(norm_max)
- df["Raw_Spect"] = (arr_raw - mn_r) / (mx_r - mn_r) * scale
-
- # 保存 CSV
- if save_csv:
- csv_filename = f"{file_prefix}.csv"
- df.to_csv(csv_filename, index=False)
- print("✅ CSV 文件已生成:", csv_filename)
-
- # 绘图（使用 matplotlib），注意：不要启用 GUI 后台
- if save_plot:
- try:
- import matplotlib
- matplotlib.use("Agg")
- import matplotlib.pyplot as plt
-
- plt.figure(figsize=(8, 5))
- plt.plot(df["WaveNum"], df["Raw_Spect"], linestyle='-', alpha=0.6, label="原始")
- plt.plot(df["WaveNum"], df["BaseLineCorrected"], linestyle='--', alpha=0.8, label="基线校正")
- plt.plot(df["WaveNum"], df["Smooth_Spect"], linewidth=1.2, label="平滑")
- plt.xlabel("WaveNum (cm^-1)")
- plt.ylabel("Intensity (a.u.)")
- plt.title(f"Raman {file_prefix}")
- plt.grid(True)
- plt.legend()
- plt.tight_layout()
- plot_filename = f"{file_prefix}.png"
- plt.savefig(plot_filename, dpi=300, bbox_inches="tight")
- plt.close()
- # 小短暂等待以确保文件系统刷新
- time_mod.sleep(0.2)
- print("✅ 图像已生成:", plot_filename)
- except Exception as e:
- print("⚠️ 绘图失败:", e)
-
- return success, file_prefix, df
-
- except Exception as e:
- print("拉曼测试异常:", e)
- try:
- if wrapper is not None:
- try:
- wrapper.CloseDevice()
- except Exception:
- pass
- except Exception:
- pass
- return False, None, None
diff --git a/unilabos/devices/opsky_Raman/test2.py b/unilabos/devices/opsky_Raman/test2.py
deleted file mode 100644
index 7646439b..00000000
--- a/unilabos/devices/opsky_Raman/test2.py
+++ /dev/null
@@ -1,209 +0,0 @@
-import time
-import csv
-from datetime import datetime
-from pymodbus.client import ModbusTcpClient
-from dmqfengzhuang import scan_once
-from raman_module import run_raman_test
-
-# =================== 配置 ===================
-PLC_IP = "192.168.1.88"
-PLC_PORT = 502
-ROBOT_IP = "192.168.1.200"
-ROBOT_PORT = 502
-SCAN_CSV_FILE = "scan_results.csv"
-
-# =================== 通用函数 ===================
-def ensure_connected(client, name, ip, port):
- if not client.is_socket_open():
- print(f"{name} 掉线，正在重连...")
- client.close()
- time.sleep(1)
-
- new_client = ModbusTcpClient(ip, port=port)
- if new_client.connect():
- print(f"{name} 重新连接成功 ({ip}:{port})")
- return new_client
- else:
- print(f"{name} 重连失败，稍后重试...")
- time.sleep(3)
- return None
- return client
-
-def safe_read(client, name, func, *args, retries=3, delay=0.3, **kwargs):
- for _ in range(retries):
- try:
- res = func(*args, **kwargs)
- if res and not (hasattr(res, "isError") and res.isError()):
- return res
- except Exception as e:
- print(f"{name} 读异常: {e}")
- time.sleep(delay)
- print(f"{name} 连续读取失败 {retries} 次")
- return None
-
-def safe_write(client, name, func, *args, retries=3, delay=0.3, **kwargs):
- for _ in range(retries):
- try:
- res = func(*args, **kwargs)
- if res and not (hasattr(res, "isError") and res.isError()):
- return True
- except Exception as e:
- print(f"{name} 写异常: {e}")
- time.sleep(delay)
- print(f"{name} 连续写入失败 {retries} 次")
- return False
-
-def wait_with_quit_check(robot, seconds, addr_quit=270):
- for _ in range(int(seconds / 0.2)):
- rr = safe_read(robot, "机器人", robot.read_holding_registers,
- address=addr_quit, count=1)
- if rr and rr.registers[0] == 1:
- print("检测到 R270=1，立即退出循环")
- return True
- time.sleep(0.2)
- return False
-
-# =================== 初始化 ===================
-plc = ModbusTcpClient(PLC_IP, port=PLC_PORT)
-robot = ModbusTcpClient(ROBOT_IP, port=ROBOT_PORT)
-
-if not plc.connect():
- print("无法连接 PLC")
- exit()
-if not robot.connect():
- print("无法连接 机器人")
- plc.close()
- exit()
-
-print("✅ PLC 与 机器人连接成功")
-time.sleep(0.5)
-
-# 伺服使能
-if safe_write(plc, "PLC", plc.write_coil, address=10, value=True):
- print("✅ 伺服使能成功 (M10=True)")
-else:
- print("⚠️ 伺服使能失败")
-
-# 初始化扫码 CSV
-with open(SCAN_CSV_FILE, "w", newline="", encoding="utf-8") as f:
- csv.writer(f).writerow(["Bottle_No", "Scan_Result", "Time"])
-
-bottle_count = 0
-print("🟢 等待机器人触发信号... (R260=1扫码 / R256=1拉曼 / R270=1退出)")
-
-# =================== 主监听循环 ===================
-while True:
- plc = ensure_connected(plc, "PLC", PLC_IP, PLC_PORT) or plc
- robot = ensure_connected(robot, "机器人", ROBOT_IP, ROBOT_PORT) or robot
-
- # 退出命令检测
- quit_signal = safe_read(robot, "机器人", robot.read_holding_registers,
- address=270, count=1)
- if quit_signal and quit_signal.registers[0] == 1:
- print("🟥 检测到 R270=1，准备退出程序...")
- break
-
- # 读取关键寄存器
- rr = safe_read(robot, "机器人", robot.read_holding_registers,
- address=256, count=5)
- if not rr:
- time.sleep(0.3)
- continue
-
- r256, _, r258, r259, r260 = rr.registers[:5]
-
- # ----------- 扫码部分 (R260=1) -----------
- if r260 == 1:
- bottle_count += 1
- print(f"📸 第 {bottle_count} 瓶触发扫码 (R260=1)")
-
- try:
- result = scan_once(ip="192.168.1.50", port_in=2001, port_out=2002)
- if result:
- print(f"✅ 扫码成功: {result}")
- timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
- with open(SCAN_CSV_FILE, "a", newline="", encoding="utf-8") as f:
- csv.writer(f).writerow([bottle_count, result, timestamp])
- else:
- print("⚠️ 扫码失败或无返回")
- except Exception as e:
- print(f"❌ 扫码异常: {e}")
-
- safe_write(robot, "机器人", robot.write_register, address=260, value=0)
- time.sleep(0.2)
- safe_write(robot, "机器人", robot.write_register, address=261, value=1)
- print("➡️ 扫码完成 (R260→0, R261→1)")
-
- # ----------- 拉曼 + 电机部分 (R256=1) -----------
- if r256 == 1:
- print("⚙️ 检测到 R256=1（放瓶完成）")
-
- # 电机右转
- safe_write(plc, "PLC", plc.write_register, address=1199, value=1)
- safe_write(plc, "PLC", plc.write_register, address=1200, value=1)
- print("➡️ 电机右转中...")
- if wait_with_quit_check(robot, 3):
- break
- safe_write(plc, "PLC", plc.write_register, address=1199, value=0)
- print("✅ 电机右转完成")
-
- # 拉曼测试
- print("🧪 开始拉曼测试...")
- try:
- success, file_prefix, df = run_raman_test(
- integration_time=5000,
- laser_power=200,
- save_csv=True,
- save_plot=True,
- normalize=True,
- norm_max=1.0
- )
- if success:
- print(f"✅ 拉曼完成：{file_prefix}.csv / .png")
- else:
- print("⚠️ 拉曼失败")
- except Exception as e:
- print(f"❌ 拉曼测试异常: {e}")
-
- # 电机左转
- safe_write(plc, "PLC", plc.write_register, address=1299, value=1)
- safe_write(plc, "PLC", plc.write_register, address=1300, value=1)
- print("⬅️ 电机左转中...")
- if wait_with_quit_check(robot, 3):
- break
- safe_write(plc, "PLC", plc.write_register, address=1299, value=0)
- print("✅ 电机左转完成")
-
- # 写入拉曼完成信号
- safe_write(robot, "机器人", robot.write_register, address=257, value=1)
- print("✅ 已写入 R257=1（拉曼完成）")
-
- # 延迟清零 R256
- print("⏳ 延迟4秒后清零 R256")
- if wait_with_quit_check(robot, 4):
- break
- safe_write(robot, "机器人", robot.write_register, address=256, value=0)
- print("✅ 已清零 R256")
-
- # 等待机器人清零 R257
- print("等待 R257 清零中...")
- while True:
- rr2 = safe_read(robot, "机器人", robot.read_holding_registers, address=257, count=1)
- if rr2 and rr2.registers[0] == 0:
- print("✅ 检测到 R257=0，准备下一循环")
- break
- if wait_with_quit_check(robot, 1):
- break
- time.sleep(0.2)
-
- time.sleep(0.2)
-
-# =================== 程序退出清理 ===================
-print("🧹 开始清理...")
-safe_write(plc, "PLC", plc.write_coil, address=10, value=False)
-for addr in [256, 257, 260, 261, 270]:
- safe_write(robot, "机器人", robot.write_register, address=addr, value=0)
-
-plc.close()
-robot.close()
-print("✅ 程序已退出，设备全部复位。")
diff --git a/unilabos/devices/platereader/NivoDriver.py b/unilabos/devices/platereader/NivoDriver.py
deleted file mode 100644
index d9896579..00000000
--- a/unilabos/devices/platereader/NivoDriver.py
+++ /dev/null
@@ -1,295 +0,0 @@
-import time
-import traceback
-from typing import Optional
-
-import requests
-from pywinauto.application import WindowSpecification
-from pywinauto.controls.uiawrapper import UIAWrapper
-from pywinauto_recorder import UIApplication
-from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, FailedSearch
-
-from unilabos.device_comms import universal_driver as ud
-from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
-from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, \
- get_ui_path_with_window_specification
-
-
-class NivoDriver(UniversalDriver):
- # 初始指定
- _device_ip: str = None
- # 软件状态检测
- _software_enabled: bool = False
- _software_pid: int = None
- _http_service_available: bool = False
-
- # 初始化状态
- _is_initialized: bool = False
-
- # 任务是否成功
- _success: bool = False
-
- # 运行状态
- _is_executing_run: bool = False
- _executing_ui_path: Optional[UIPath] = None
- _executing_index: Optional[int] = None
- _executing_status: Optional[str] = None
- _total_tasks: Optional[list[str]] = None
- _guide_app: Optional[UIApplication] = None
-
- @property
- def executing_status(self) -> str:
- if self._total_tasks is None:
- return f"无任务"
- if self._executing_index is None:
- return f"等待任务开始，总计{len(self._total_tasks)}个".encode('utf-8').decode('utf-8')
- else:
- return f"正在执行第{self._executing_index + 1}/{len(self._total_tasks)}个任务，当前状态：{self._executing_status}".encode('utf-8').decode('utf-8')
-
- @property
- def device_ip(self) -> str:
- return self._device_ip
-
- @property
- def success(self) -> bool:
- return self._success
-
- @property
- def status(self) -> str:
- return f"Software: {self._software_enabled}, HTTP: {self._http_service_available} Initialized: {self._is_initialized} Executing: {self._is_executing_run}"
-
- def set_device_addr(self, device_ip_str):
- self._device_ip = device_ip_str
- print(f"Set device IP to: {self.device_ip}")
-
- def run_instrument(self):
- if not self._is_initialized:
- print("Instrument is not initialized")
- self._success = False
- return False
- def post_func(res, _):
- self._success = res
- if not res:
- self._is_executing_run = False
- ins: SingleRunningExecutor = SingleRunningExecutor.get_instance(self.execute_run_instrument, post_func)
- if not ins.is_ended and ins.is_started:
- print("Function is running")
- self._success = False
- return False
- elif not ins.is_started:
- print("Function started")
- ins.start() # 开始执行
- else:
- print("Function reset and started")
- ins.reset()
- ins.start()
-
- def execute_run_instrument(self):
- process_found, process_pid = get_process_pid_by_name("Guide.exe", min_memory_mb=20)
- if not process_found:
- uiapp = connect_application(process=self._software_pid)
- focus_on_application(uiapp)
- ui_window: WindowSpecification = uiapp.app.top_window()
- button: WindowSpecification = ui_window.child_window(title="xtpBarTop", class_name="XTPDockBar").child_window(
- title="Standard", class_name="XTPToolBar").child_window(title="Protocol", control_type="Button")
- click(button.wrapper_object())
- for _ in range(5):
- time.sleep(1)
- process_found, process_pid = get_process_pid_by_name("Guide.exe", min_memory_mb=20)
- if process_found:
- break
- if not process_found:
- print("Guide.exe not found")
- self._success = False
- return False
- uiapp = connect_application(process=process_pid)
- self._guide_app = uiapp
- focus_on_application(uiapp)
- wrapper_object = uiapp.app.top_window().wrapper_object()
- ui_path = get_ui_path_with_window_specification(wrapper_object)
- self._executing_ui_path = ui_path
- with ui_path:
- try:
- click(u"||Custom->||RadioButton-> Run||Text-> Run||Text")
- except FailedSearch as e:
- print(f"未找到Run按钮，可能已经在执行了")
- with UIPath(u"WAA.Guide.Guide.RunControlViewModel||Custom->||Custom"):
- click(u"Start||Button")
- with UIPath(u"WAA.Guide.Guide.RunControlViewModel||Custom->||Custom->||Group->WAA.Guide.Guide.StartupControlViewModel||Custom->||Custom->Ok||Button"):
- while self._executing_index is None or self._executing_index == 0:
- if exists(None, timeout=2):
- click(u"Ok||Text")
- print("Run Init Success!")
- self._is_executing_run = True
- return True
- else:
- print("Wait for Ok button")
-
- def check_execute_run_status(self):
- if not self._is_executing_run:
- return False
- if self._executing_ui_path is None:
- return False
- total_tasks = []
- executing_index = 0
- executing_status = ""
- procedure_name_found = False
- with self._executing_ui_path:
- with UIPath(u"WAA.Guide.Guide.RunControlViewModel||Custom->||Custom"):
- with UIPath("Progress||Group->||DataGrid"):
- wrappered_object: UIAWrapper = find(timeout=0.5) # BUG: 在查找的时候会触发全局锁，建议还是使用Process来检测
- for custom_wrapper in wrappered_object.children():
- if len(custom_wrapper.children()) == 1:
- each_custom_wrapper = custom_wrapper.children()[0]
- if len(each_custom_wrapper.children()) == 2:
- if not procedure_name_found:
- procedure_name_found = True
- continue
- task_wrapper = each_custom_wrapper.children()[0]
- total_tasks.append(task_wrapper.window_text())
- status_wrapper = each_custom_wrapper.children()[1]
- status = status_wrapper.window_text()
- if len(status) > 0:
- executing_index = len(total_tasks) - 1
- executing_status = status
- try:
- if self._guide_app is not None:
- wrapper_object = self._guide_app.app.top_window().wrapper_object()
- ui_path = get_ui_path_with_window_specification(wrapper_object)
- with ui_path:
- with UIPath("OK||Button"):
- btn = find(timeout=1)
- if btn is not None:
- btn.set_focus()
- click(btn, timeout=1)
- self._is_executing_run = False
- print("运行完成！")
- except:
- pass
- self._executing_index = executing_index
- self._executing_status = executing_status
- self._total_tasks = total_tasks
- return True
-
- def initialize_instrument(self, force=False):
- if not self._software_enabled:
- print("Software is not opened")
- self._success = False
- return
- if not self._http_service_available:
- print("HTTP Server Not Available")
- self._success = False
- return
- if self._is_initialized and not force:
- print("Already Initialized")
- self._success = True
- return True
- ins: SingleRunningExecutor = SingleRunningExecutor.get_instance(self.execute_initialize, lambda res, _: setattr(self, '_success', res))
- if not ins.is_ended and ins.is_started:
- print("Initialize is running")
- self._success = False
- return False
- elif not ins.is_started:
- print("Initialize started")
- ins.start()
- else: # 可能外面is_initialized被设置为False，又进来重新初始化了
- print("Initialize reset and started")
- ins.reset()
- ins.start()
- return True
-
- def execute_initialize(self, process=None) -> bool:
- if process is None:
- process = self._software_pid
- try:
- uiapp = connect_application(process=process)
- ui_window: WindowSpecification = uiapp.app.top_window()
-
- button = ui_window.child_window(title="xtpBarTop", class_name="XTPDockBar").child_window(
- title="Standard", class_name="XTPToolBar").child_window(title="Initialize Instrument", control_type="Button")
- focus_on_application(uiapp)
- click(button.wrapper_object())
- with get_ui_path_with_window_specification(ui_window):
- with UIPath("Regex: (Initializing|Resetting|Perking).*||Window"):
- # 检测窗口是否存在
- for i in range(3):
- try:
- initializing_windows = exists(None, timeout=2)
- break
- except:
- pass
- print("window has recovered", initializing_windows)
- time.sleep(5) # another wait
- self._is_initialized = True
- return True
- except Exception as e:
- print("An error occurred during initialization:")
- traceback.print_exc()
- return False
-
- def __init__(self):
- self._device_ip = "192.168.0.2"
- # 启动所有监控器
- self.checkers = [
- ProcessChecker(self, 1),
- HttpServiceChecker(self, 3),
- RunStatusChecker(self, 1),
- OkButtonChecker(self, 2) # 添加新的Checker
- ]
- for checker in self.checkers:
- checker.start_monitoring()
-
-
-class DriverChecker(ud.DriverChecker):
- driver: NivoDriver
-
-class ProcessChecker(DriverChecker):
- def check(self):
- process_found, process_pid = get_process_pid_by_name("JANUS.exe", min_memory_mb=20)
- self.driver._software_pid = process_pid
- self.driver._software_enabled = process_found
- if not process_found:
- self.driver._is_initialized = False
-
-
-class HttpServiceChecker(DriverChecker):
- def check(self):
- http_service_available = False
- if self.driver.device_ip:
- try:
- response = requests.get(f"http://{self.driver.device_ip}", timeout=5)
- http_service_available = response.status_code == 200
- except requests.RequestException:
- pass
- self.driver._http_service_available = http_service_available
-
-
-class RunStatusChecker(DriverChecker):
- def check(self):
- process_found, process_pid = get_process_pid_by_name("Guide.exe", min_memory_mb=20)
- if not process_found:
- self.driver._is_executing_run = False
- return
- self.driver.check_execute_run_status()
-
-class OkButtonChecker(DriverChecker):
- def check(self):
- if not self.driver._is_executing_run or self.driver._guide_app is None:
- return
- # uiapp = connect_application(process=11276)
- # self.driver._guide_app = uiapp
- try:
- ui_window: UIAWrapper = self.driver._guide_app.app.top_window()
- btn: WindowSpecification = ui_window.child_window(title="OK", auto_id="2", control_type="Button")
- if btn.exists(2):
- click(btn.wrapper_object())
- self.driver._is_executing_run = False
- print("运行完成！")
- except Exception as e:
- # traceback.print_exc()
- pass
-
-# 示例用法
-if __name__ == "__main__":
- driver = NivoDriver()
- driver.set_device_addr("192.168.0.2") # 设置设备 IP 地址
- driver._is_executing_run = True
diff --git a/unilabos/devices/platereader/PlayerUtil.py b/unilabos/devices/platereader/PlayerUtil.py
deleted file mode 100644
index 07244131..00000000
--- a/unilabos/devices/platereader/PlayerUtil.py
+++ /dev/null
@@ -1,166 +0,0 @@
-import psutil
-import pywinauto
-from pywinauto_recorder import UIApplication
-from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
-from pywinauto.controls.uiawrapper import UIAWrapper
-from pywinauto.application import WindowSpecification
-from pywinauto import findbestmatch
-import sys
-import codecs
-import os
-import locale
-import six
-
-
-def connect_application(backend="uia", **kwargs):
- app = pywinauto.Application(backend=backend)
- app.connect(**kwargs)
- top_window = app.top_window().wrapper_object()
- native_window_handle = top_window.handle
- return UIApplication(app, native_window_handle)
-
-def get_ui_path_with_window_specification(obj):
- return UIPath(get_wrapper_path(obj))
-
-def get_process_pid_by_name(process_name: str, min_memory_mb: float = 0) -> tuple[bool, int]:
- """
- 通过进程名称和最小内存要求获取进程PID
-
- Args:
- process_name: 进程名称
- min_memory_mb: 最小内存要求(MB)，默认为0表示不检查内存
-
- Returns:
- tuple[bool, int]: (是否找到进程, 进程PID)
- """
- process_found = False
- process_pid = None
- min_memory_bytes = min_memory_mb * 1024 * 1024 # 转换为字节
-
- try:
- for proc in psutil.process_iter(['name', 'pid', 'memory_info']):
- try:
- # 获取进程信息
- proc_info = proc.info
- if proc_info['name'] == process_name:
- # 如果设置了内存限制，则检查内存
- if min_memory_mb > 0:
- memory_info = proc_info.get('memory_info')
- if memory_info and memory_info.rss > min_memory_bytes:
- process_found = True
- process_pid = proc_info['pid']
- break
- else:
- # 不检查内存，直接返回找到的进程
- process_found = True
- process_pid = proc_info['pid']
- break
-
- except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
- continue
-
- except Exception as e:
- print(f"获取进程信息时发生错误: {str(e)}")
-
- return process_found, process_pid
-
-def print_wrapper_identifiers(wrapper_object, depth=None, filename=None):
- """
- 打印控件及其子控件的标识信息
-
- Args:
- wrapper_object: UIAWrapper对象
- depth: 打印的最大深度,None表示打印全部
- filename: 输出文件名,None表示打印到控制台
- """
- if depth is None:
- depth = sys.maxsize
-
- # 创建所有控件的列表(当前控件及其所有子代)
- all_ctrls = [wrapper_object, ] + wrapper_object.descendants()
-
- # 创建所有可见文本控件的列表
- txt_ctrls = [ctrl for ctrl in all_ctrls if ctrl.can_be_label and ctrl.is_visible() and ctrl.window_text()]
-
- # 构建唯一的控件名称字典
- name_ctrl_id_map = findbestmatch.UniqueDict()
- for index, ctrl in enumerate(all_ctrls):
- ctrl_names = findbestmatch.get_control_names(ctrl, all_ctrls, txt_ctrls)
- for name in ctrl_names:
- name_ctrl_id_map[name] = index
-
- # 反转映射关系(控件索引到名称列表)
- ctrl_id_name_map = {}
- for name, index in name_ctrl_id_map.items():
- ctrl_id_name_map.setdefault(index, []).append(name)
-
- def print_identifiers(ctrls, current_depth=1, log_func=print):
- """递归打印控件及其子代的标识信息"""
- if len(ctrls) == 0 or current_depth > depth:
- return
-
- indent = (current_depth - 1) * u" | "
- for ctrl in ctrls:
- try:
- ctrl_id = all_ctrls.index(ctrl)
- except ValueError:
- continue
-
- ctrl_text = ctrl.window_text()
- if ctrl_text:
- # 将多行文本转换为单行
- ctrl_text = ctrl_text.replace('\n', r'\n').replace('\r', r'\r')
-
- output = indent + u'\n'
- output += indent + u"{class_name} - '{text}' {rect}\n"\
- "".format(class_name=ctrl.friendly_class_name(),
- text=ctrl_text,
- rect=ctrl.rectangle())
- output += indent + u'{}'.format(ctrl_id_name_map[ctrl_id])
-
- title = ctrl_text
- class_name = ctrl.class_name()
- auto_id = None
- control_type = None
- if hasattr(ctrl.element_info, 'automation_id'):
- auto_id = ctrl.element_info.automation_id
- if hasattr(ctrl.element_info, 'control_type'):
- control_type = ctrl.element_info.control_type
- if control_type:
- class_name = None # 如果有control_type就不需要class_name
- else:
- control_type = None # 如果control_type为空,仍使用class_name
-
- criteria_texts = []
- recorder_texts = []
- if title:
- criteria_texts.append(u'title="{}"'.format(title))
- recorder_texts.append(f"{title}")
- if class_name:
- criteria_texts.append(u'class_name="{}"'.format(class_name))
- if auto_id:
- criteria_texts.append(u'auto_id="{}"'.format(auto_id))
- if control_type:
- criteria_texts.append(u'control_type="{}"'.format(control_type))
- recorder_texts.append(f"||{control_type}")
- if title or class_name or auto_id:
- output += u'\n' + indent + u'child_window(' + u', '.join(criteria_texts) + u')' + " / " + "".join(recorder_texts)
-
- if six.PY3:
- log_func(output)
- else:
- log_func(output.encode(locale.getpreferredencoding(), errors='backslashreplace'))
-
- print_identifiers(ctrl.children(), current_depth + 1, log_func)
-
- if filename is None:
- print("Control Identifiers:")
- print_identifiers([wrapper_object, ])
- else:
- log_file = codecs.open(filename, "w", locale.getpreferredencoding())
- def log_func(msg):
- log_file.write(str(msg) + os.linesep)
- log_func("Control Identifiers:")
- print_identifiers([wrapper_object, ], log_func=log_func)
- log_file.close()
-
diff --git a/unilabos/devices/platereader/__init__.py b/unilabos/devices/platereader/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/powder_dispense/__init__.py b/unilabos/devices/powder_dispense/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/powder_dispense/laiyu.py b/unilabos/devices/powder_dispense/laiyu.py
deleted file mode 100644
index b1cc04ad..00000000
--- a/unilabos/devices/powder_dispense/laiyu.py
+++ /dev/null
@@ -1,304 +0,0 @@
-import serial
-import time
-import pandas as pd
-
-
-class Laiyu:
- @property
- def status(self) -> str:
- return ""
-
-
- def __init__(self, port, baudrate=115200, timeout=0.5):
- """
- 初始化串口参数，默认波特率115200，8位数据位、1位停止位、无校验
- """
- self.ser = serial.Serial(port, baudrate=baudrate, timeout=timeout)
-
- def calculate_crc(self, data: bytes) -> bytes:
- """
- 计算Modbus CRC-16，返回低字节和高字节（little-endian）
- """
- crc = 0xFFFF
- for pos in data:
- crc ^= pos
- for _ in range(8):
- if crc & 0x0001:
- crc = (crc >> 1) ^ 0xA001
- else:
- crc >>= 1
- return crc.to_bytes(2, byteorder='little')
-
- def send_command(self, command: bytes) -> bytes:
- """
- 构造完整指令帧（加上CRC校验），发送指令后一直等待设备响应，直至响应结束或超时（最大3分钟）
- """
- crc = self.calculate_crc(command)
- full_command = command + crc
- # 清空接收缓存
- self.ser.reset_input_buffer()
- self.ser.write(full_command)
- print("发送指令：", full_command.hex().upper()) # 打印发送的指令帧
-
- # 持续等待响应，直到连续0.5秒没有新数据或超时（3分钟）
- start_time = time.time()
- last_data_time = time.time()
- response = bytearray()
- while True:
- if self.ser.in_waiting > 0:
- new_data = self.ser.read(self.ser.in_waiting)
- response.extend(new_data)
- last_data_time = time.time()
- # 如果已有数据，并且0.5秒内无新数据，则认为响应结束
- if response and (time.time() - last_data_time) > 0.5:
- break
- # 超过最大等待时间，退出循环
- if time.time() - start_time > 180:
- break
- time.sleep(0.1)
- return bytes(response)
-
- def pick_powder_tube(self, int_input: int) -> bytes:
- """
- 拿取粉筒指令：
- - 功能码06
- - 寄存器地址0x0037（取粉筒）
- - 数据：粉筒编号（如1代表A，2代表B，以此类推）
- 示例：拿取A粉筒指令帧：01 06 00 37 00 01 + CRC
- """
- slave_addr = 0x01
- function_code = 0x06
- register_addr = 0x0037
- # 数据部分：粉筒编号转换为2字节大端
- data = int_input.to_bytes(2, byteorder='big')
- command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
- return self.send_command(command)
-
- def put_powder_tube(self, int_input: int) -> bytes:
- """
- 放回粉筒指令：
- - 功能码06
- - 寄存器地址0x0038（放回粉筒）
- - 数据：粉筒编号
- 示例：放回A粉筒指令帧：01 06 00 38 00 01 + CRC
- """
- slave_addr = 0x01
- function_code = 0x06
- register_addr = 0x0038
- data = int_input.to_bytes(2, byteorder='big')
- command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
- return self.send_command(command)
-
- def reset(self) -> bytes:
- """
- 重置指令：
- - 功能码 0x06
- - 寄存器地址 0x0042 （示例中用了 00 42）
- - 数据 0x0001
- 示例发送：01 06 00 42 00 01 E8 1E
- """
- slave_addr = 0x01
- function_code = 0x06
- register_addr = 0x0042 # 对应示例中的 00 42
- payload = (0x0001).to_bytes(2, 'big') # 重置命令
-
- cmd = (
- bytes([slave_addr, function_code])
- + register_addr.to_bytes(2, 'big')
- + payload
- )
- return self.send_command(cmd)
-
-
- def move_to_xyz(self, x: float, y: float, z: float) -> bytes:
- """
- 移动到指定位置指令：
- - 功能码10（写多个寄存器）
- - 寄存器起始地址0x0030
- - 寄存器数量：3个（x,y,z）
- - 字节计数：6
- - 数据：x,y,z各2字节，单位为0.1mm（例如1mm对应数值10）
- 示例帧：01 10 00 30 00 03 06 00C8 02BC 02EE + CRC
- """
- slave_addr = 0x01
- function_code = 0x10
- register_addr = 0x0030
- num_registers = 3
- byte_count = num_registers * 2 # 6字节
-
- # 将mm转换为0.1mm单位（乘以10），转换为2字节大端表示
- x_val = int(x * 10)
- y_val = int(y * 10)
- z_val = int(z * 10)
- data = x_val.to_bytes(2, 'big') + y_val.to_bytes(2, 'big') + z_val.to_bytes(2, 'big')
-
- command = (bytes([slave_addr, function_code]) +
- register_addr.to_bytes(2, 'big') +
- num_registers.to_bytes(2, 'big') +
- byte_count.to_bytes(1, 'big') +
- data)
- return self.send_command(command)
-
- def discharge(self, float_in: float) -> bytes:
- """
- 出料指令：
- - 使用写多个寄存器命令（功能码 0x10）
- - 寄存器起始地址设为 0x0039
- - 寄存器数量为 0x0002（两个寄存器：出料质量和误差范围）
- - 字节计数为 0x04（每个寄存器2字节，共4字节）
- - 数据：出料质量（单位0.1mg，例如10mg对应100，即0x0064）、误差范围固定为0x0005
- 示例发送帧：01 10 00 39 0002 04 00640005 + CRC
- """
- mass = float_in
- slave_addr = 0x01
- function_code = 0x10 # 修改为写多个寄存器的功能码
- start_register = 0x0039 # 寄存器起始地址
- quantity = 0x0002 # 寄存器数量
- byte_count = 0x04 # 字节数：2寄存器*2字节=4
- mass_val = int(mass * 10) # 质量转换，单位0.1mg
- error_margin = 5 # 固定误差范围，0x0005
-
- command = (bytes([slave_addr, function_code]) +
- start_register.to_bytes(2, 'big') +
- quantity.to_bytes(2, 'big') +
- byte_count.to_bytes(1, 'big') +
- mass_val.to_bytes(2, 'big') +
- error_margin.to_bytes(2, 'big'))
- return self.send_command(command)
-
-
- '''
- 示例：这个是标智96孔板的坐标转换，但是不同96孔板的坐标可能不同
- 所以需要根据实际情况进行修改
- '''
-
- def move_to_plate(self, string):
- #只接受两位数的str，比如a1，a2，b1，b2
- # 解析位置字符串
- if len(string) != 2 and len(string) != 3:
- raise ValueError("Invalid plate position")
- if not string[0].isalpha() or not string[1:].isdigit():
- raise ValueError("Invalid plate position")
- a = string[0] # 字母部分s
- b = string[1:] # 数字部分
-
- if a.isalpha():
- a = ord(a.lower()) - ord('a') + 1
- else:
- print('1')
- raise ValueError("Invalid plate position")
- a = int(a)
- b = int(b)
- # max a = 8, max b = 12, 否则报错
- if a > 8 or b > 12:
- print('2')
- raise ValueError("Invalid plate position")
- # 计算移动到指定位置的坐标
- # a=1, x=3.0; a=12, x=220.0
- # b=1, y=62.0; b=8, y=201.0
- # z = 110.0
- x = float((b-1) * (220-4.0)/11 + 4.0)
- y = float((a-1) * (201.0-62.0)/7 + 62.0)
- z = 110.0
- # 移动到指定位置
- resp_move = self.move_to_xyz(x, y, z)
- print("移动位置响应：", resp_move.hex().upper())
- # 打印移动到指定位置的坐标
- print(f"移动到位置：{string}，坐标：x={x:.2f}, y={y:.2f}, z={z:.2f}")
- return resp_move
-
- def add_powder_tube(self, powder_tube_number, target_tube_position, compound_mass):
- # 拿取粉筒
- resp_pick = self.pick_powder_tube(powder_tube_number)
- print("拿取粉筒响应：", resp_pick.hex().upper())
- time.sleep(1)
- # 移动到指定位置
- self.move_to_plate(target_tube_position)
- time.sleep(1)
- # 出料，设定质量
- resp_discharge = self.discharge(compound_mass)
- print("出料响应：", resp_discharge.hex().upper())
- # 使用modbus协议读取实际出料质量
- # 样例 01 06 00 40 00 64 89 F5，其中 00 64 是实际出料质量，换算为十进制为100，代表10 mg
- # 从resp_discharge读取实际出料质量
- # 提取字节4和字节5的两个字节
- actual_mass_raw = int.from_bytes(resp_discharge[4:6], byteorder='big')
- # 根据说明，将读取到的数据转换为实际出料质量（mg），这里除以10，例如：0x0064 = 100，转换后为10 mg
- actual_mass_mg = actual_mass_raw / 10
- print(f"孔位{target_tube_position}，实际出料质量：{actual_mass_mg}mg")
- time.sleep(1)
- # 放回粉筒
- resp_put = self.put_powder_tube(powder_tube_number)
- print("放回粉筒响应：", resp_put.hex().upper())
- print(f"放回粉筒{powder_tube_number}")
- resp_reset = self.reset()
- return actual_mass_mg
-
-if __name__ == "__main__":
-
- '''
- 样例：对单个粉筒进行称量
- '''
-
- modbus = Laiyu(port="COM25")
-
- mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
- print(f"实际出料质量：{mass_test}mg")
-
-
- '''
- 样例: 对一份excel文件记录的化合物进行称量
- '''
-
- excel_file = r"C:\auto\laiyu\test1.xlsx"
- # 定义输出文件路径，用于记录实际加样多少
- output_file = r"C:\auto\laiyu\test_output.xlsx"
-
- # 定义物料名称和料筒位置关系
- compound_positions = {
- 'XPhos': '1',
- 'Cu(OTf)2': '2',
- 'CuSO4': '3',
- 'PPh3': '4',
- }
-
- # read excel file
- # excel_file = r"C:\auto\laiyu\test.xlsx"
- df = pd.read_excel(excel_file, sheet_name='Sheet1')
- # 读取Excel文件中的数据
- # 遍历每一行数据
- for index, row in df.iterrows():
- # 获取物料名称和质量
- copper_name = row['copper']
- copper_mass = row['copper_mass']
- ligand_name = row['ligand']
- ligand_mass = row['ligand_mass']
- target_tube_position = row['position']
- # 获取物料位置 from compound_positions
- copper_position = compound_positions.get(copper_name)
- ligand_position = compound_positions.get(ligand_name)
- # 判断物料位置是否存在
- if copper_position is None:
- print(f"物料位置不存在：{copper_name}")
- continue
- if ligand_position is None:
- print(f"物料位置不存在：{ligand_name}")
- continue
- # 加铜
- copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
- time.sleep(1)
- # 加配体
- ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
- time.sleep(1)
- # 保存至df
- df.at[index, 'copper_actual_mass'] = copper_actual_mass
- df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
-
- # 保存修改后的数据到新的Excel文件
- df.to_excel(output_file, index=False)
- print(f"已保存到文件：{output_file}")
-
- # 关闭串口
- modbus.ser.close()
- print("串口已关闭")
-
diff --git a/unilabos/devices/pump_and_valve/__init__.py b/unilabos/devices/pump_and_valve/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/pump_and_valve/runze_async.py b/unilabos/devices/pump_and_valve/runze_async.py
deleted file mode 100644
index 7bc11155..00000000
--- a/unilabos/devices/pump_and_valve/runze_async.py
+++ /dev/null
@@ -1,401 +0,0 @@
-import asyncio
-from asyncio import Event, Future, Lock, Task
-from enum import Enum
-from dataclasses import dataclass
-from typing import Any, Union, Optional, overload
-
-import serial.tools.list_ports
-from serial import Serial
-from serial.serialutil import SerialException
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class RunzeSyringePumpMode(Enum):
- Normal = 0
- AccuratePos = 1
- AccuratePosVel = 2
-
-
-pulse_freq_grades = {
- 6000: "0" ,
- 5600: "1" ,
- 5000: "2" ,
- 4400: "3" ,
- 3800: "4" ,
- 3200: "5" ,
- 2600: "6" ,
- 2200: "7" ,
- 2000: "8" ,
- 1800: "9" ,
- 1600: "10",
- 1400: "11",
- 1200: "12",
- 1000: "13",
- 800 : "14",
- 600 : "15",
- 400 : "16",
- 200 : "17",
- 190 : "18",
- 180 : "19",
- 170 : "20",
- 160 : "21",
- 150 : "22",
- 140 : "23",
- 130 : "24",
- 120 : "25",
- 110 : "26",
- 100 : "27",
- 90 : "28",
- 80 : "29",
- 70 : "30",
- 60 : "31",
- 50 : "32",
- 40 : "33",
- 30 : "34",
- 20 : "35",
- 18 : "36",
- 16 : "37",
- 14 : "38",
- 12 : "39",
- 10 : "40",
-}
-
-
-class RunzeSyringePumpConnectionError(Exception):
- pass
-
-
-@dataclass(frozen=True, kw_only=True)
-class RunzeSyringePumpInfo:
- port: str
- address: str = "1"
-
- volume: float = 25000
- mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
-
- def create(self):
- return RunzeSyringePumpAsync(self.port, self.address, self.volume, self.mode)
-
-
-class RunzeSyringePumpAsync:
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
- self.port = port
- self.address = address
-
- self.volume = volume
- self.mode = mode
- self.total_steps = self.total_steps_vel = 6000
-
- try:
- self._serial = Serial(
- baudrate=9600,
- port=port
- )
- except (OSError, SerialException) as e:
- raise RunzeSyringePumpConnectionError from e
-
- self._busy = False
- self._closing = False
- self._error_event = Event()
- self._query_future = Future[Any]()
- self._query_lock = Lock()
- self._read_task: Optional[Task[None]] = None
- self._run_future: Optional[Future[Any]] = None
- self._run_lock = Lock()
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- def _adjust_total_steps(self):
- self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
- self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
-
- async def _read_loop(self):
- try:
- while True:
- self._receive((await asyncio.to_thread(lambda: self._serial.read_until(b"\n")))[3:-3])
- except SerialException as e:
- raise RunzeSyringePumpConnectionError from e
- finally:
- if not self._closing:
- self._error_event.set()
-
- if self._query_future and not self._query_future.done():
- self._query_future.set_exception(RunzeSyringePumpConnectionError())
- if self._run_future and not self._run_future.done():
- self._run_future.set_exception(RunzeSyringePumpConnectionError())
-
- @overload
- async def _query(self, command: str, dtype: type[bool]) -> bool:
- pass
-
- @overload
- async def _query(self, command: str, dtype: type[int]) -> int:
- pass
-
- @overload
- async def _query(self, command: str, dtype = None) -> str:
- pass
-
- async def _query(self, command: str, dtype: Optional[type] = None):
- async with self._query_lock:
- if self._closing or self._error_event.is_set():
- raise RunzeSyringePumpConnectionError
-
- self._query_future = Future[Any]()
-
- run = 'R' if not command.startswith("?") else ''
- full_command = f"/{self.address}{command}{run}\r\n"
- full_command_data = bytearray(full_command, 'ascii')
-
- try:
- await asyncio.to_thread(lambda: self._serial.write(full_command_data))
- return self._parse(await asyncio.wait_for(asyncio.shield(self._query_future), timeout=2.0), dtype=dtype)
- except (SerialException, asyncio.TimeoutError) as e:
- self._error_event.set()
- raise RunzeSyringePumpConnectionError from e
- finally:
- self._query_future = None
-
- def _parse(self, data: bytes, dtype: Optional[type] = None):
- response = data.decode()
-
- if dtype == bool:
- return response == "1"
- elif dtype == int:
- return int(response)
- else:
- return response
-
- def _receive(self, data: bytes):
- ascii_string = "".join(chr(byte) for byte in data)
- was_busy = self._busy
- self._busy = ((data[0] & (1 << 5)) < 1) or ascii_string.startswith("@")
-
- if self._run_future and was_busy and not self._busy:
- self._run_future.set_result(data)
- if self._query_future:
- self._query_future.set_result(data)
- else:
- raise Exception("Dropping data")
-
- async def _run(self, command: str):
- async with self._run_lock:
- self._run_future = Future[Any]()
-
- try:
- await self._query(command)
- while True:
- await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again
-
- status = await self.query_device_status()
- if status == '`':
- break
- await asyncio.shield(self._run_future)
- finally:
- self._run_future = None
-
- async def initialize(self):
- response = await self._run("Z")
- if self.mode:
- self.set_step_mode(self.mode)
- else:
- # self.mode = RunzeSyringePumpMode.Normal
- # # self.set_step_mode(self.mode)
- self.mode = await self.query_step_mode()
- return response
-
- # Settings
-
- async def set_baudrate(self, baudrate):
- if baudrate == 9600:
- return await self._run("U41")
- elif baudrate == 38400:
- return await self._run("U47")
- else:
- raise ValueError("Unsupported baudrate")
-
- # Mode Settings and Queries
-
- async def set_step_mode(self, mode: RunzeSyringePumpMode):
- self.mode = mode
- self._adjust_total_steps()
- command = f"N{mode.value}"
- return await self._run(command)
-
- async def query_step_mode(self):
- response = await self._query("?28")
- status, mode = response[0], int(response[1])
- self.mode = RunzeSyringePumpMode._value2member_map_[mode]
- self._adjust_total_steps()
- return self.mode
-
- # Speed Settings and Queries
-
- async def set_speed_grade(self, speed: Union[int, str]):
- return await self._run(f"S{speed}")
-
- async def set_speed_max(self, speed: float):
- pulse_freq = int(speed / self.volume * self.total_steps_vel)
- pulse_freq = min(6000, pulse_freq)
- return await self._run(f"V{speed}")
-
- async def query_speed_grade(self):
- pulse_freq, speed = await self.query_speed_max()
- g = "-1"
- for freq, grade in pulse_freq_grades.items():
- if pulse_freq >= freq:
- g = grade
- break
- return g
-
- async def query_speed_init(self):
- response = await self._query("?1")
- status, pulse_freq = response[0], int(response[1:])
- speed = pulse_freq / self.total_steps_vel * self.volume
- return pulse_freq, speed
-
- async def query_speed_max(self):
- response = await self._query("?2")
- status, pulse_freq = response[0], int(response[1:])
- speed = pulse_freq / self.total_steps_vel * self.volume
- return pulse_freq, speed
-
- async def query_speed_end(self):
- response = await self._query("?3")
- status, pulse_freq = response[0], int(response[1:])
- speed = pulse_freq / self.total_steps_vel * self.volume
- return pulse_freq, speed
-
- # Operations
-
- # Valve Setpoint and Queries
-
- async def set_valve_position(self, position: Union[int, str]):
- command = f"I{position}" if type(position) == int or ord(position) <= 57 else position.upper()
- return await self._run(command)
-
- async def query_valve_position(self):
- response = await self._query("?6")
- status, pos_valve = response[0], response[1].upper()
- return pos_valve
-
- # Plunger Setpoint and Queries
-
- async def move_plunger_to(self, volume: float):
- """
- Move to absolute volume (unit: μL)
-
- Args:
- volume (float): absolute position of the plunger, unit: μL
-
- Returns:
- None
- """
- pos_step = int(volume / self.volume * self.total_steps)
- return await self._run(f"A{pos_step}")
-
- async def pull_plunger(self, volume: float):
- """
- Pull a fixed volume (unit: μL)
-
- Args:
- volume (float): absolute position of the plunger, unit: μL
-
- Returns:
- None
- """
- pos_step = int(volume / self.volume * self.total_steps)
- return await self._run(f"P{pos_step}")
-
- async def push_plunger(self, volume: float):
- """
- Push a fixed volume (unit: μL)
-
- Args:
- volume (float): absolute position of the plunger, unit: μL
-
- Returns:
- None
- """
- pos_step = int(volume / self.volume * self.total_steps)
- return await self._run(f"D{pos_step}")
-
- async def report_position(self):
- response = await self._query("?0")
- status, pos_step = response[0], int(response[1:])
- return pos_step / self.total_steps * self.volume
-
- async def query_plunger_position(self):
- response = await self._query("?4")
- status, pos_step = response[0], int(response[1:])
- return pos_step / self.total_steps * self.volume
-
- async def stop_operation(self):
- return await self._run("T")
-
- # Queries
-
- async def query_device_status(self):
- return await self._query("Q")
-
- async def query_command_buffer_status(self):
- return await self._query("?10")
-
- async def query_backlash_position(self):
- return await self._query("?12")
-
- async def query_aux_input_status_1(self):
- return await self._query("?13")
-
- async def query_aux_input_status_2(self):
- return await self._query("?14")
-
- async def query_software_version(self):
- return await self._query("?23")
-
- async def wait_error(self):
- await self._error_event.wait()
-
- async def __aenter__(self):
- await self.open()
- return self
-
- async def __aexit__(self, exc_type, exc, tb):
- await self.close()
-
- async def open(self):
- if self._read_task:
- raise RunzeSyringePumpConnectionError
-
- self._read_task = self._ros_node.create_task(self._read_loop())
-
- try:
- await self.query_device_status()
- except Exception:
- await self.close()
- raise
-
- async def close(self):
- if self._closing or not self._read_task:
- raise RunzeSyringePumpConnectionError
-
- self._closing = True
- self._read_task.cancel()
-
- try:
- await self._read_task
- except asyncio.CancelledError:
- pass
- finally:
- del self._read_task
-
- self._serial.close()
-
- @staticmethod
- def list():
- for item in serial.tools.list_ports.comports():
- yield RunzeSyringePumpInfo(port=item.device)
diff --git a/unilabos/devices/pump_and_valve/runze_backbone.py b/unilabos/devices/pump_and_valve/runze_backbone.py
deleted file mode 100644
index ce6d834c..00000000
--- a/unilabos/devices/pump_and_valve/runze_backbone.py
+++ /dev/null
@@ -1,390 +0,0 @@
-from threading import Lock, Event
-import time
-from dataclasses import dataclass
-from enum import Enum
-from threading import Lock, Event
-from typing import Union, Optional
-
-import serial.tools.list_ports
-from serial import Serial
-from serial.serialutil import SerialException
-
-
-class RunzeSyringePumpMode(Enum):
- Normal = 0
- AccuratePos = 1
- AccuratePosVel = 2
-
-
-pulse_freq_grades = {
- 6000: "0",
- 5600: "1",
- 5000: "2",
- 4400: "3",
- 3800: "4",
- 3200: "5",
- 2600: "6",
- 2200: "7",
- 2000: "8",
- 1800: "9",
- 1600: "10",
- 1400: "11",
- 1200: "12",
- 1000: "13",
- 800: "14",
- 600: "15",
- 400: "16",
- 200: "17",
- 190: "18",
- 180: "19",
- 170: "20",
- 160: "21",
- 150: "22",
- 140: "23",
- 130: "24",
- 120: "25",
- 110: "26",
- 100: "27",
- 90: "28",
- 80: "29",
- 70: "30",
- 60: "31",
- 50: "32",
- 40: "33",
- 30: "34",
- 20: "35",
- 18: "36",
- 16: "37",
- 14: "38",
- 12: "39",
- 10: "40",
-}
-
-
-class RunzeSyringePumpConnectionError(Exception):
- pass
-
-
-@dataclass(frozen=True, kw_only=True)
-class RunzeSyringePumpInfo:
- port: str
- address: str = "1"
-
- max_volume: float = 25.0
- mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
-
- def create(self):
- return RunzeSyringePump(self.port, self.address, self.max_volume, self.mode)
-
-
-class RunzeSyringePump:
- def __init__(self, port: str, address: str = "1", max_volume: float = 25.0, mode: RunzeSyringePumpMode = None):
- self.port = port
- self.address = address
-
- self.max_volume = max_volume
- self.total_steps = self.total_steps_vel = 6000
-
- self._status = "Idle"
- self._mode = mode
- self._max_velocity = 0
- self._valve_position = "I"
- self._position = 0
-
- try:
- # if port in serial_ports and serial_ports[port].is_open:
- # self.hardware_interface = serial_ports[port]
- # else:
- # serial_ports[port] = self.hardware_interface = Serial(
- # baudrate=9600,
- # port=port
- # )
- self.hardware_interface = Serial(baudrate=9600, port=port)
-
- except (OSError, SerialException) as e:
- # raise RunzeSyringePumpConnectionError from e
- self.hardware_interface = port
-
- self._busy = False
- self._closing = False
- self._error_event = Event()
- self._query_lock = Lock()
- self._run_lock = Lock()
-
- def _adjust_total_steps(self):
- self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
- self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
-
- def send_command(self, full_command: str):
- full_command_data = bytearray(full_command, "ascii")
- response = self.hardware_interface.write(full_command_data)
- time.sleep(0.05)
- output = self._receive(self.hardware_interface.read_until(b"\n"))
- return output
-
- def _query(self, command: str):
- with self._query_lock:
- if self._closing:
- raise RunzeSyringePumpConnectionError
-
- run = "R" if "?" not in command else ""
- full_command = f"/{self.address}{command}{run}\r\n"
-
- output = self.send_command(full_command)[3:-3]
- return output
-
- def _parse(self, data: bytes, dtype: Optional[type] = None):
- response = data.decode()
-
- if dtype == bool:
- return response == "1"
- elif dtype == int:
- return int(response)
- else:
- return response
-
- def _receive(self, data: bytes):
- ascii_string = "".join(chr(byte) for byte in data)
- was_busy = self._busy
- self._busy = ((data[0] & (1 << 5)) < 1) or ascii_string.startswith("@")
- return ascii_string
-
- def _run(self, command: str):
- with self._run_lock:
- try:
- response = self._query(command)
- while True:
- time.sleep(0.5) # Wait for 0.5 seconds before polling again
-
- status = self.get_status()
- if status == "Idle":
- break
- finally:
- pass
- return response
-
- def initialize(self):
- print("Initializing Runze Syringe Pump")
- response = self._run("Z")
- # if self.mode:
- # self.set_mode(self.mode)
- # else:
- # # self.mode = RunzeSyringePumpMode.Normal
- # # self.set_mode(self.mode)
- # self.mode = self.get_mode()
- return response
-
- # Settings
-
- def set_baudrate(self, baudrate):
- if baudrate == 9600:
- return self._run("U41")
- elif baudrate == 38400:
- return self._run("U47")
- else:
- raise ValueError("Unsupported baudrate")
-
- # Device Status
- @property
- def status(self) -> str:
- return self._status
-
- def _standardize_status(self, status_raw):
- return "Idle" if status_raw == "`" else "Busy"
-
- def get_status(self):
- status_raw = self._query("Q")
- self._status = self._standardize_status(status_raw)
- return self._status
-
- # Mode Settings and Queries
-
- @property
- def mode(self) -> int:
- return self._mode
-
- # def set_mode(self, mode: RunzeSyringePumpMode):
- # self.mode = mode
- # self._adjust_total_steps()
- # command = f"N{mode.value}"
- # return self._run(command)
-
- # def get_mode(self):
- # response = self._query("?28")
- # status_raw, mode = response[0], int(response[1])
- # self.mode = RunzeSyringePumpMode._value2member_map_[mode]
- # self._adjust_total_steps()
- # return self.mode
-
- # Speed Settings and Queries
-
- @property
- def max_velocity(self) -> float:
- return self._max_velocity
-
- def set_max_velocity(self, velocity: float):
- self._max_velocity = velocity
- pulse_freq = int(velocity / self.max_volume * self.total_steps_vel)
- pulse_freq = min(6000, pulse_freq)
- return self._run(f"V{pulse_freq}")
-
- def get_max_velocity(self):
- response = self._query("?2")
- status_raw, pulse_freq = response[0], int(response[1:])
- self._status = self._standardize_status(status_raw)
- self._max_velocity = pulse_freq / self.total_steps_vel * self.max_volume
- return self._max_velocity
-
- def set_velocity_grade(self, velocity: Union[int, str]):
- return self._run(f"S{velocity}")
-
- def get_velocity_grade(self):
- response = self._query("?2")
- status_raw, pulse_freq = response[0], int(response[1:])
- g = "-1"
- for freq, grade in pulse_freq_grades.items():
- if pulse_freq >= freq:
- g = grade
- break
- return g
-
- def get_velocity_init(self):
- response = self._query("?1")
- status_raw, pulse_freq = response[0], int(response[1:])
- self._status = self._standardize_status(status_raw)
- velocity = pulse_freq / self.total_steps_vel * self.max_volume
- return pulse_freq, velocity
-
- def get_velocity_end(self):
- response = self._query("?3")
- status_raw, pulse_freq = response[0], int(response[1:])
- self._status = self._standardize_status(status_raw)
- velocity = pulse_freq / self.total_steps_vel * self.max_volume
- return pulse_freq, velocity
-
- # Operations
-
- # Valve Setpoint and Queries
-
- @property
- def valve_position(self) -> str:
- return self._valve_position
-
- def set_valve_position(self, position: Union[int, str, float]):
- if isinstance(position, float):
- position = round(position / 120)
- command = f"I{position}" if isinstance(position, int) or ord(position) <= 57 else position.upper()
- response = self._run(command)
- self._valve_position = f"{position}" if isinstance(position, int) or ord(position) <= 57 else position.upper()
- return response
-
- def get_valve_position(self) -> str:
- response = self._query("?6")
- status_raw, pos_valve = response[0], response[1].upper()
- self._valve_position = pos_valve
- self._status = self._standardize_status(status_raw)
- return pos_valve
-
- # Plunger Setpoint and Queries
-
- @property
- def position(self) -> float:
- return self._position
-
- def get_position(self):
- response = self._query("?0")
- status_raw, pos_step = response[0], int(response[1:])
- self._status = self._standardize_status(status_raw)
- return pos_step / self.total_steps * self.max_volume
-
- def set_position(self, position: float, max_velocity: float = None):
- """
- Move to absolute volume (unit: ml)
-
- Args:
- position (float): absolute position of the plunger, unit: ml
- max_velocity (float): maximum velocity of the plunger, unit: ml/s
-
- Returns:
- None
- """
- if max_velocity is not None:
- self.set_max_velocity(max_velocity)
- pulse_freq = int(max_velocity / self.max_volume * self.total_steps_vel)
- pulse_freq = min(6000, pulse_freq)
- velocity_cmd = f"V{pulse_freq}"
- else:
- velocity_cmd = ""
- pos_step = int(position / self.max_volume * self.total_steps)
- return self._run(f"{velocity_cmd}A{pos_step}")
-
- def pull_plunger(self, volume: float):
- """
- Pull a fixed volume (unit: ml)
-
- Args:
- volume (float): absolute position of the plunger, unit: mL
-
- Returns:
- None
- """
- pos_step = int(volume / self.max_volume * self.total_steps)
- return self._run(f"P{pos_step}")
-
- def push_plunger(self, volume: float):
- """
- Push a fixed volume (unit: ml)
-
- Args:
- volume (float): absolute position of the plunger, unit: mL
-
- Returns:
- None
- """
- pos_step = int(volume / self.max_volume * self.total_steps)
- return self._run(f"D{pos_step}")
-
- def get_plunger_position(self):
- response = self._query("?4")
- status, pos_step = response[0], int(response[1:])
- return pos_step / self.total_steps * self.max_volume
-
- def stop_operation(self):
- return self._run("T")
-
- # Queries
-
- def query_command_buffer_status(self):
- return self._query("?10")
-
- def query_backlash_position(self):
- return self._query("?12")
-
- def query_aux_input_status_1(self):
- return self._query("?13")
-
- def query_aux_input_status_2(self):
- return self._query("?14")
-
- def query_software_version(self):
- return self._query("?23")
-
- def wait_error(self):
- self._error_event.wait()
-
- def close(self):
- if self._closing:
- raise RunzeSyringePumpConnectionError
-
- self._closing = True
- self.hardware_interface.close()
-
- @staticmethod
- def list():
- for item in serial.tools.list_ports.comports():
- yield RunzeSyringePumpInfo(port=item.device)
-
-
-if __name__ == "__main__":
- r = RunzeSyringePump("/dev/tty.usbserial-D30JUGG5", "1", 25.0)
- r.initialize()
diff --git a/unilabos/devices/pump_and_valve/runze_multiple_backbone.py b/unilabos/devices/pump_and_valve/runze_multiple_backbone.py
deleted file mode 100644
index fd20f258..00000000
--- a/unilabos/devices/pump_and_valve/runze_multiple_backbone.py
+++ /dev/null
@@ -1,391 +0,0 @@
-"""
-Runze Syringe Pump Controller (SY-03B-T08)
-
-本模块用于控制润泽注射泵 SY-03B-T08 型号的多泵系统。
-支持通过串口同时控制多个具有不同地址的泵。
-泵每次连接前要先进行初始化。
-
-基础用法:
- # 创建控制器实例
- pump_controller = RunzeMultiplePump("COM3") # 或 "/dev/ttyUSB0" (Linux)
-
- # 初始化特定地址的泵
- pump_controller.initialize("1")
-
- # 设置阀门位置
- pump_controller.set_valve_position("1", 1) # 设置到位置1
-
- # 移动到绝对位置
- pump_controller.set_position("1", 10.0) # 移动到10ml位置
-
- # 推拉柱塞操作
- pump_controller.pull_plunger("1", 5.0) # 吸取5ml
- pump_controller.push_plunger("1", 5.0) # 推出5ml
-
- # 关闭连接
- pump_controller.close()
-
-支持的泵地址: 1-8 (字符串格式，如 "1", "2", "3" 等)
-默认最大容量: 25.0 ml
-通信协议: RS485, 9600波特率
-"""
-
-from threading import Lock, Event
-import time
-from dataclasses import dataclass
-from enum import Enum
-from typing import Union, Optional, List, Dict
-
-import serial.tools.list_ports
-from serial import Serial
-from serial.serialutil import SerialException
-
-
-class RunzeSyringePumpMode(Enum):
- Normal = 0
- AccuratePos = 1
- AccuratePosVel = 2
-
-
-pulse_freq_grades = {
- 6000: "0",
- 5600: "1",
- 5000: "2",
- 4400: "3",
- 3800: "4",
- 3200: "5",
- 2600: "6",
- 2200: "7",
- 2000: "8",
- 1800: "9",
- 1600: "10",
- 1400: "11",
- 1200: "12",
- 1000: "13",
- 800: "14",
- 600: "15",
- 400: "16",
- 200: "17",
- 190: "18",
- 180: "19",
- 170: "20",
- 160: "21",
- 150: "22",
- 140: "23",
- 130: "24",
- 120: "25",
- 110: "26",
- 100: "27",
- 90: "28",
- 80: "29",
- 70: "30",
- 60: "31",
- 50: "32",
- 40: "33",
- 30: "34",
- 20: "35",
- 18: "36",
- 16: "37",
- 14: "38",
- 12: "39",
- 10: "40",
-}
-
-
-class RunzeSyringePumpConnectionError(Exception):
- pass
-
-
-@dataclass
-class PumpConfig:
- address: str
- max_volume: float = 25.0
- mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
-
-
-class RunzeMultiplePump:
- """
- Multi-address Runze Syringe Pump Controller
-
- Supports controlling multiple pumps on the same serial port with different addresses.
- """
-
- def __init__(self, port: str):
- """
- Initialize multiple pump controller
-
- Args:
- port (str): Serial port path
- """
- self.port = port
-
- # Default pump parameters
- self.max_volume = 25.0
- self.total_steps = 6000
- self.total_steps_vel = 6000
-
- # Connection management
- try:
- self.hardware_interface = Serial(baudrate=9600, port=port, timeout=1.0)
- print(f"✓ 成功连接到串口: {port}")
- except (OSError, SerialException) as e:
- print(f"✗ 串口连接失败: {e}")
- raise RunzeSyringePumpConnectionError(f"无法连接到串口 {port}: {e}") from e
-
- # Thread safety
- self._query_lock = Lock()
- self._run_lock = Lock()
- self._closing = False
-
- # Pump status tracking
- self._pump_status: Dict[str, str] = {} # address -> status
-
- def _adjust_total_steps(self, mode: RunzeSyringePumpMode):
- total_steps = 6000 if mode == RunzeSyringePumpMode.Normal else 48000
- total_steps_vel = 48000 if mode == RunzeSyringePumpMode.AccuratePosVel else 6000
- return total_steps, total_steps_vel
-
- def _receive(self, data: bytes) -> str:
- """
- Keep this method as original. Always use chr to decode, avoid "/0"
- """
- if not data:
- return ""
- # **Do not use decode method
- ascii_string = "".join(chr(byte) for byte in data)
- return ascii_string
-
- def send_command(self, full_command: str) -> str:
- """Send command to hardware and get response"""
- full_command_data = bytearray(full_command, "ascii")
- self.hardware_interface.write(full_command_data)
- time.sleep(0.05)
- response = self.hardware_interface.read_until(b"\n") # \n should direct use, not \\n
- output = self._receive(response)
- return output
-
- def _query(self, address: str, command: str) -> str:
- """
- Send query command to specific pump
-
- Args:
- address (str): Pump address (e.g., "1", "2", "3")
- command (str): Command to send
-
- Returns:
- str: Response from pump
- """
- with self._query_lock:
- if self._closing:
- raise RunzeSyringePumpConnectionError("Connection is closing")
-
- run = "R" if "?" not in command else ""
- full_command = f"/{address}{command}{run}\r\n" # \r\n should direct use, not \\r\\n
-
- output = self.send_command(full_command)[3:-3]
- return output
-
-
- def _run(self, address: str, command: str) -> str:
- """
- Run command and wait for completion
-
- Args:
- address (str): Pump address
- command (str): Command to execute
-
- Returns:
- str: Command response
- """
- with self._run_lock:
- try:
- print(f"[泵 {address}] 执行命令: {command}")
- response = self._query(address, command)
-
- # Wait for operation completion
- while True:
- time.sleep(0.5)
- status = self.get_status(address)
- if status == "Idle":
- break
-
- except Exception as e:
- print(f"[泵 {address}] 命令执行错误: {e}")
- response = ""
-
- return response
-
- def _standardize_status(self, status_raw: str) -> str:
- """Convert raw status to standard format"""
- return "Idle" if status_raw == "`" else "Busy"
-
- # === Core Operations ===
-
- def initialize(self, address: str) -> str:
- """Initialize specific pump"""
- print(f"[泵 {address}] 正在初始化...")
- response = self._run(address, "Z")
- print(f"[泵 {address}] 初始化完成")
- return response
-
- # === Status Queries ===
-
- def get_status(self, address: str) -> str:
- """Get pump status"""
- try:
- status_raw = self._query(address, "Q")
- status = self._standardize_status(status_raw)
- self._pump_status[address] = status
- return status
- except Exception:
- return "Error"
-
- # === Velocity Control ===
-
- def set_max_velocity(self, address: str, velocity: float, max_volume: float = None) -> str:
- """Set maximum velocity for pump"""
- if max_volume is None:
- max_volume = self.max_volume
-
- pulse_freq = int(velocity / max_volume * self.total_steps_vel)
- pulse_freq = min(6000, pulse_freq)
- return self._run(address, f"V{pulse_freq}")
-
- def get_max_velocity(self, address: str, max_volume: float = None) -> float:
- """Get maximum velocity of pump"""
- if max_volume is None:
- max_volume = self.max_volume
-
- response = self._query(address, "?2")
- status_raw, pulse_freq = response[0], int(response[1:])
- velocity = pulse_freq / self.total_steps_vel * max_volume
- return velocity
-
- def set_velocity_grade(self, address: str, velocity: Union[int, str]) -> str:
- """Set velocity grade"""
- return self._run(address, f"S{velocity}")
-
- # === Position Control ===
-
- def get_position(self, address: str, max_volume: float = None) -> float:
- """Get current plunger position in ml"""
- if max_volume is None:
- max_volume = self.max_volume
-
- response = self._query(address, "?0")
- status_raw, pos_step = response[0], int(response[1:])
- position = pos_step / self.total_steps * max_volume
- return position
-
- def set_position(self, address: str, position: float, max_velocity: float = None, max_volume: float = None) -> str:
- """
- Move to absolute volume position
-
- Args:
- address (str): Pump address
- position (float): Target position in ml
- max_velocity (float): Maximum velocity in ml/s
- max_volume (float): Maximum syringe volume in ml
- """
- if max_volume is None:
- max_volume = self.max_volume
-
- velocity_cmd = ""
- if max_velocity is not None:
- pulse_freq = int(max_velocity / max_volume * self.total_steps_vel)
- pulse_freq = min(6000, pulse_freq)
- velocity_cmd = f"V{pulse_freq}"
-
- pos_step = int(position / max_volume * self.total_steps)
- return self._run(address, f"{velocity_cmd}A{pos_step}")
-
- def pull_plunger(self, address: str, volume: float, max_volume: float = None) -> str:
- """Pull plunger by specified volume"""
- if max_volume is None:
- max_volume = self.max_volume
-
- pos_step = int(volume / max_volume * self.total_steps)
- return self._run(address, f"P{pos_step}")
-
- def push_plunger(self, address: str, volume: float, max_volume: float = None) -> str:
- """Push plunger by specified volume"""
- if max_volume is None:
- max_volume = self.max_volume
-
- pos_step = int(volume / max_volume * self.total_steps)
- return self._run(address, f"D{pos_step}")
-
- # === Valve Control ===
-
- def set_valve_position(self, address: str, position: Union[int, str, float]) -> str:
- """Set valve position"""
- if isinstance(position, float):
- position = round(position / 120)
- command = f"I{position}" if isinstance(position, int) or ord(str(position)) <= 57 else str(position).upper()
- return self._run(address, command)
-
- def get_valve_position(self, address: str) -> str:
- """Get current valve position"""
- response = self._query(address, "?6")
- status_raw, pos_valve = response[0], response[1].upper()
- return pos_valve
-
- # === Utility Functions ===
-
- def stop_operation(self, address: str) -> str:
- """Stop current operation"""
- return self._run(address, "T")
-
- def close(self):
- """Close connection"""
- if self._closing:
- raise RunzeSyringePumpConnectionError("Already closing")
-
- self._closing = True
- self.hardware_interface.close()
- print("✓ 串口连接已关闭")
-
-
-if __name__ == "__main__":
- """
- 示例：初始化3个泵（地址1、2、3），然后断开连接
- """
- try:
- # 请根据实际串口修改端口号
- # Windows: "COM3", "COM4", 等
- # Linux/Mac: "/dev/ttyUSB0", "/dev/ttyACM0", 等
- port = "/dev/cn." # 修改为实际使用的串口
-
- print("正在创建泵控制器...")
- pump_controller = RunzeMultiplePump(port)
-
- # 初始化3个泵 (地址: 1, 2, 3)
- pump_addresses = ["1", "2", "3"]
-
- for address in pump_addresses:
- try:
- print(f"\n正在初始化泵 {address}...")
- pump_controller.initialize(address)
-
- # 检查泵状态
- status = pump_controller.get_status(address)
- print(f"泵 {address} 状态: {status}")
- except Exception as e:
- print(f"泵 {address} 初始化失败: {e}")
-
- print("\n所有泵初始化完成！")
-
- # 断开连接
- print("\n正在断开连接...")
- pump_controller.close()
- print("程序结束")
-
- except RunzeSyringePumpConnectionError as e:
- print(f"连接错误: {e}")
- print("请检查:")
- print("1. 串口是否正确")
- print("2. 设备是否已连接")
- print("3. 串口是否被其他程序占用")
-
- except Exception as e:
- print(f"未知错误: {e}")
diff --git a/unilabos/devices/pump_and_valve/solenoid_valve.py b/unilabos/devices/pump_and_valve/solenoid_valve.py
deleted file mode 100644
index e068d502..00000000
--- a/unilabos/devices/pump_and_valve/solenoid_valve.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import time
-import serial
-
-
-class SolenoidValve:
- def __init__(self, io_device_port: str):
- self._status = "Idle"
- self._valve_position = "OPEN"
- self.io_device_port = io_device_port
-
- try:
- self.hardware_interface = serial.Serial(str(io_device_port), 9600, timeout=1)
- except serial.SerialException:
- # raise Exception(f"Failed to connect to the device at {io_device_port}")
- self.hardware_interface = str(io_device_port)
-
- @property
- def status(self) -> str:
- return self._status
-
- @property
- def valve_position(self) -> str:
- return self._valve_position
-
- def send_command(self, command):
- self.hardware_interface.write(command)
-
- def read_data(self):
- return self.hardware_interface.read()
-
- def get_valve_position(self) -> str:
- self._valve_position = "OPEN" if self.read_data() else "CLOSED"
- return self._valve_position
-
- def set_valve_position(self, position):
- self._status = "Busy"
- self.send_command(1 if position == "OPEN" else 0)
- time.sleep(5)
- self._status = "Idle"
-
- def open(self):
- self._valve_position = "OPEN"
-
- def close(self):
- self._valve_position = "CLOSED"
-
- def is_open(self):
- return self._valve_position
-
- def is_closed(self):
- return not self._valve_position
diff --git a/unilabos/devices/pump_and_valve/solenoid_valve_mock.py b/unilabos/devices/pump_and_valve/solenoid_valve_mock.py
deleted file mode 100644
index b6735a3f..00000000
--- a/unilabos/devices/pump_and_valve/solenoid_valve_mock.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import time
-
-
-class SolenoidValveMock:
- def __init__(self, port: str = "COM6"):
- self._status = "Idle"
- self._valve_position = "OPEN"
-
- @property
- def status(self) -> str:
- return self._status
-
- @property
- def valve_position(self) -> str:
- return self._valve_position
-
- def get_valve_position(self) -> str:
- return self._valve_position
-
- def set_valve_position(self, position):
- self._status = "Busy"
- time.sleep(5)
-
- self._valve_position = position
- time.sleep(5)
- self._status = "Idle"
-
- def open(self):
- self._valve_position = "OPEN"
-
- def close(self):
- self._valve_position = "CLOSED"
-
- def is_open(self):
- return self._valve_position
-
- def is_closed(self):
- return not self._valve_position
diff --git a/unilabos/devices/pump_and_valve/vacuum_pump_mock.py b/unilabos/devices/pump_and_valve/vacuum_pump_mock.py
deleted file mode 100644
index 35655122..00000000
--- a/unilabos/devices/pump_and_valve/vacuum_pump_mock.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import time
-
-
-class VacuumPumpMock:
- def __init__(self, port: str = "COM6"):
- self._status = "OPEN"
-
- @property
- def status(self) -> str:
- return self._status
-
- def get_status(self) -> str:
- return self._status
-
- def set_status(self, string):
- self._status = string
- time.sleep(5)
-
- def open(self):
- self._status = "OPEN"
-
- def close(self):
- self._status = "CLOSED"
-
- def is_open(self):
- return self._status
-
- def is_closed(self):
- return not self._status
diff --git a/unilabos/devices/raman_uv/__init__.py b/unilabos/devices/raman_uv/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/raman_uv/home_made_raman.py b/unilabos/devices/raman_uv/home_made_raman.py
deleted file mode 100644
index 64d83196..00000000
--- a/unilabos/devices/raman_uv/home_made_raman.py
+++ /dev/null
@@ -1,198 +0,0 @@
-import json
-import serial
-import struct
-import crcmod
-import tkinter as tk
-from tkinter import messagebox
-import matplotlib.pyplot as plt
-from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
-import time
-
-class RamanObj:
- def __init__(self, port_laser, port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
- self.port_laser = port_laser
- self.port_ccd = port_ccd
-
- self.baudrate_laser = baudrate_laser
- self.baudrate_ccd = baudrate_ccd
- self.success = False
- self.status = "None"
- self.ser_laser = serial.Serial( self.port_laser,
- self.baudrate_laser,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=1)
-
- self.ser_ccd = serial.Serial( self.port_ccd,
- self.baudrate_ccd,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=1)
-
- def laser_on_power(self, output_voltage_laser):
-
- def calculate_crc(data):
- """
- 计算Modbus CRC校验码
- """
- crc16 = crcmod.predefined.mkCrcFun('modbus')
- return crc16(data)
-
-
- device_id = 0x01 # 从机地址
- register_address = 0x0298 # 寄存器地址
- output_voltage = int(output_voltage_laser) # 输出值
-
- # 将输出值转换为需要发送的格式
- output_value = int(output_voltage) # 确保是整数
- high_byte = (output_value >> 8) & 0xFF
- low_byte = output_value & 0xFF
-
- # 构造Modbus RTU数据包
- function_code = 0x06 # 写单个寄存器
- message = struct.pack('>BBHH', device_id, function_code, register_address, output_value)
- crc = calculate_crc(message)
- crc_bytes = struct.pack('= 5:
- response_crc = calculate_crc(response[:-2])
- received_crc = struct.unpack('H", data[i:i + 2])[0] for i in range(0, len(data), 2)]
- return values
-
- try:
- ser = self.ser_ccd
- values = read_and_plot(ser, int_time) # 修正传递serial对象
- print(f"\u8fd4\u56de\u503c: {values}")
- return values
- except Exception as e:
- messagebox.showerror("\u9519\u8bef", f"\u4e32\u53e3\u521d\u59cb\u5316\u5931\u8d25: {e}")
- return None
-
- def raman_without_background(self,int_time, laser_power):
- self.laser_on_power(0)
- time.sleep(0.1)
- ccd_data_background = self.ccd_time(int_time)
- time.sleep(0.1)
- self.laser_on_power(laser_power)
- time.sleep(0.2)
- ccd_data_total = self.ccd_time(int_time)
- self.laser_on_power(0)
- ccd_data = [x - y for x, y in zip(ccd_data_total, ccd_data_background)]
- return ccd_data
-
- def raman_without_background_average(self, sample_name , int_time, laser_power, average):
- ccd_data = [0] * 4136
- for i in range(average):
- ccd_data_temp = self.raman_without_background(int_time, laser_power)
- ccd_data = [x + y for x, y in zip(ccd_data, ccd_data_temp)]
- ccd_data = [x / average for x in ccd_data]
- #保存数据 用时间命名
- t = time.strftime("%Y-%m-%d-%H-%M-%S-%MS", time.localtime())
- folder_path = r"C:\auto\raman_data"
- with open(f'{folder_path}/{sample_name}_{t}.txt', 'w') as f:
- for i in ccd_data:
- f.write(str(i) + '\n')
- return ccd_data
-
- def raman_cmd(self, command:str):
- self.success = False
- try:
- cmd_dict = json.loads(command)
- ccd_data = self.raman_without_background_average(**cmd_dict)
- self.success = True
-
- # return ccd_data
- except Exception as e:
- # return None
- raise f"error: {e}"
-
-if __name__ == "__main__":
- raman = RamanObj(port_laser='COM20', port_ccd='COM2')
- ccd_data = raman.raman_without_background_average('test44',0.5,3000,1)
-
- plt.plot(ccd_data)
- plt.xlabel("Pixel")
- plt.ylabel("Intensity")
- plt.title("Raman Spectrum")
- plt.show()
-
-
-
-
-
-
diff --git a/unilabos/devices/resource_container/__init__.py b/unilabos/devices/resource_container/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/resource_container/container.py b/unilabos/devices/resource_container/container.py
deleted file mode 100644
index 04e1442b..00000000
--- a/unilabos/devices/resource_container/container.py
+++ /dev/null
@@ -1,50 +0,0 @@
-
-class HotelContainer:
- def __init__(self, rotation: dict, device_config: dict ,**kwargs):
- self.rotation = rotation
- self.device_config = device_config
- self.status = 'idle'
-
- def get_rotation(self):
- return self.rotation
-
-
-class DeckContainer:
- def __init__(self, rotation: dict, **kwargs):
- self.rotation = rotation
- self.status = 'idle'
-
- def get_rotation(self):
- return self.rotation
-
-class TipRackContainer:
- def __init__(self, rotation: dict, **kwargs):
- self.rotation = rotation
- self.status = 'idle'
-
- def get_rotation(self):
- return self.rotation
-
-class PlateContainer:
- def __init__(self, rotation: dict, **kwargs):
- self.rotation = rotation
- self.status = 'idle'
-
- def get_rotation(self):
- return self.rotation
-
-class TubeRackContainer:
- def __init__(self, rotation: dict, **kwargs):
- self.rotation = rotation
- self.status = 'idle'
-
- def get_rotation(self):
- return self.rotation
-
-class BottleRackContainer:
- def __init__(self, rotation: dict, **kwargs):
- self.rotation = rotation
- self.status = 'idle'
-
- def get_rotation(self):
- return self.rotation
\ No newline at end of file
diff --git a/unilabos/devices/ros_dev/__init__.py b/unilabos/devices/ros_dev/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/ros_dev/lh_joint_config.json b/unilabos/devices/ros_dev/lh_joint_config.json
deleted file mode 100644
index 8f09c299..00000000
--- a/unilabos/devices/ros_dev/lh_joint_config.json
+++ /dev/null
@@ -1,68 +0,0 @@
-{
- "OTDeck":{
- "joint_names":[
- "first_joint",
- "second_joint",
- "third_joint",
- "fourth_joint"
- ],
- "link_names":[
- "first_link",
- "second_link",
- "third_link",
- "fourth_link"
- ],
- "y":{
- "first_joint":{
- "factor":-0.001,
- "offset":0.166
- }
- },
- "x":{
- "second_joint":{
- "factor":-0.001,
- "offset":0.1775
- }
- },
- "z":{
- "third_joint":{
- "factor":0.001,
- "offset":0.0
- },
- "fourth_joint":{
- "factor":0.001,
- "offset":0.0
- }
- }
- },
- "TransformXYZDeck":{
- "joint_names":[
- "x_joint",
- "y_joint",
- "z_joint"
- ],
- "link_names":[
- "x_link",
- "y_link",
- "z_link"
- ],
- "x":{
- "y_joint":{
- "factor":-0.001,
- "offset":0.145
- }
- },
- "y":{
- "x_joint":{
- "factor":0.001,
- "offset":-0.21415
- }
- },
- "z":{
- "z_joint":{
- "factor":-0.001,
- "offset":0.0
- }
- }
- }
-}
\ No newline at end of file
diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
deleted file mode 100644
index 2ec7afe5..00000000
--- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
+++ /dev/null
@@ -1,403 +0,0 @@
-import asyncio
-import copy
-from pathlib import Path
-import threading
-import uuid
-import rclpy
-import json
-import time
-from rclpy.executors import MultiThreadedExecutor
-from rclpy.action import ActionServer,ActionClient
-from sensor_msgs.msg import JointState
-from unilabos_msgs.action import SendCmd
-from rclpy.action.server import ServerGoalHandle
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from tf_transformations import quaternion_from_euler
-from tf2_ros import TransformBroadcaster, Buffer, TransformListener
-
-from rclpy.node import Node
-import re
-
-class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
- def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
- super().__init__(
- driver_instance=self,
- device_id=device_id,
- status_types={},
- action_value_mappings={},
- hardware_interface={},
- print_publish=False,
- resource_tracker=resource_tracker,
- device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
- )
-
- # 初始化参数
- self.j_msg = JointState()
- joint_config = json.load(open(f"{Path(__file__).parent.absolute()}/lh_joint_config.json", encoding="utf-8"))
- self.resources_config = {x['id']:x for x in resources_config}
- self.rate = rate
- self.tf_buffer = Buffer()
- self.tf_listener = TransformListener(self.tf_buffer, self)
- self.j_pub = self.create_publisher(JointState,'/joint_states',10)
- self.create_timer(1,self.lh_joint_pub_callback)
-
-
- self.resource_action = None
-
- while self.resource_action is None:
- self.resource_action = self.check_tf_update_actions()
- time.sleep(1)
-
- self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
- while not self.resource_action_client.wait_for_server(timeout_sec=1.0):
- self.get_logger().info('等待 TfUpdate 服务器...')
-
- self.deck_list = []
- self.lh_devices = {}
- # 初始化设备ID与config信息
- for resource in resources_config:
- if resource['class'] == 'liquid_handler':
- deck_id = resource['config']['deck']['_resource_child_name']
- deck_class = resource['config']['deck']['_resource_type'].split(':')[-1]
- key = f'{deck_id}'
- # key = f'{resource["id"]}_{deck_id}'
- self.lh_devices[key] = {
- 'joint_msg':JointState(
- name=[f'{key}_{x}' for x in joint_config[deck_class]['joint_names']],
- position=[0.0 for _ in joint_config[deck_class]['joint_names']]
- ),
- 'joint_config':joint_config[deck_class]
- }
- self.deck_list.append(deck_id)
-
-
- self.j_action = ActionServer(
- self,
- SendCmd,
- "hl_joint_action",
- self.lh_joint_action_callback,
- result_timeout=5000
- )
-
-
- def check_tf_update_actions(self):
- topics = self.get_topic_names_and_types()
-
-
- for topic_item in topics:
-
- topic_name, topic_types = topic_item
-
- if 'action_msgs/msg/GoalStatusArray' in topic_types:
- # 删除 /_action/status 部分
-
- base_name = topic_name.replace('/_action/status', '')
- # 检查最后一个部分是否为 tf_update
- parts = base_name.split('/')
- if parts and parts[-1] == 'tf_update':
- return base_name
-
- return None
-
-
- def find_resource_parent(self, resource_id:str):
- # 遍历父辈，找到父辈的父辈，直到找到设备ID
- parent_id = self.resources_config[resource_id]['parent']
- try:
- if parent_id in self.deck_list:
- p_ = self.resources_config[parent_id]['parent']
- str_ = f'{parent_id}'
- return str(str_)
- else:
- return self.find_resource_parent(parent_id)
- except Exception as e:
- return None
-
-
- def send_resource_action(self, resource_id_list:list[str], link_name:str):
- goal_msg = SendCmd.Goal()
- str_dict = {}
- for resource in resource_id_list:
- str_dict[resource] = link_name
-
- goal_msg.command = json.dumps(str_dict)
- self.resource_action_client.send_goal(goal_msg)
-
- def resource_move(self, resource_id:str, link_name:str, channels:list[int]):
- resource = resource_id.rsplit("_",1)
-
- channel_list = ['A','B','C','D','E','F','G','H']
-
- resource_list = []
- match = re.match(r'([a-zA-Z_]+)(\d+)', resource[1])
- if match:
- number = match.group(2)
- for channel in channels:
- resource_list.append(f"{resource[0]}_{channel_list[channel]}{number}")
-
- if len(resource_list) > 0:
- self.send_resource_action(resource_list, link_name)
-
-
-
- def lh_joint_action_callback(self,goal_handle: ServerGoalHandle):
- """Move a single joint
-
- Args:
- command: A JSON-formatted string that includes joint_name, speed, position
-
- joint_name (str): The name of the joint to move
- speed (float): The speed of the movement, speed > 0
- position (float): The position to move to
-
- Returns:
- None
- """
- result = SendCmd.Result()
- cmd_str = str(goal_handle.request.command).replace('\'','\"')
- # goal_handle.execute()
-
- try:
- cmd_dict = json.loads(cmd_str)
- self.move_joints(**cmd_dict)
- result.success = True
- goal_handle.succeed()
-
- except Exception as e:
- print(f'Liquid handler action error: \n{e}')
- goal_handle.abort()
- result.success = False
-
- return result
- def inverse_kinematics(self, x, y, z,
- parent_id,
- x_joint:dict,
- y_joint:dict,
- z_joint:dict ):
- """
- 将x、y、z坐标转换为对应关节的位置
-
- Args:
- x (float): x坐标
- y (float): y坐标
- z (float): z坐标
- x_joint (dict): x轴关节配置，包含factor和offset
- y_joint (dict): y轴关节配置，包含factor和offset
- z_joint (dict): z轴关节配置，包含factor和offset
-
- Returns:
- dict: 关节名称和对应位置的字典
- """
- joint_positions = copy.deepcopy(self.lh_devices[parent_id]['joint_msg'].position)
-
- z_index = 0
- # 处理x轴关节
- for joint_name, config in x_joint.items():
- index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}")
- joint_positions[index] = x * config["factor"] + config["offset"]
-
- # 处理y轴关节
- for joint_name, config in y_joint.items():
- index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}")
- joint_positions[index] = y * config["factor"] + config["offset"]
-
- # 处理z轴关节
- for joint_name, config in z_joint.items():
- index = self.lh_devices[parent_id]['joint_msg'].name.index(f"{parent_id}_{joint_name}")
- joint_positions[index] = z * config["factor"] + config["offset"]
- z_index = index
-
- return joint_positions ,z_index
-
-
- def move_joints(self, resource_names, x, y, z, option, speed = 0.1 ,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
- if isinstance(resource_names, list):
- resource_name_ = resource_names[0]
- else:
- resource_name_ = resource_names
-
- parent_id = self.find_resource_parent(resource_name_)
-
-
- # print('!'*20)
- # print(parent_id)
- # print('!'*20)
- if x_joint is None:
- xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items()))
- x_joint_config = {xa:xb}
- elif x_joint in self.lh_devices[parent_id]['joint_config']['x']:
- x_joint_config = self.lh_devices[parent_id]['joint_config']['x'][x_joint]
- else:
- raise ValueError(f"x_joint {x_joint} not in joint_config['x']")
- if y_joint is None:
- ya,yb = next(iter(self.lh_devices[parent_id]['joint_config']['y'].items()))
- y_joint_config = {ya:yb}
- elif y_joint in self.lh_devices[parent_id]['joint_config']['y']:
- y_joint_config = self.lh_devices[parent_id]['joint_config']['y'][y_joint]
- else:
- raise ValueError(f"y_joint {y_joint} not in joint_config['y']")
- if z_joint is None:
- za, zb = next(iter(self.lh_devices[parent_id]['joint_config']['z'].items()))
- z_joint_config = {za :zb}
- elif z_joint in self.lh_devices[parent_id]['joint_config']['z']:
- z_joint_config = self.lh_devices[parent_id]['joint_config']['z'][z_joint]
- else:
- raise ValueError(f"z_joint {z_joint} not in joint_config['z']")
-
- joint_positions_target, z_index = self.inverse_kinematics(x,y,z,parent_id,x_joint_config,y_joint_config,z_joint_config)
- joint_positions_target_zero = copy.deepcopy(joint_positions_target)
- joint_positions_target_zero[z_index] = 0
-
- self.move_to(joint_positions_target_zero, speed, parent_id)
- self.move_to(joint_positions_target, speed, parent_id)
- time.sleep(1)
- if option == "pick":
- link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index]
- link_name = f'{parent_id}_{link_name}'
- self.resource_move(resource_name_, link_name, channels)
- elif option == "drop_trash":
- self.resource_move(resource_name_, "__trash", channels)
- elif option == "drop":
- self.resource_move(resource_name_, "world", channels)
- self.move_to(joint_positions_target_zero, speed, parent_id)
-
-
- def move_to(self, joint_positions ,speed, parent_id):
- loop_flag = 0
-
- while loop_flag < len(joint_positions):
- loop_flag = 0
- for i in range(len(joint_positions)):
- distance = joint_positions[i] - self.lh_devices[parent_id]['joint_msg'].position[i]
- if distance == 0:
- loop_flag += 1
- continue
- minus_flag = distance/abs(distance)
- if abs(distance) > speed/self.rate:
- self.lh_devices[parent_id]['joint_msg'].position[i] += minus_flag * speed/self.rate
- else :
- self.lh_devices[parent_id]['joint_msg'].position[i] = joint_positions[i]
- loop_flag += 1
-
-
- # 发布关节状态
- self.lh_joint_pub_callback()
- time.sleep(1/self.rate)
-
- def lh_joint_pub_callback(self):
- for id, config in self.lh_devices.items():
- config['joint_msg'].header.stamp = self.get_clock().now().to_msg()
- self.j_pub.publish(config['joint_msg'])
-
-
-
-
-class JointStatePublisher(Node):
- def __init__(self):
- super().__init__('joint_state_publisher')
-
- self.lh_action = None
-
- while self.lh_action is None:
- self.lh_action = self.check_hl_joint_actions()
- time.sleep(1)
-
- self.lh_action_client = ActionClient(self, SendCmd, self.lh_action)
- while not self.lh_action_client.wait_for_server(timeout_sec=1.0):
- self.get_logger().info('等待 TfUpdate 服务器...')
-
-
-
- def check_hl_joint_actions(self):
- topics = self.get_topic_names_and_types()
-
-
- for topic_item in topics:
-
- topic_name, topic_types = topic_item
-
- if 'action_msgs/msg/GoalStatusArray' in topic_types:
- # 删除 /_action/status 部分
-
- base_name = topic_name.replace('/_action/status', '')
- # 检查最后一个部分是否为 tf_update
- parts = base_name.split('/')
- if parts and parts[-1] == 'hl_joint_action':
- return base_name
-
- return None
-
- def send_resource_action(self, resource_name, x,y,z,option, speed = 0.1,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
- goal_msg = SendCmd.Goal()
-
- # Convert numpy arrays or other non-serializable objects to lists
- def to_serializable(obj):
- if hasattr(obj, 'tolist'): # numpy array
- return obj.tolist()
- elif isinstance(obj, list):
- return [to_serializable(item) for item in obj]
- elif isinstance(obj, dict):
- return {k: to_serializable(v) for k, v in obj.items()}
- else:
- return obj
-
- str_dict = {
- 'resource_names':resource_name,
- 'x':x,
- 'y':y,
- 'z':z,
- 'option':option,
- 'speed':speed,
- 'x_joint':to_serializable(x_joint),
- 'y_joint':to_serializable(y_joint),
- 'z_joint':to_serializable(z_joint),
- 'channels':to_serializable(channels)
- }
-
-
- goal_msg.command = json.dumps(str_dict)
-
- if not self.lh_action_client.wait_for_server(timeout_sec=5.0):
- self.get_logger().error('Action server not available')
- return None
-
- try:
- # 创建新的executor
- executor = rclpy.executors.MultiThreadedExecutor()
- executor.add_node(self)
-
- # 发送目标
- future = self.lh_action_client.send_goal_async(goal_msg)
-
- # 使用executor等待结果
- while not future.done():
- executor.spin_once(timeout_sec=0.1)
-
- handle = future.result()
-
- if not handle.accepted:
- self.get_logger().error('Goal was rejected')
- return None
-
- # 等待最终结果
- result_future = handle.get_result_async()
- while not result_future.done():
- executor.spin_once(timeout_sec=0.1)
-
- result = result_future.result()
- return result
-
- except Exception as e:
- self.get_logger().error(f'Error during action execution: {str(e)}')
- return None
- finally:
- # 清理executor
- executor.remove_node(self)
-
-
-def main():
-
- pass
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py
deleted file mode 100644
index 5b7c7252..00000000
--- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py
+++ /dev/null
@@ -1,374 +0,0 @@
-import asyncio
-import copy
-from pathlib import Path
-import threading
-import uuid
-import rclpy
-import json
-import time
-from rclpy.executors import MultiThreadedExecutor
-from rclpy.action import ActionServer,ActionClient
-from sensor_msgs.msg import JointState
-from unilabos_msgs.action import SendCmd
-from rclpy.action.server import ServerGoalHandle
-
-
-from rclpy.node import Node
-import re
-
-class LiquidHandlerJointPublisher(Node):
- def __init__(self, joint_config:str = None, lh_device_id: str = 'lh_joint_publisher', rate=50, **kwargs):
- super().__init__(lh_device_id)
- # 初始化参数
- self.lh_device_id = lh_device_id
- # INSERT_YOUR_CODE
- # 如果未传 joint_config，则自动读取同级的 lh_joint_config.json 文件
-
- config_path = Path(__file__).parent / 'lh_joint_config.json'
- with open(config_path, 'r', encoding='utf-8') as f:
- config_json = json.load(f)
- self.joint_config = config_json[joint_config]
- self.simulate_rviz = kwargs.get("simulate_rviz", False)
-
-
- self.rate = rate
- self.j_pub = self.create_publisher(JointState,'/joint_states',10)
- self.timer = self.create_timer(1, self.lh_joint_pub_callback)
-
-
- self.resource_action = None
-
- if self.simulate_rviz:
- while self.resource_action is None:
- self.resource_action = self.check_tf_update_actions()
- time.sleep(1)
-
- self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
- while not self.resource_action_client.wait_for_server(timeout_sec=1.0):
- self.get_logger().info('等待 TfUpdate 服务器...')
-
- self.deck_list = []
- self.lh_devices = {}
-
- self.j_msg = JointState(
- name=[f'{self.lh_device_id}_{x}' for x in self.joint_config['joint_names']],
- position=[0.0 for _ in self.joint_config['joint_names']],
- velocity=[0.0 for _ in self.joint_config['joint_names']],
- effort=[0.0 for _ in self.joint_config['joint_names']]
- )
-
- # self.j_action = ActionServer(
- # self,
- # SendCmd,
- # "hl_joint_action",
- # self.lh_joint_action_callback,
- # result_timeout=5000
- # )
-
- def check_tf_update_actions(self):
- topics = self.get_topic_names_and_types()
-
- for topic_item in topics:
-
- topic_name, topic_types = topic_item
-
- if 'action_msgs/msg/GoalStatusArray' in topic_types:
- # 删除 /_action/status 部分
-
- base_name = topic_name.replace('/_action/status', '')
- # 检查最后一个部分是否为 tf_update
- parts = base_name.split('/')
- if parts and parts[-1] == 'tf_update':
- return base_name
-
- return None
-
- def send_resource_action(self, resource_id_list:list[str], link_name:str):
- if self.simulate_rviz:
- goal_msg = SendCmd.Goal()
- str_dict = {}
- for resource in resource_id_list:
- str_dict[resource] = link_name
-
- goal_msg.command = json.dumps(str_dict)
-
- self.resource_action_client.send_goal(goal_msg)
- else:
- pass
-
-
- def resource_move(self, resource_id:str, link_name:str, channels:list[int]):
- resource = resource_id.rsplit("_",1)
-
- channel_list = ['A','B','C','D','E','F','G','H']
-
- resource_list = []
- match = re.match(r'([a-zA-Z_]+)(\d+)', resource[1])
- if match:
- number = match.group(2)
- for channel in channels:
- resource_list.append(f"{resource[0]}_{channel_list[channel]}{number}")
-
- if len(resource_list) > 0:
- self.send_resource_action(resource_list, link_name)
-
-
-
- def lh_joint_action_callback(self,goal_handle: ServerGoalHandle):
- """Move a single joint
-
- Args:
- command: A JSON-formatted string that includes joint_name, speed, position
-
- joint_name (str): The name of the joint to move
- speed (float): The speed of the movement, speed > 0
- position (float): The position to move to
-
- Returns:
- None
- """
- result = SendCmd.Result()
- cmd_str = str(goal_handle.request.command).replace('\'','\"')
- # goal_handle.execute()
-
- try:
- cmd_dict = json.loads(cmd_str)
- self.move_joints(**cmd_dict)
- result.success = True
- goal_handle.succeed()
-
- except Exception as e:
- print(f'Liquid handler action error: \n{e}')
- goal_handle.abort()
- result.success = False
-
- return result
- def inverse_kinematics(self, x, y, z,
- parent_id,
- x_joint:dict,
- y_joint:dict,
- z_joint:dict ):
- """
- 将x、y、z坐标转换为对应关节的位置
-
- Args:
- x (float): x坐标
- y (float): y坐标
- z (float): z坐标
- x_joint (dict): x轴关节配置，包含factor和offset
- y_joint (dict): y轴关节配置，包含factor和offset
- z_joint (dict): z轴关节配置，包含factor和offset
-
- Returns:
- dict: 关节名称和对应位置的字典
- """
- joint_positions = copy.deepcopy(self.j_msg.position)
-
- z_index = 0
- # 处理x轴关节
- for joint_name, config in x_joint.items():
- index = self.j_msg.name.index(f"{parent_id}_{joint_name}")
- joint_positions[index] = x * config["factor"] + config["offset"]
-
- # 处理y轴关节
- for joint_name, config in y_joint.items():
- index = self.j_msg.name.index(f"{parent_id}_{joint_name}")
- joint_positions[index] = y * config["factor"] + config["offset"]
-
- # 处理z轴关节
- for joint_name, config in z_joint.items():
- index = self.j_msg.name.index(f"{parent_id}_{joint_name}")
- joint_positions[index] = z * config["factor"] + config["offset"]
- z_index = index
-
- return joint_positions ,z_index
-
-
- def move_joints(self, resource_names, x, y, z, option, speed = 0.1 ,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
- if isinstance(resource_names, list):
- resource_name_ = resource_names[0]
- else:
- resource_name_ = resource_names
-
- lh_device_id = self.lh_device_id
-
-
- # print('!'*20)
- # print(parent_id)
- # print('!'*20)
- if x_joint is None:
- xa,xb = next(iter(self.joint_config['x'].items()))
- x_joint_config = {xa:xb}
- elif x_joint in self.joint_config['x']:
- x_joint_config = self.joint_config['x'][x_joint]
- else:
- raise ValueError(f"x_joint {x_joint} not in joint_config['x']")
- if y_joint is None:
- ya,yb = next(iter(self.joint_config['y'].items()))
- y_joint_config = {ya:yb}
- elif y_joint in self.joint_config['y']:
- y_joint_config = self.joint_config['y'][y_joint]
- else:
- raise ValueError(f"y_joint {y_joint} not in joint_config['y']")
- if z_joint is None:
- za, zb = next(iter(self.joint_config['z'].items()))
- z_joint_config = {za :zb}
- elif z_joint in self.joint_config['z']:
- z_joint_config = self.joint_config['z'][z_joint]
- else:
- raise ValueError(f"z_joint {z_joint} not in joint_config['z']")
-
- joint_positions_target, z_index = self.inverse_kinematics(x,y,z,lh_device_id,x_joint_config,y_joint_config,z_joint_config)
- joint_positions_target_zero = copy.deepcopy(joint_positions_target)
- joint_positions_target_zero[z_index] = 0
-
- self.move_to(joint_positions_target_zero, speed)
- self.move_to(joint_positions_target, speed)
- time.sleep(1)
- if option == "pick":
- link_name = self.joint_config['link_names'][z_index]
- link_name = f'{lh_device_id}_{link_name}'
- self.resource_move(resource_name_, link_name, channels)
- elif option == "drop_trash":
- self.resource_move(resource_name_, "__trash", channels)
- elif option == "drop":
- self.resource_move(resource_name_, "world", channels)
- self.move_to(joint_positions_target_zero, speed)
-
-
- def move_to(self, joint_positions ,speed):
- loop_flag = 0
-
- while loop_flag < len(joint_positions):
- loop_flag = 0
- for i in range(len(joint_positions)):
- distance = joint_positions[i] - self.j_msg.position[i]
- if distance == 0:
- loop_flag += 1
- continue
- minus_flag = distance/abs(distance)
- if abs(distance) > speed/self.rate:
- self.j_msg.position[i] += minus_flag * speed/self.rate
- else :
- self.j_msg.position[i] = joint_positions[i]
- loop_flag += 1
-
-
- # 发布关节状态
- self.lh_joint_pub_callback()
- time.sleep(1/self.rate)
-
- def lh_joint_pub_callback(self):
- self.j_msg.header.stamp = self.get_clock().now().to_msg()
- self.j_pub.publish(self.j_msg)
-
-
-class JointStatePublisher(Node):
- def __init__(self):
- super().__init__('joint_state_publisher')
-
- self.lh_action = None
-
- while self.lh_action is None:
- self.lh_action = self.check_hl_joint_actions()
- time.sleep(1)
-
- self.lh_action_client = ActionClient(self, SendCmd, self.lh_action)
- while not self.lh_action_client.wait_for_server(timeout_sec=1.0):
- self.get_logger().info('等待 TfUpdate 服务器...')
-
-
-
- def check_hl_joint_actions(self):
- topics = self.get_topic_names_and_types()
-
-
- for topic_item in topics:
-
- topic_name, topic_types = topic_item
-
- if 'action_msgs/msg/GoalStatusArray' in topic_types:
- # 删除 /_action/status 部分
-
- base_name = topic_name.replace('/_action/status', '')
- # 检查最后一个部分是否为 tf_update
- parts = base_name.split('/')
- if parts and parts[-1] == 'hl_joint_action':
- return base_name
-
- return None
-
- def send_resource_action(self, resource_name, x,y,z,option, speed = 0.1,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
- goal_msg = SendCmd.Goal()
-
- # Convert numpy arrays or other non-serializable objects to lists
- def to_serializable(obj):
- if hasattr(obj, 'tolist'): # numpy array
- return obj.tolist()
- elif isinstance(obj, list):
- return [to_serializable(item) for item in obj]
- elif isinstance(obj, dict):
- return {k: to_serializable(v) for k, v in obj.items()}
- else:
- return obj
-
- str_dict = {
- 'resource_names':resource_name,
- 'x':x,
- 'y':y,
- 'z':z,
- 'option':option,
- 'speed':speed,
- 'x_joint':to_serializable(x_joint),
- 'y_joint':to_serializable(y_joint),
- 'z_joint':to_serializable(z_joint),
- 'channels':to_serializable(channels)
- }
-
-
- goal_msg.command = json.dumps(str_dict)
-
- if not self.lh_action_client.wait_for_server(timeout_sec=5.0):
- self.get_logger().error('Action server not available')
- return None
-
- try:
- # 创建新的executor
- executor = rclpy.executors.MultiThreadedExecutor()
- executor.add_node(self)
-
- # 发送目标
- future = self.lh_action_client.send_goal_async(goal_msg)
-
- # 使用executor等待结果
- while not future.done():
- executor.spin_once(timeout_sec=0.1)
-
- handle = future.result()
-
- if not handle.accepted:
- self.get_logger().error('Goal was rejected')
- return None
-
- # 等待最终结果
- result_future = handle.get_result_async()
- while not result_future.done():
- executor.spin_once(timeout_sec=0.1)
-
- result = result_future.result()
- return result
-
- except Exception as e:
- self.get_logger().error(f'Error during action execution: {str(e)}')
- return None
- finally:
- # 清理executor
- executor.remove_node(self)
-
-
-def main():
-
- pass
-
-if __name__ == '__main__':
- main()
\ No newline at end of file
diff --git a/unilabos/devices/ros_dev/moveit2.py b/unilabos/devices/ros_dev/moveit2.py
deleted file mode 100644
index 80bea9da..00000000
--- a/unilabos/devices/ros_dev/moveit2.py
+++ /dev/null
@@ -1,2442 +0,0 @@
-import copy
-import threading
-from enum import Enum
-from typing import Any, List, Optional, Tuple, Union
-
-import numpy as np
-from action_msgs.msg import GoalStatus
-from geometry_msgs.msg import Point, Pose, PoseStamped, Quaternion
-from moveit_msgs.action import ExecuteTrajectory, MoveGroup
-from moveit_msgs.msg import (
- AllowedCollisionEntry,
- AttachedCollisionObject,
- CollisionObject,
- Constraints,
- JointConstraint,
- MoveItErrorCodes,
- OrientationConstraint,
- PlanningScene,
- PositionConstraint,
-)
-from moveit_msgs.srv import (
- ApplyPlanningScene,
- GetCartesianPath,
- GetMotionPlan,
- GetPlanningScene,
- GetPositionFK,
- GetPositionIK,
-)
-from rclpy.action import ActionClient
-from rclpy.callback_groups import CallbackGroup
-from rclpy.node import Node
-from rclpy.qos import (
- QoSDurabilityPolicy,
- QoSHistoryPolicy,
- QoSProfile,
- QoSReliabilityPolicy,
-)
-from rclpy.task import Future
-from sensor_msgs.msg import JointState
-from shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive
-from std_msgs.msg import Header, String
-from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
-
-
-class MoveIt2State(Enum):
- """
- An enum the represents the current execution state of the MoveIt2 interface.
- - IDLE: No motion is being requested or executed
- - REQUESTING: Execution has been requested, but the request has not yet been
- accepted.
- - EXECUTING: Execution has been requested and accepted, and has not yet been
- completed.
- """
-
- IDLE = 0
- REQUESTING = 1
- EXECUTING = 2
-
-
-class MoveIt2:
- """
- Python interface for MoveIt 2 that enables planning and execution of trajectories.
- For execution, this interface requires that robot utilises JointTrajectoryController.
- """
-
- def __init__(
- self,
- node: Node,
- joint_names: List[str],
- base_link_name: str,
- end_effector_name: str,
- group_name: str = "arm",
- execute_via_moveit: bool = False,
- ignore_new_calls_while_executing: bool = False,
- callback_group: Optional[CallbackGroup] = None,
- follow_joint_trajectory_action_name: str = "DEPRECATED",
- use_move_group_action: bool = False,
- ):
- """
- Construct an instance of `MoveIt2` interface.
- - `node` - ROS 2 node that this interface is attached to
- - `joint_names` - List of joint names of the robot (can be extracted from URDF)
- - `base_link_name` - Name of the robot base link
- - `end_effector_name` - Name of the robot end effector
- - `group_name` - Name of the planning group for robot arm
- - [DEPRECATED] `execute_via_moveit` - Flag that enables execution via MoveGroup action (MoveIt 2)
- FollowJointTrajectory action (controller) is employed otherwise
- together with a separate planning service client
- - `ignore_new_calls_while_executing` - Flag to ignore requests to execute new trajectories
- while previous is still being executed
- - `callback_group` - Optional callback group to use for ROS 2 communication (topics/services/actions)
- - [DEPRECATED] `follow_joint_trajectory_action_name` - Name of the action server for the controller
- - `use_move_group_action` - Flag that enables execution via MoveGroup action (MoveIt 2)
- ExecuteTrajectory action is employed otherwise
- together with a separate planning service client
- """
-
- self._node = node
- self._callback_group = callback_group
-
- # Check for deprecated parameters
- if execute_via_moveit:
- self._node.get_logger().warn(
- "Parameter `execute_via_moveit` is deprecated. Please use `use_move_group_action` instead."
- )
- use_move_group_action = True
- if follow_joint_trajectory_action_name != "DEPRECATED":
- self._node.get_logger().warn(
- "Parameter `follow_joint_trajectory_action_name` is deprecated. `MoveIt2` uses the `execute_trajectory` action instead."
- )
-
- # Create subscriber for current joint states
- self._node.create_subscription(
- msg_type=JointState,
- topic="/joint_states",
- callback=self.__joint_state_callback,
- qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.BEST_EFFORT,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=self._callback_group,
- )
-
- # Create action client for move action
- self.__move_action_client = ActionClient(
- node=self._node,
- action_type=MoveGroup,
- action_name="/move_action",
- goal_service_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- result_service_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=5,
- ),
- cancel_service_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=5,
- ),
- feedback_sub_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.BEST_EFFORT,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- status_sub_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.BEST_EFFORT,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=self._callback_group,
- )
-
- # Also create a separate service client for planning
- self._plan_kinematic_path_service = self._node.create_client(
- srv_type=GetMotionPlan,
- srv_name="/plan_kinematic_path",
- qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=callback_group,
- )
- self.__kinematic_path_request = GetMotionPlan.Request()
-
- # Create a separate service client for Cartesian planning
- self._plan_cartesian_path_service = self._node.create_client(
- srv_type=GetCartesianPath,
- srv_name="/compute_cartesian_path",
- qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=callback_group,
- )
- self.__cartesian_path_request = GetCartesianPath.Request()
-
- # Create action client for trajectory execution
- self._execute_trajectory_action_client = ActionClient(
- node=self._node,
- action_type=ExecuteTrajectory,
- action_name="/execute_trajectory",
- goal_service_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- result_service_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=5,
- ),
- cancel_service_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=5,
- ),
- feedback_sub_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.BEST_EFFORT,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- status_sub_qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.BEST_EFFORT,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=self._callback_group,
- )
-
- # Create a service for getting the planning scene
- self._get_planning_scene_service = self._node.create_client(
- srv_type=GetPlanningScene,
- srv_name="/get_planning_scene",
- qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=callback_group,
- )
- self.__planning_scene = None
- self.__old_planning_scene = None
- self.__old_allowed_collision_matrix = None
-
- # Create a service for applying the planning scene
- self._apply_planning_scene_service = self._node.create_client(
- srv_type=ApplyPlanningScene,
- srv_name="/apply_planning_scene",
- qos_profile=QoSProfile(
- durability=QoSDurabilityPolicy.VOLATILE,
- reliability=QoSReliabilityPolicy.RELIABLE,
- history=QoSHistoryPolicy.KEEP_LAST,
- depth=1,
- ),
- callback_group=callback_group,
- )
-
- self.__collision_object_publisher = self._node.create_publisher(
- CollisionObject, "/collision_object", 10
- )
- self.__attached_collision_object_publisher = self._node.create_publisher(
- AttachedCollisionObject, "/attached_collision_object", 10
- )
-
- self.__cancellation_pub = self._node.create_publisher(
- String, "/trajectory_execution_event", 1
- )
-
- self.__joint_state_mutex = threading.Lock()
- self.__joint_state = None
- self.__new_joint_state_available = False
- self.__move_action_goal = self.__init_move_action_goal(
- frame_id=base_link_name,
- group_name=group_name,
- end_effector=end_effector_name,
- )
-
- # Flag to determine whether to execute trajectories via Move Group Action, or rather by calling
- # the separate ExecuteTrajectory action
- # Applies to `move_to_pose()` and `move_to_configuration()`
- self.__use_move_group_action = use_move_group_action
-
- # Flag that determines whether a new goal can be sent while the previous one is being executed
- self.__ignore_new_calls_while_executing = ignore_new_calls_while_executing
-
- # Store additional variables for later use
- self.__joint_names = joint_names
- self.__base_link_name = base_link_name
- self.__end_effector_name = end_effector_name
- self.__group_name = group_name
-
- # Internal states that monitor the current motion requests and execution
- self.__is_motion_requested = False
- self.__is_executing = False
- self.motion_suceeded = False
- self.__execution_goal_handle = None
- self.__last_error_code = None
- self.__wait_until_executed_rate = self._node.create_rate(1000.0)
- self.__execution_mutex = threading.Lock()
-
- # Event that enables waiting until async future is done
- self.__future_done_event = threading.Event()
-
- #### Execution Polling Functions
- def query_state(self) -> MoveIt2State:
- with self.__execution_mutex:
- if self.__is_motion_requested:
- return MoveIt2State.REQUESTING
- elif self.__is_executing:
- return MoveIt2State.EXECUTING
- else:
- return MoveIt2State.IDLE
-
- def cancel_execution(self):
- if self.query_state() != MoveIt2State.EXECUTING:
- self._node.get_logger().warn("Attempted to cancel without active goal.")
- return None
-
- cancel_string = String()
- cancel_string.data = "stop"
- self.__cancellation_pub.publish(cancel_string)
-
- def get_execution_future(self) -> Optional[Future]:
- if self.query_state() != MoveIt2State.EXECUTING:
- self._node.get_logger().warn("Need active goal for future.")
- return None
-
- return self.__execution_goal_handle.get_result_async()
-
- def get_last_execution_error_code(self) -> Optional[MoveItErrorCodes]:
- return self.__last_error_code
-
- ####
-
- def move_to_pose(
- self,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- target_link: Optional[str] = None,
- frame_id: Optional[str] = None,
- tolerance_position: float = 0.001,
- tolerance_orientation: float = 0.001,
- weight_position: float = 1.0,
- cartesian: bool = True,
- weight_orientation: float = 1.0,
- cartesian_max_step: float = 0.0025,
- cartesian_fraction_threshold: float = 0.0,
- ):
- """
- Plan and execute motion based on previously set goals. Optional arguments can be
- passed in to internally use `set_pose_goal()` to define a goal during the call.
- """
-
- if isinstance(pose, PoseStamped):
- pose_stamped = pose
- elif isinstance(pose, Pose):
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=pose,
- )
- else:
- if not isinstance(position, Point):
- position = Point(
- x=float(position[0]), y=float(position[1]), z=float(position[2])
- )
- if not isinstance(quat_xyzw, Quaternion):
- quat_xyzw = Quaternion(
- x=float(quat_xyzw[0]),
- y=float(quat_xyzw[1]),
- z=float(quat_xyzw[2]),
- w=float(quat_xyzw[3]),
- )
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=Pose(position=position, orientation=quat_xyzw),
- )
-
- if self.__use_move_group_action and not cartesian:
- if self.__ignore_new_calls_while_executing and (
- self.__is_motion_requested or self.__is_executing
- ):
- self._node.get_logger().warn(
- "Controller is already following a trajectory. Skipping motion."
- )
- return
-
- # Set goal
- self.set_pose_goal(
- position=pose_stamped.pose.position,
- quat_xyzw=pose_stamped.pose.orientation,
- frame_id=pose_stamped.header.frame_id,
- target_link=target_link,
- tolerance_position=tolerance_position,
- tolerance_orientation=tolerance_orientation,
- weight_position=weight_position,
- weight_orientation=weight_orientation,
- )
- # Define starting state as the current state
- if self.joint_state is not None:
- self.__move_action_goal.request.start_state.joint_state = (
- self.joint_state
- )
- # Send to goal to the server (async) - both planning and execution
- self._send_goal_async_move_action()
- # Clear all previous goal constrains
- self.clear_goal_constraints()
- self.clear_path_constraints()
-
- else:
- # Plan via MoveIt 2 and then execute directly with the controller
- self.execute(
- self.plan(
- position=pose_stamped.pose.position,
- quat_xyzw=pose_stamped.pose.orientation,
- frame_id=pose_stamped.header.frame_id,
- target_link=target_link,
- tolerance_position=tolerance_position,
- tolerance_orientation=tolerance_orientation,
- weight_position=weight_position,
- weight_orientation=weight_orientation,
- cartesian=cartesian,
- max_step=cartesian_max_step,
- cartesian_fraction_threshold=cartesian_fraction_threshold,
- )
- )
-
- def move_to_configuration(
- self,
- joint_positions: List[float],
- joint_names: Optional[List[str]] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- cartesian: bool = False,
- ):
- """
- Plan and execute motion based on previously set goals. Optional arguments can be
- passed in to internally use `set_joint_goal()` to define a goal during the call.
- """
-
- if self.__use_move_group_action:
- if self.__ignore_new_calls_while_executing and (
- self.__is_motion_requested or self.__is_executing
- ):
- self._node.get_logger().warn(
- "Controller is already following a trajectory. Skipping motion."
- )
- return
-
- # Set goal
- self.set_joint_goal(
- joint_positions=joint_positions,
- joint_names=joint_names,
- tolerance=tolerance,
- weight=weight,
- )
- # Define starting state as the current state
- if self.joint_state is not None:
- self.__move_action_goal.request.start_state.joint_state = (
- self.joint_state
- )
- # Send to goal to the server (async) - both planning and execution
- self._send_goal_async_move_action()
- # Clear all previous goal constrains
- self.clear_goal_constraints()
- self.clear_path_constraints()
-
- else:
- # Plan via MoveIt 2 and then execute directly with the controller
- self.execute(
- self.plan(
- joint_positions=joint_positions,
- joint_names=joint_names,
- tolerance_joint_position=tolerance,
- weight_joint_position=weight,
- cartesian=cartesian,
- )
- )
-
- def plan(
- self,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- joint_positions: Optional[List[float]] = None,
- joint_names: Optional[List[str]] = None,
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance_position: float = 0.001,
- tolerance_orientation: Union[float, Tuple[float, float, float]] = 0.001,
- tolerance_joint_position: float = 0.001,
- weight_position: float = 1.0,
- weight_orientation: float = 1.0,
- weight_joint_position: float = 1.0,
- start_joint_state: Optional[Union[JointState, List[float]]] = None,
- cartesian: bool = False,
- max_step: float = 0.0025,
- cartesian_fraction_threshold: float = 0.0,
- ) -> Optional[JointTrajectory]:
- """
- Call plan_async and wait on future
- """
- future = self.plan_async(
- **{
- key: value
- for key, value in locals().items()
- if key not in ["self", "cartesian_fraction_threshold"]
- }
- )
-
- if future is None:
- return None
-
- # 100ms sleep
- rate = self._node.create_rate(10)
- while not future.done():
- rate.sleep()
-
- return self.get_trajectory(
- future,
- cartesian=cartesian,
- cartesian_fraction_threshold=cartesian_fraction_threshold,
- )
-
- def plan_async(
- self,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- joint_positions: Optional[List[float]] = None,
- joint_names: Optional[List[str]] = None,
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance_position: float = 0.001,
- tolerance_orientation: Union[float, Tuple[float, float, float]] = 0.001,
- tolerance_joint_position: float = 0.001,
- weight_position: float = 1.0,
- weight_orientation: float = 1.0,
- weight_joint_position: float = 1.0,
- start_joint_state: Optional[Union[JointState, List[float]]] = None,
- cartesian: bool = False,
- max_step: float = 0.0025,
- ) -> Optional[Future]:
- """
- Plan motion based on previously set goals. Optional arguments can be passed in to
- internally use `set_position_goal()`, `set_orientation_goal()` or `set_joint_goal()`
- to define a goal during the call. If no trajectory is found within the timeout
- duration, `None` is returned. To plan from the different position than the current
- one, optional argument `start_` can be defined.
- """
-
- pose_stamped = None
- if pose is not None:
- if isinstance(pose, PoseStamped):
- pose_stamped = pose
- elif isinstance(pose, Pose):
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=pose,
- )
-
- self.set_position_goal(
- position=pose_stamped.pose.position,
- frame_id=pose_stamped.header.frame_id,
- target_link=target_link,
- tolerance=tolerance_position,
- weight=weight_position,
- )
- self.set_orientation_goal(
- quat_xyzw=pose_stamped.pose.orientation,
- frame_id=pose_stamped.header.frame_id,
- target_link=target_link,
- tolerance=tolerance_orientation,
- weight=weight_orientation,
- )
- else:
- if position is not None:
- if not isinstance(position, Point):
- position = Point(
- x=float(position[0]), y=float(position[1]), z=float(position[2])
- )
-
- self.set_position_goal(
- position=position,
- frame_id=frame_id,
- target_link=target_link,
- tolerance=tolerance_position,
- weight=weight_position,
- )
-
- if quat_xyzw is not None:
- if not isinstance(quat_xyzw, Quaternion):
- quat_xyzw = Quaternion(
- x=float(quat_xyzw[0]),
- y=float(quat_xyzw[1]),
- z=float(quat_xyzw[2]),
- w=float(quat_xyzw[3]),
- )
-
- self.set_orientation_goal(
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- target_link=target_link,
- tolerance=tolerance_orientation,
- weight=weight_orientation,
- )
-
- if joint_positions is not None:
- self.set_joint_goal(
- joint_positions=joint_positions,
- joint_names=joint_names,
- tolerance=tolerance_joint_position,
- weight=weight_joint_position,
- )
-
- # Define starting state for the plan (default to the current state)
- if start_joint_state is not None:
- if isinstance(start_joint_state, JointState):
- self.__move_action_goal.request.start_state.joint_state = (
- start_joint_state
- )
- else:
- self.__move_action_goal.request.start_state.joint_state = (
- init_joint_state(
- joint_names=self.__joint_names,
- joint_positions=start_joint_state,
- )
- )
- elif self.joint_state is not None:
- self.__move_action_goal.request.start_state.joint_state = self.joint_state
-
- # Plan trajectory asynchronously by service call
- if cartesian:
- future = self._plan_cartesian_path(
- max_step=max_step,
- frame_id=(
- pose_stamped.header.frame_id
- if pose_stamped is not None
- else frame_id
- ),
- )
- else:
- # Use service
- future = self._plan_kinematic_path()
-
-
- # Clear all previous goal constrains
- self.clear_goal_constraints()
- self.clear_path_constraints()
-
- return future
-
- def get_trajectory(
- self,
- future: Future,
- cartesian: bool = False,
- cartesian_fraction_threshold: float = 0.0,
- ) -> Optional[JointTrajectory]:
- """
- Takes in a future returned by plan_async and returns the trajectory if the future is done
- and planning was successful, else None.
-
- For cartesian plans, the plan is rejected if the fraction of the path that was completed is
- less than `cartesian_fraction_threshold`.
- """
- if not future.done():
- self._node.get_logger().warn(
- "Cannot get trajectory because future is not done."
- )
- return None
-
- res = future.result()
-
- # Cartesian
- if cartesian:
- if MoveItErrorCodes.SUCCESS == res.error_code.val:
- if res.fraction >= cartesian_fraction_threshold:
- return res.solution.joint_trajectory
- else:
- self._node.get_logger().warn(
- f"Planning failed! Cartesian planner completed {res.fraction} "
- f"of the trajectory, less than the threshold {cartesian_fraction_threshold}."
- )
- return None
- else:
- self._node.get_logger().warn(
- f"Planning failed! Error code: {res.error_code.val}."
- )
- return None
-
- # Else Kinematic
- res = res.motion_plan_response
- if MoveItErrorCodes.SUCCESS == res.error_code.val:
- return res.trajectory.joint_trajectory
- else:
- self._node.get_logger().warn(
- f"Planning failed! Error code: {res.error_code.val}."
- )
- return None
-
- def execute(self, joint_trajectory: JointTrajectory):
- """
- Execute joint_trajectory by communicating directly with the controller.
- """
-
- if self.__ignore_new_calls_while_executing and (
- self.__is_motion_requested or self.__is_executing
- ):
- self._node.get_logger().warn(
- "Controller is already following a trajectory. Skipping motion."
- )
- return
-
- execute_trajectory_goal = init_execute_trajectory_goal(
- joint_trajectory=joint_trajectory
- )
-
- if execute_trajectory_goal is None:
- self._node.get_logger().warn(
- "Cannot execute motion because the provided/planned trajectory is invalid."
- )
- return
-
- self._send_goal_async_execute_trajectory(goal=execute_trajectory_goal)
-
- def wait_until_executed(self) -> bool:
- """
- Wait until the previously requested motion is finalised through either a success or failure.
- """
-
- if not self.__is_motion_requested:
- self._node.get_logger().warn(
- "Cannot wait until motion is executed (no motion is in progress)."
- )
- return False
-
- while self.__is_motion_requested or self.__is_executing:
- self.__wait_until_executed_rate.sleep()
-
- return self.motion_suceeded
-
- def reset_controller(
- self, joint_state: Union[JointState, List[float]], sync: bool = True
- ):
- """
- Reset controller to a given `joint_state` by sending a dummy joint trajectory.
- This is useful for simulated robots that allow instantaneous reset of joints.
- """
-
- if not isinstance(joint_state, JointState):
- joint_state = init_joint_state(
- joint_names=self.__joint_names,
- joint_positions=joint_state,
- )
- joint_trajectory = init_dummy_joint_trajectory_from_state(joint_state)
- execute_trajectory_goal = init_execute_trajectory_goal(
- joint_trajectory=joint_trajectory
- )
-
- self._send_goal_async_execute_trajectory(
- goal=execute_trajectory_goal,
- wait_until_response=sync,
- )
-
- def set_pose_goal(
- self,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance_position: float = 0.001,
- tolerance_orientation: Union[float, Tuple[float, float, float]] = 0.001,
- weight_position: float = 1.0,
- weight_orientation: float = 1.0,
- ):
- """
- This is direct combination of `set_position_goal()` and `set_orientation_goal()`.
- """
-
- if (pose is None) and (position is None or quat_xyzw is None):
- raise ValueError(
- "Either `pose` or `position` and `quat_xyzw` must be specified!"
- )
-
- if isinstance(pose, PoseStamped):
- pose_stamped = pose
- elif isinstance(pose, Pose):
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=pose,
- )
- else:
- if not isinstance(position, Point):
- position = Point(
- x=float(position[0]), y=float(position[1]), z=float(position[2])
- )
- if not isinstance(quat_xyzw, Quaternion):
- quat_xyzw = Quaternion(
- x=float(quat_xyzw[0]),
- y=float(quat_xyzw[1]),
- z=float(quat_xyzw[2]),
- w=float(quat_xyzw[3]),
- )
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=Pose(position=position, orientation=quat_xyzw),
- )
-
- self.set_position_goal(
- position=pose_stamped.pose.position,
- frame_id=pose_stamped.header.frame_id,
- target_link=target_link,
- tolerance=tolerance_position,
- weight=weight_position,
- )
- self.set_orientation_goal(
- quat_xyzw=pose_stamped.pose.orientation,
- frame_id=pose_stamped.header.frame_id,
- target_link=target_link,
- tolerance=tolerance_orientation,
- weight=weight_orientation,
- )
-
- def create_position_constraint(
- self,
- position: Union[Point, Tuple[float, float, float]],
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- ) -> PositionConstraint:
- """
- Create Cartesian position constraint of `target_link` with respect to `frame_id`.
- - `frame_id` defaults to the base link
- - `target_link` defaults to end effector
- """
-
- # Create new position constraint
- constraint = PositionConstraint()
-
- # Define reference frame and target link
- constraint.header.frame_id = (
- frame_id if frame_id is not None else self.__base_link_name
- )
- constraint.link_name = (
- target_link if target_link is not None else self.__end_effector_name
- )
-
- # Define target position
- constraint.constraint_region.primitive_poses.append(Pose())
- if isinstance(position, Point):
- constraint.constraint_region.primitive_poses[0].position = position
- else:
- constraint.constraint_region.primitive_poses[0].position.x = float(
- position[0]
- )
- constraint.constraint_region.primitive_poses[0].position.y = float(
- position[1]
- )
- constraint.constraint_region.primitive_poses[0].position.z = float(
- position[2]
- )
-
- # Define goal region as a sphere with radius equal to the tolerance
- constraint.constraint_region.primitives.append(SolidPrimitive())
- constraint.constraint_region.primitives[0].type = 2 # Sphere
- constraint.constraint_region.primitives[0].dimensions = [tolerance]
-
- # Set weight of the constraint
- constraint.weight = weight
-
- return constraint
-
- def set_position_goal(
- self,
- position: Union[Point, Tuple[float, float, float]],
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- ):
- """
- Set Cartesian position goal of `target_link` with respect to `frame_id`.
- - `frame_id` defaults to the base link
- - `target_link` defaults to end effector
- """
-
- constraint = self.create_position_constraint(
- position=position,
- frame_id=frame_id,
- target_link=target_link,
- tolerance=tolerance,
- weight=weight,
- )
-
- # Append to other constraints
- self.__move_action_goal.request.goal_constraints[
- -1
- ].position_constraints.append(constraint)
-
- def create_orientation_constraint(
- self,
- quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance: Union[float, Tuple[float, float, float]] = 0.001,
- weight: float = 1.0,
- parameterization: int = 0, # 0: Euler, 1: Rotation Vector
- ) -> OrientationConstraint:
- """
- Create a Cartesian orientation constraint of `target_link` with respect to `frame_id`.
- - `frame_id` defaults to the base link
- - `target_link` defaults to end effector
- """
-
- # Create new position constraint
- constraint = OrientationConstraint()
-
- # Define reference frame and target link
- constraint.header.frame_id = (
- frame_id if frame_id is not None else self.__base_link_name
- )
- constraint.link_name = (
- target_link if target_link is not None else self.__end_effector_name
- )
-
- # Define target orientation
- if isinstance(quat_xyzw, Quaternion):
- constraint.orientation = quat_xyzw
- else:
- constraint.orientation.x = float(quat_xyzw[0])
- constraint.orientation.y = float(quat_xyzw[1])
- constraint.orientation.z = float(quat_xyzw[2])
- constraint.orientation.w = float(quat_xyzw[3])
-
- # Define tolerances
- if type(tolerance) == float:
- tolerance_xyz = (tolerance, tolerance, tolerance)
- else:
- tolerance_xyz = tolerance
- constraint.absolute_x_axis_tolerance = tolerance_xyz[0]
- constraint.absolute_y_axis_tolerance = tolerance_xyz[1]
- constraint.absolute_z_axis_tolerance = tolerance_xyz[2]
-
- # Define parameterization (how to interpret the tolerance)
- constraint.parameterization = parameterization
-
- # Set weight of the constraint
- constraint.weight = weight
-
- return constraint
-
- def set_orientation_goal(
- self,
- quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance: Union[float, Tuple[float, float, float]] = 0.001,
- weight: float = 1.0,
- parameterization: int = 0, # 0: Euler, 1: Rotation Vector
- ):
- """
- Set Cartesian orientation goal of `target_link` with respect to `frame_id`.
- - `frame_id` defaults to the base link
- - `target_link` defaults to end effector
- """
-
- constraint = self.create_orientation_constraint(
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- target_link=target_link,
- tolerance=tolerance,
- weight=weight,
- parameterization=parameterization,
- )
-
- # Append to other constraints
- self.__move_action_goal.request.goal_constraints[
- -1
- ].orientation_constraints.append(constraint)
-
- def create_joint_constraints(
- self,
- joint_positions: List[float],
- joint_names: Optional[List[str]] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- ) -> List[JointConstraint]:
- """
- Creates joint space constraints. With `joint_names` specified, `joint_positions` can be
- defined for specific joints in an arbitrary order. Otherwise, first **n** joints
- passed into the constructor is used, where **n** is the length of `joint_positions`.
- """
-
- constraints = []
-
- # Use default joint names if not specified
- if joint_names == None:
- joint_names = self.__joint_names
-
- for i in range(len(joint_positions)):
- # Create a new constraint for each joint
- constraint = JointConstraint()
-
- # Define joint name
- constraint.joint_name = joint_names[i]
-
- # Define the target joint position
- constraint.position = joint_positions[i]
-
- # Define telerances
- constraint.tolerance_above = tolerance
- constraint.tolerance_below = tolerance
-
- # Set weight of the constraint
- constraint.weight = weight
-
- constraints.append(constraint)
-
- return constraints
-
- def set_joint_goal(
- self,
- joint_positions: List[float],
- joint_names: Optional[List[str]] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- ):
- """
- Set joint space goal. With `joint_names` specified, `joint_positions` can be
- defined for specific joints in an arbitrary order. Otherwise, first **n** joints
- passed into the constructor is used, where **n** is the length of `joint_positions`.
- """
-
- constraints = self.create_joint_constraints(
- joint_positions=joint_positions,
- joint_names=joint_names,
- tolerance=tolerance,
- weight=weight,
- )
-
- # Append to other constraints
- self.__move_action_goal.request.goal_constraints[-1].joint_constraints.extend(
- constraints
- )
-
- def clear_goal_constraints(self):
- """
- Clear all goal constraints that were previously set.
- Note that this function is called automatically after each `plan_kinematic_path()`.
- """
-
- self.__move_action_goal.request.goal_constraints = [Constraints()]
-
- def create_new_goal_constraint(self):
- """
- Create a new set of goal constraints that will be set together with the request. Each
- subsequent setting of goals with `set_joint_goal()`, `set_pose_goal()` and others will be
- added under this newly created set of constraints.
- """
-
- self.__move_action_goal.request.goal_constraints.append(Constraints())
-
- def set_path_joint_constraint(
- self,
- joint_positions: List[float],
- joint_names: Optional[List[str]] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- ):
- """
- Set joint space path constraints. With `joint_names` specified, `joint_positions` can be
- defined for specific joints in an arbitrary order. Otherwise, first **n** joints
- passed into the constructor is used, where **n** is the length of `joint_positions`.
- """
-
- constraints = self.create_joint_constraints(
- joint_positions=joint_positions,
- joint_names=joint_names,
- tolerance=tolerance,
- weight=weight,
- )
-
- # Append to other constraints
- self.__move_action_goal.request.path_constraints.joint_constraints.extend(
- constraints
- )
-
- def set_path_position_constraint(
- self,
- position: Union[Point, Tuple[float, float, float]],
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance: float = 0.001,
- weight: float = 1.0,
- ):
- """
- Set Cartesian position path constraint of `target_link` with respect to `frame_id`.
- - `frame_id` defaults to the base link
- - `target_link` defaults to end effector
- """
-
- constraint = self.create_position_constraint(
- position=position,
- frame_id=frame_id,
- target_link=target_link,
- tolerance=tolerance,
- weight=weight,
- )
-
- # Append to other constraints
- self.__move_action_goal.request.path_constraints.position_constraints.append(
- constraint
- )
-
- def set_path_orientation_constraint(
- self,
- quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
- frame_id: Optional[str] = None,
- target_link: Optional[str] = None,
- tolerance: Union[float, Tuple[float, float, float]] = 0.001,
- weight: float = 1.0,
- parameterization: int = 0, # 0: Euler Angles, 1: Rotation Vector
- ):
- """
- Set Cartesian orientation path constraint of `target_link` with respect to `frame_id`.
- - `frame_id` defaults to the base link
- - `target_link` defaults to end effector
- """
-
- constraint = self.create_orientation_constraint(
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- target_link=target_link,
- tolerance=tolerance,
- weight=weight,
- parameterization=parameterization,
- )
-
- # Append to other constraints
- self.__move_action_goal.request.path_constraints.orientation_constraints.append(
- constraint
- )
-
- def clear_path_constraints(self):
- """
- Clear all path constraints that were previously set.
- Note that this function is called automatically after each `plan_kinematic_path()`.
- """
-
- self.__move_action_goal.request.path_constraints = Constraints()
-
- def compute_fk(
- self,
- joint_state: Optional[Union[JointState, List[float]]] = None,
- fk_link_names: Optional[List[str]] = None,
- ) -> Optional[Union[PoseStamped, List[PoseStamped]]]:
- """
- Call compute_fk_async and wait on future
- """
- future = self.compute_fk_async(
- **{key: value for key, value in locals().items() if key != "self"}
- )
-
- if future is None:
- return None
-
- # 100ms sleep
- rate = self._node.create_rate(10)
- while not future.done():
- rate.sleep()
-
- return self.get_compute_fk_result(future, fk_link_names=fk_link_names)
-
- def get_compute_fk_result(
- self,
- future: Future,
- fk_link_names: Optional[List[str]] = None,
- ) -> Optional[Union[PoseStamped, List[PoseStamped]]]:
- """
- Takes in a future returned by compute_fk_async and returns the poses
- if the future is done and successful, else None.
- """
- if not future.done():
- self._node.get_logger().warn(
- "Cannot get FK result because future is not done."
- )
- return None
-
- res = future.result()
-
- if MoveItErrorCodes.SUCCESS == res.error_code.val:
- if fk_link_names is None:
- return res.pose_stamped[0]
- else:
- return res.pose_stamped
- else:
- self._node.get_logger().warn(
- f"FK computation failed! Error code: {res.error_code.val}."
- )
- return None
-
- def compute_fk_async(
- self,
- joint_state: Optional[Union[JointState, List[float]]] = None,
- fk_link_names: Optional[List[str]] = None,
- ) -> Optional[Future]:
- """
- Compute forward kinematics for all `fk_link_names` in a given `joint_state`.
- - `fk_link_names` defaults to end-effector
- - `joint_state` defaults to the current joint state
- """
-
- if not hasattr(self, "__compute_fk_client"):
- self.__init_compute_fk()
-
- if fk_link_names is None:
- self.__compute_fk_req.fk_link_names = [self.__end_effector_name]
- else:
- self.__compute_fk_req.fk_link_names = fk_link_names
-
- if joint_state is not None:
- if isinstance(joint_state, JointState):
- self.__compute_fk_req.robot_state.joint_state = joint_state
- else:
- self.__compute_fk_req.robot_state.joint_state = init_joint_state(
- joint_names=self.__joint_names,
- joint_positions=joint_state,
- )
- elif self.joint_state is not None:
- self.__compute_fk_req.robot_state.joint_state = self.joint_state
-
- stamp = self._node.get_clock().now().to_msg()
- self.__compute_fk_req.header.stamp = stamp
-
- if not self.__compute_fk_client.service_is_ready():
- self._node.get_logger().warn(
- f"Service '{self.__compute_fk_client.srv_name}' is not yet available. Better luck next time!"
- )
- return None
-
- return self.__compute_fk_client.call_async(self.__compute_fk_req)
-
- def compute_ik(
- self,
- position: Union[Point, Tuple[float, float, float]],
- quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
- start_joint_state: Optional[Union[JointState, List[float]]] = None,
- constraints: Optional[Constraints] = None,
- wait_for_server_timeout_sec: Optional[float] = 1.0,
- ) -> Optional[JointState]:
- """
- Call compute_ik_async and wait on future
- """
- future = self.compute_ik_async(
- **{key: value for key, value in locals().items() if key != "self"}
- )
-
- if future is None:
- return None
-
- # 10ms sleep
- rate = self._node.create_rate(10)
- while not future.done():
- rate.sleep()
-
- return self.get_compute_ik_result(future)
-
- def get_compute_ik_result(
- self,
- future: Future,
- ) -> Optional[JointState]:
- """
- Takes in a future returned by compute_ik_async and returns the joint states
- if the future is done and successful, else None.
- """
- if not future.done():
- self._node.get_logger().warn(
- "Cannot get IK result because future is not done."
- )
- return None
-
- res = future.result()
-
- if MoveItErrorCodes.SUCCESS == res.error_code.val:
- return res.solution.joint_state
- else:
- self._node.get_logger().warn(
- f"IK computation failed! Error code: {res.error_code.val}."
- )
- return None
-
- def compute_ik_async(
- self,
- position: Union[Point, Tuple[float, float, float]],
- quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
- start_joint_state: Optional[Union[JointState, List[float]]] = None,
- constraints: Optional[Constraints] = None,
- wait_for_server_timeout_sec: Optional[float] = 1.0,
- ) -> Optional[Future]:
- """
- Compute inverse kinematics for the given pose. To indicate beginning of the search space,
- `start_joint_state` can be specified. Furthermore, `constraints` can be imposed on the
- computed IK.
- - `start_joint_state` defaults to current joint state.
- - `constraints` defaults to None.
- """
-
- if not hasattr(self, "__compute_ik_client"):
- self.__init_compute_ik()
-
- if isinstance(position, Point):
- self.__compute_ik_req.ik_request.pose_stamped.pose.position = position
- else:
- self.__compute_ik_req.ik_request.pose_stamped.pose.position.x = float(
- position[0]
- )
- self.__compute_ik_req.ik_request.pose_stamped.pose.position.y = float(
- position[1]
- )
- self.__compute_ik_req.ik_request.pose_stamped.pose.position.z = float(
- position[2]
- )
- if isinstance(quat_xyzw, Quaternion):
- self.__compute_ik_req.ik_request.pose_stamped.pose.orientation = quat_xyzw
- else:
- self.__compute_ik_req.ik_request.pose_stamped.pose.orientation.x = float(
- quat_xyzw[0]
- )
- self.__compute_ik_req.ik_request.pose_stamped.pose.orientation.y = float(
- quat_xyzw[1]
- )
- self.__compute_ik_req.ik_request.pose_stamped.pose.orientation.z = float(
- quat_xyzw[2]
- )
- self.__compute_ik_req.ik_request.pose_stamped.pose.orientation.w = float(
- quat_xyzw[3]
- )
-
- if start_joint_state is not None:
- if isinstance(start_joint_state, JointState):
- self.__compute_ik_req.ik_request.robot_state.joint_state = (
- start_joint_state
- )
- else:
- self.__compute_ik_req.ik_request.robot_state.joint_state = (
- init_joint_state(
- joint_names=self.__joint_names,
- joint_positions=start_joint_state,
- )
- )
- elif self.joint_state is not None:
- self.__compute_ik_req.ik_request.robot_state.joint_state = self.joint_state
-
- if constraints is not None:
- self.__compute_ik_req.ik_request.constraints = constraints
-
- stamp = self._node.get_clock().now().to_msg()
- self.__compute_ik_req.ik_request.pose_stamped.header.stamp = stamp
-
- if not self.__compute_ik_client.wait_for_service(
- timeout_sec=wait_for_server_timeout_sec
- ):
- self._node.get_logger().warn(
- f"Service '{self.__compute_ik_client.srv_name}' is not yet available. Better luck next time!"
- )
- return None
-
- return self.__compute_ik_client.call_async(self.__compute_ik_req)
-
- def reset_new_joint_state_checker(self):
- """
- Reset checker of the new joint state.
- """
-
- self.__joint_state_mutex.acquire()
- self.__new_joint_state_available = False
- self.__joint_state_mutex.release()
-
- def force_reset_executing_state(self):
- """
- Force reset of internal states that block execution while `ignore_new_calls_while_executing` is being
- used. This function is applicable only in a very few edge-cases, so it should almost never be used.
- """
-
- self.__execution_mutex.acquire()
- self.__is_motion_requested = False
- self.__is_executing = False
- self.__execution_mutex.release()
-
- def add_collision_primitive(
- self,
- id: str,
- primitive_type: int,
- dimensions: Tuple[float, float, float],
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- operation: int = CollisionObject.ADD,
- ):
- """
- Add collision object with a primitive geometry specified by its dimensions.
-
- `primitive_type` can be one of the following:
- - `SolidPrimitive.BOX`
- - `SolidPrimitive.SPHERE`
- - `SolidPrimitive.CYLINDER`
- - `SolidPrimitive.CONE`
- """
-
- if (pose is None) and (position is None or quat_xyzw is None):
- raise ValueError(
- "Either `pose` or `position` and `quat_xyzw` must be specified!"
- )
-
- if isinstance(pose, PoseStamped):
- pose_stamped = pose
- elif isinstance(pose, Pose):
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=pose,
- )
- else:
- if not isinstance(position, Point):
- position = Point(
- x=float(position[0]), y=float(position[1]), z=float(position[2])
- )
- if not isinstance(quat_xyzw, Quaternion):
- quat_xyzw = Quaternion(
- x=float(quat_xyzw[0]),
- y=float(quat_xyzw[1]),
- z=float(quat_xyzw[2]),
- w=float(quat_xyzw[3]),
- )
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=Pose(position=position, orientation=quat_xyzw),
- )
-
- msg = CollisionObject(
- header=pose_stamped.header,
- id=id,
- operation=operation,
- pose=pose_stamped.pose,
- )
-
- msg.primitives.append(
- SolidPrimitive(type=primitive_type, dimensions=dimensions)
- )
-
- self.__collision_object_publisher.publish(msg)
-
- def add_collision_box(
- self,
- id: str,
- size: Tuple[float, float, float],
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- operation: int = CollisionObject.ADD,
- ):
- """
- Add collision object with a box geometry specified by its size.
- """
-
- assert len(size) == 3, "Invalid size of the box!"
-
- self.add_collision_primitive(
- id=id,
- primitive_type=SolidPrimitive.BOX,
- dimensions=size,
- pose=pose,
- position=position,
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- operation=operation,
- )
-
- def add_collision_sphere(
- self,
- id: str,
- radius: float,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- operation: int = CollisionObject.ADD,
- ):
- """
- Add collision object with a sphere geometry specified by its radius.
- """
-
- if quat_xyzw is None:
- quat_xyzw = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)
-
- self.add_collision_primitive(
- id=id,
- primitive_type=SolidPrimitive.SPHERE,
- dimensions=[
- radius,
- ],
- pose=pose,
- position=position,
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- operation=operation,
- )
-
- def add_collision_cylinder(
- self,
- id: str,
- height: float,
- radius: float,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- operation: int = CollisionObject.ADD,
- ):
- """
- Add collision object with a cylinder geometry specified by its height and radius.
- """
-
- self.add_collision_primitive(
- id=id,
- primitive_type=SolidPrimitive.CYLINDER,
- dimensions=[height, radius],
- pose=pose,
- position=position,
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- operation=operation,
- )
-
- def add_collision_cone(
- self,
- id: str,
- height: float,
- radius: float,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- operation: int = CollisionObject.ADD,
- ):
- """
- Add collision object with a cone geometry specified by its height and radius.
- """
-
- self.add_collision_primitive(
- id=id,
- primitive_type=SolidPrimitive.CONE,
- dimensions=[height, radius],
- pose=pose,
- position=position,
- quat_xyzw=quat_xyzw,
- frame_id=frame_id,
- operation=operation,
- )
-
- def add_collision_mesh(
- self,
- filepath: Optional[str],
- id: str,
- pose: Optional[Union[PoseStamped, Pose]] = None,
- position: Optional[Union[Point, Tuple[float, float, float]]] = None,
- quat_xyzw: Optional[
- Union[Quaternion, Tuple[float, float, float, float]]
- ] = None,
- frame_id: Optional[str] = None,
- operation: int = CollisionObject.ADD,
- scale: Union[float, Tuple[float, float, float]] = 1.0,
- mesh: Optional[Any] = None,
- ):
- """
- Add collision object with a mesh geometry. Either `filepath` must be
- specified or `mesh` must be provided.
- Note: This function required 'trimesh' Python module to be installed.
- """
-
- # Load the mesh
- try:
- import trimesh
- except ImportError as err:
- raise ImportError(
- "Python module 'trimesh' not found! Please install it manually in order "
- "to add collision objects into the MoveIt 2 planning scene."
- ) from err
-
- # Check the parameters
- if (pose is None) and (position is None or quat_xyzw is None):
- raise ValueError(
- "Either `pose` or `position` and `quat_xyzw` must be specified!"
- )
- if (filepath is None and mesh is None) or (
- filepath is not None and mesh is not None
- ):
- raise ValueError("Exactly one of `filepath` or `mesh` must be specified!")
- if mesh is not None and not isinstance(mesh, trimesh.Trimesh):
- raise ValueError("`mesh` must be an instance of `trimesh.Trimesh`!")
-
- if isinstance(pose, PoseStamped):
- pose_stamped = pose
- elif isinstance(pose, Pose):
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=pose,
- )
- else:
- if not isinstance(position, Point):
- position = Point(
- x=float(position[0]), y=float(position[1]), z=float(position[2])
- )
- if not isinstance(quat_xyzw, Quaternion):
- quat_xyzw = Quaternion(
- x=float(quat_xyzw[0]),
- y=float(quat_xyzw[1]),
- z=float(quat_xyzw[2]),
- w=float(quat_xyzw[3]),
- )
- pose_stamped = PoseStamped(
- header=Header(
- stamp=self._node.get_clock().now().to_msg(),
- frame_id=(
- frame_id if frame_id is not None else self.__base_link_name
- ),
- ),
- pose=Pose(position=position, orientation=quat_xyzw),
- )
-
- msg = CollisionObject(
- header=pose_stamped.header,
- id=id,
- operation=operation,
- pose=pose_stamped.pose,
- )
-
- if filepath is not None:
- mesh = trimesh.load(filepath)
-
- # Scale the mesh
- if isinstance(scale, float):
- scale = (scale, scale, scale)
- if not (scale[0] == scale[1] == scale[2] == 1.0):
- # If the mesh was passed in as a parameter, make a copy of it to
- # avoid transforming the original.
- if filepath is not None:
- mesh = mesh.copy()
- # Transform the mesh
- transform = np.eye(4)
- np.fill_diagonal(transform, scale)
- mesh.apply_transform(transform)
-
- msg.meshes.append(
- Mesh(
- triangles=[MeshTriangle(vertex_indices=face) for face in mesh.faces],
- vertices=[
- Point(x=vert[0], y=vert[1], z=vert[2]) for vert in mesh.vertices
- ],
- )
- )
-
- self.__collision_object_publisher.publish(msg)
-
- def remove_collision_object(self, id: str):
- """
- Remove collision object specified by its `id`.
- """
-
- msg = CollisionObject()
- msg.id = id
- msg.operation = CollisionObject.REMOVE
- msg.header.stamp = self._node.get_clock().now().to_msg()
- self.__collision_object_publisher.publish(msg)
-
- def remove_collision_mesh(self, id: str):
- """
- Remove collision mesh specified by its `id`.
- Identical to `remove_collision_object()`.
- """
-
- self.remove_collision_object(id)
-
- def attach_collision_object(
- self,
- id: str,
- link_name: Optional[str] = None,
- touch_links: List[str] = [],
- weight: float = 0.0,
- ):
- """
- Attach collision object to the robot.
- """
-
- if link_name is None:
- link_name = self.__end_effector_name
-
- msg = AttachedCollisionObject(
- object=CollisionObject(id=id, operation=CollisionObject.ADD)
- )
- msg.link_name = link_name
- msg.touch_links = touch_links
- msg.weight = weight
-
- self.__attached_collision_object_publisher.publish(msg)
-
- def detach_collision_object(self, id: int):
- """
- Detach collision object from the robot.
- """
-
- msg = AttachedCollisionObject(
- object=CollisionObject(id=id, operation=CollisionObject.REMOVE)
- )
- self.__attached_collision_object_publisher.publish(msg)
-
- def detach_all_collision_objects(self):
- """
- Detach collision object from the robot.
- """
-
- msg = AttachedCollisionObject(
- object=CollisionObject(operation=CollisionObject.REMOVE)
- )
- self.__attached_collision_object_publisher.publish(msg)
-
- def move_collision(
- self,
- id: str,
- position: Union[Point, Tuple[float, float, float]],
- quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
- frame_id: Optional[str] = None,
- ):
- """
- Move collision object specified by its `id`.
- """
-
- msg = CollisionObject()
-
- if not isinstance(position, Point):
- position = Point(
- x=float(position[0]), y=float(position[1]), z=float(position[2])
- )
- if not isinstance(quat_xyzw, Quaternion):
- quat_xyzw = Quaternion(
- x=float(quat_xyzw[0]),
- y=float(quat_xyzw[1]),
- z=float(quat_xyzw[2]),
- w=float(quat_xyzw[3]),
- )
-
- pose = Pose()
- pose.position = position
- pose.orientation = quat_xyzw
- msg.pose = pose
- msg.id = id
- msg.operation = CollisionObject.MOVE
- msg.header.frame_id = (
- frame_id if frame_id is not None else self.__base_link_name
- )
- msg.header.stamp = self._node.get_clock().now().to_msg()
-
- self.__collision_object_publisher.publish(msg)
-
- def update_planning_scene(self) -> bool:
- """
- Gets the current planning scene. Returns whether the service call was
- successful.
- """
-
- if not self._get_planning_scene_service.service_is_ready():
- self._node.get_logger().warn(
- f"Service '{self._get_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
- )
- return False
- self.__planning_scene = self._get_planning_scene_service.call(
- GetPlanningScene.Request()
- ).scene
- return True
-
- def allow_collisions(self, id: str, allow: bool) -> Optional[Future]:
- """
- Takes in the ID of an element in the planning scene. Modifies the allowed
- collision matrix to (dis)allow collisions between that object and all other
- object.
-
- If `allow` is True, a plan will succeed even if the robot collides with that object.
- If `allow` is False, a plan will fail if the robot collides with that object.
- Returns whether it successfully updated the allowed collision matrix.
-
- Returns the future of the service call.
- """
- # Update the planning scene
- if not self.update_planning_scene():
- return None
- allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix
- self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix)
-
- # Get the location in the allowed collision matrix of the object
- j = None
- if id not in allowed_collision_matrix.entry_names:
- allowed_collision_matrix.entry_names.append(id)
- else:
- j = allowed_collision_matrix.entry_names.index(id)
- # For all other objects, (dis)allow collisions with the object with `id`
- for i in range(len(allowed_collision_matrix.entry_values)):
- if j is None:
- allowed_collision_matrix.entry_values[i].enabled.append(allow)
- elif i != j:
- allowed_collision_matrix.entry_values[i].enabled[j] = allow
- # For the object with `id`, (dis)allow collisions with all other objects
- allowed_collision_entry = AllowedCollisionEntry(
- enabled=[allow for _ in range(len(allowed_collision_matrix.entry_names))]
- )
- if j is None:
- allowed_collision_matrix.entry_values.append(allowed_collision_entry)
- else:
- allowed_collision_matrix.entry_values[j] = allowed_collision_entry
-
- # Apply the new planning scene
- if not self._apply_planning_scene_service.service_is_ready():
- self._node.get_logger().warn(
- f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
- )
- return None
- return self._apply_planning_scene_service.call_async(
- ApplyPlanningScene.Request(scene=self.__planning_scene)
- )
-
- def process_allow_collision_future(self, future: Future) -> bool:
- """
- Return whether the allow collision service call is done and has succeeded
- or not. If it failed, reset the allowed collision matrix to the old one.
- """
- if not future.done():
- return False
-
- # Get response
- resp = future.result()
-
- # If it failed, restore the old planning scene
- if not resp.success:
- self.__planning_scene.allowed_collision_matrix = (
- self.__old_allowed_collision_matrix
- )
-
- return resp.success
-
- def clear_all_collision_objects(self) -> Optional[Future]:
- """
- Removes all attached and un-attached collision objects from the planning scene.
-
- Returns a future for the ApplyPlanningScene service call.
- """
- # Update the planning scene
- if not self.update_planning_scene():
- return None
- self.__old_planning_scene = copy.deepcopy(self.__planning_scene)
-
- # Remove all collision objects from the planning scene
- self.__planning_scene.world.collision_objects = []
- self.__planning_scene.robot_state.attached_collision_objects = []
-
- # Apply the new planning scene
- if not self._apply_planning_scene_service.service_is_ready():
- self._node.get_logger().warn(
- f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
- )
- return None
- return self._apply_planning_scene_service.call_async(
- ApplyPlanningScene.Request(scene=self.__planning_scene)
- )
-
- def cancel_clear_all_collision_objects_future(self, future: Future):
- """
- Cancel the clear all collision objects service call.
- """
- self._apply_planning_scene_service.remove_pending_request(future)
-
- def process_clear_all_collision_objects_future(self, future: Future) -> bool:
- """
- Return whether the clear all collision objects service call is done and has succeeded
- or not. If it failed, restore the old planning scene.
- """
- if not future.done():
- return False
-
- # Get response
- resp = future.result()
-
- # If it failed, restore the old planning scene
- if not resp.success:
- self.__planning_scene = self.__old_planning_scene
-
- return resp.success
-
- def __joint_state_callback(self, msg: JointState):
- # Update only if all relevant joints are included in the message
- for joint_name in self.joint_names:
- if not joint_name in msg.name:
- return
-
- self.__joint_state_mutex.acquire()
- self.__joint_state = msg
- self.__new_joint_state_available = True
- self.__joint_state_mutex.release()
-
- def _plan_kinematic_path(self) -> Optional[Future]:
- # Reuse request from move action goal
- self.__kinematic_path_request.motion_plan_request = (
- self.__move_action_goal.request
- )
-
- stamp = self._node.get_clock().now().to_msg()
- self.__kinematic_path_request.motion_plan_request.workspace_parameters.header.stamp = (
- stamp
- )
- for (
- constraints
- ) in self.__kinematic_path_request.motion_plan_request.goal_constraints:
- for position_constraint in constraints.position_constraints:
- position_constraint.header.stamp = stamp
- for orientation_constraint in constraints.orientation_constraints:
- orientation_constraint.header.stamp = stamp
-
- if not self._plan_kinematic_path_service.service_is_ready():
- self._node.get_logger().warn(
- f"Service '{self._plan_kinematic_path_service.srv_name}' is not yet available. Better luck next time!"
- )
- return None
-
- return self._plan_kinematic_path_service.call_async(
- self.__kinematic_path_request
- )
-
- def _plan_cartesian_path(
- self,
- max_step: float = 0.0025,
- frame_id: Optional[str] = None,
- ) -> Optional[Future]:
- # Reuse request from move action goal
- self.__cartesian_path_request.start_state = (
- self.__move_action_goal.request.start_state
- )
-
- # The below attributes were introduced in Iron and do not exist in Humble.
- if hasattr(self.__cartesian_path_request, "max_velocity_scaling_factor"):
- self.__cartesian_path_request.max_velocity_scaling_factor = (
- self.__move_action_goal.request.max_velocity_scaling_factor
- )
- if hasattr(self.__cartesian_path_request, "max_acceleration_scaling_factor"):
- self.__cartesian_path_request.max_acceleration_scaling_factor = (
- self.__move_action_goal.request.max_acceleration_scaling_factor
- )
-
- self.__cartesian_path_request.group_name = (
- self.__move_action_goal.request.group_name
- )
- self.__cartesian_path_request.link_name = self.__end_effector_name
- self.__cartesian_path_request.max_step = max_step
-
- self.__cartesian_path_request.header.frame_id = (
- frame_id if frame_id is not None else self.__base_link_name
- )
-
- stamp = self._node.get_clock().now().to_msg()
- self.__cartesian_path_request.header.stamp = stamp
-
- self.__cartesian_path_request.path_constraints = (
- self.__move_action_goal.request.path_constraints
- )
- for (
- position_constraint
- ) in self.__cartesian_path_request.path_constraints.position_constraints:
- position_constraint.header.stamp = stamp
- for (
- orientation_constraint
- ) in self.__cartesian_path_request.path_constraints.orientation_constraints:
- orientation_constraint.header.stamp = stamp
- # no header in joint_constraint message type
-
- target_pose = Pose()
- target_pose.position = (
- self.__move_action_goal.request.goal_constraints[-1]
- .position_constraints[-1]
- .constraint_region.primitive_poses[0]
- .position
- )
- target_pose.orientation = (
- self.__move_action_goal.request.goal_constraints[-1]
- .orientation_constraints[-1]
- .orientation
- )
-
- self.__cartesian_path_request.waypoints = [target_pose]
-
- if not self._plan_cartesian_path_service.service_is_ready():
- self._node.get_logger().warn(
- f"Service '{self._plan_cartesian_path_service.srv_name}' is not yet available. Better luck next time!"
- )
- return None
-
- return self._plan_cartesian_path_service.call_async(
- self.__cartesian_path_request
- )
-
- def _send_goal_async_move_action(self):
- self.__execution_mutex.acquire()
- stamp = self._node.get_clock().now().to_msg()
- self.__move_action_goal.request.workspace_parameters.header.stamp = stamp
- if not self.__move_action_client.server_is_ready():
- self._node.get_logger().warn(
- f"Action server '{self.__move_action_client._action_name}' is not yet available. Better luck next time!"
- )
- return
-
- self.__last_error_code = None
- self.__is_motion_requested = True
- self.__send_goal_future_move_action = self.__move_action_client.send_goal_async(
- goal=self.__move_action_goal,
- feedback_callback=None,
- )
-
- self.__send_goal_future_move_action.add_done_callback(
- self.__response_callback_move_action
- )
-
- self.__execution_mutex.release()
-
- def __response_callback_move_action(self, response):
- self.__execution_mutex.acquire()
- goal_handle = response.result()
- if not goal_handle.accepted:
- self._node.get_logger().warn(
- f"Action '{self.__move_action_client._action_name}' was rejected."
- )
- self.__is_motion_requested = False
- return
-
- self.__execution_goal_handle = goal_handle
- self.__is_executing = True
- self.__is_motion_requested = False
-
- self.__get_result_future_move_action = goal_handle.get_result_async()
- self.__get_result_future_move_action.add_done_callback(
- self.__result_callback_move_action
- )
- self.__execution_mutex.release()
-
- def __result_callback_move_action(self, res):
- self.__execution_mutex.acquire()
- if res.result().status != GoalStatus.STATUS_SUCCEEDED:
- self._node.get_logger().warn(
- f"Action '{self.__move_action_client._action_name}' was unsuccessful: {res.result().status}."
- )
- self.motion_suceeded = False
- else:
- self.motion_suceeded = True
-
- self.__last_error_code = res.result().result.error_code
-
- self.__execution_goal_handle = None
- self.__is_executing = False
- self.__execution_mutex.release()
-
- def _send_goal_async_execute_trajectory(
- self,
- goal: ExecuteTrajectory,
- wait_until_response: bool = False,
- ):
- self.__execution_mutex.acquire()
-
- if not self._execute_trajectory_action_client.server_is_ready():
- self._node.get_logger().warn(
- f"Action server '{self._execute_trajectory_action_client._action_name}' is not yet available. Better luck next time!"
- )
- return
-
- self.__last_error_code = None
- self.__is_motion_requested = True
- self.__send_goal_future_execute_trajectory = (
- self._execute_trajectory_action_client.send_goal_async(
- goal=goal,
- feedback_callback=None,
- )
- )
-
- self.__send_goal_future_execute_trajectory.add_done_callback(
- self.__response_callback_execute_trajectory
- )
- self.__execution_mutex.release()
-
- def __response_callback_execute_trajectory(self, response):
- self.__execution_mutex.acquire()
- goal_handle = response.result()
- if not goal_handle.accepted:
- self._node.get_logger().warn(
- f"Action '{self._execute_trajectory_action_client._action_name}' was rejected."
- )
- self.__is_motion_requested = False
- return
-
- self.__execution_goal_handle = goal_handle
- self.__is_executing = True
- self.__is_motion_requested = False
-
- self.__get_result_future_execute_trajectory = goal_handle.get_result_async()
- self.__get_result_future_execute_trajectory.add_done_callback(
- self.__result_callback_execute_trajectory
- )
- self.__execution_mutex.release()
-
- def __response_callback_with_event_set_execute_trajectory(self, response):
- self.__future_done_event.set()
-
- def __result_callback_execute_trajectory(self, res):
- self.__execution_mutex.acquire()
- if res.result().status != GoalStatus.STATUS_SUCCEEDED:
- self._node.get_logger().warn(
- f"Action '{self._execute_trajectory_action_client._action_name}' was unsuccessful: {res.result().status}."
- )
- self.motion_suceeded = False
- else:
- self.motion_suceeded = True
-
- self.__last_error_code = res.result().result.error_code
-
- self.__execution_goal_handle = None
- self.__is_executing = False
- self.__execution_mutex.release()
-
- @classmethod
- def __init_move_action_goal(
- cls, frame_id: str, group_name: str, end_effector: str
- ) -> MoveGroup.Goal:
- move_action_goal = MoveGroup.Goal()
- move_action_goal.request.workspace_parameters.header.frame_id = frame_id
- # move_action_goal.request.workspace_parameters.header.stamp = "Set during request"
- move_action_goal.request.workspace_parameters.min_corner.x = -1.0
- move_action_goal.request.workspace_parameters.min_corner.y = -1.0
- move_action_goal.request.workspace_parameters.min_corner.z = -1.0
- move_action_goal.request.workspace_parameters.max_corner.x = 1.0
- move_action_goal.request.workspace_parameters.max_corner.y = 1.0
- move_action_goal.request.workspace_parameters.max_corner.z = 1.0
- # move_action_goal.request.start_state = "Set during request"
- move_action_goal.request.goal_constraints = [Constraints()]
- move_action_goal.request.path_constraints = Constraints()
- # move_action_goal.request.trajectory_constraints = "Ignored"
- # move_action_goal.request.reference_trajectories = "Ignored"
- move_action_goal.request.pipeline_id = ""
- move_action_goal.request.planner_id = ""
- move_action_goal.request.group_name = group_name
- move_action_goal.request.num_planning_attempts = 3
- move_action_goal.request.allowed_planning_time = 0.5
- move_action_goal.request.max_velocity_scaling_factor = 0.0
- move_action_goal.request.max_acceleration_scaling_factor = 0.0
- # Note: Attribute was renamed in Iron (https://github.com/ros-planning/moveit_msgs/pull/130)
- if hasattr(move_action_goal.request, "cartesian_speed_limited_link"):
- move_action_goal.request.cartesian_speed_limited_link = end_effector
- else:
- move_action_goal.request.cartesian_speed_end_effector_link = end_effector
- move_action_goal.request.max_cartesian_speed = 0.0
-
- # move_action_goal.planning_options.planning_scene_diff = "Ignored"
- move_action_goal.planning_options.plan_only = False
- # move_action_goal.planning_options.look_around = "Ignored"
- # move_action_goal.planning_options.look_around_attempts = "Ignored"
- # move_action_goal.planning_options.max_safe_execution_cost = "Ignored"
- # move_action_goal.planning_options.replan = "Ignored"
- # move_action_goal.planning_options.replan_attempts = "Ignored"
- # move_action_goal.planning_options.replan_delay = "Ignored"
-
- return move_action_goal
-
- def __init_compute_fk(self):
- self.__compute_fk_client = self._node.create_client(
- srv_type=GetPositionFK,
- srv_name="/compute_fk",
- callback_group=self._callback_group,
- )
-
- self.__compute_fk_req = GetPositionFK.Request()
- self.__compute_fk_req.header.frame_id = self.__base_link_name
- # self.__compute_fk_req.header.stamp = "Set during request"
- # self.__compute_fk_req.fk_link_names = "Set during request"
- # self.__compute_fk_req.robot_state.joint_state = "Set during request"
- # self.__compute_fk_req.robot_state.multi_dof_ = "Ignored"
- # self.__compute_fk_req.robot_state.attached_collision_objects = "Ignored"
- self.__compute_fk_req.robot_state.is_diff = False
-
- def __init_compute_ik(self):
- # Service client for IK
- self.__compute_ik_client = self._node.create_client(
- srv_type=GetPositionIK,
- srv_name="/compute_ik",
- callback_group=self._callback_group,
- )
-
- self.__compute_ik_req = GetPositionIK.Request()
- self.__compute_ik_req.ik_request.group_name = self.__group_name
- # self.__compute_ik_req.ik_request.robot_state.joint_state = "Set during request"
- # self.__compute_ik_req.ik_request.robot_state.multi_dof_ = "Ignored"
- # self.__compute_ik_req.ik_request.robot_state.attached_collision_objects = "Ignored"
- self.__compute_ik_req.ik_request.robot_state.is_diff = False
- # self.__compute_ik_req.ik_request.constraints = "Set during request OR Ignored"
- self.__compute_ik_req.ik_request.avoid_collisions = True
- # self.__compute_ik_req.ik_request.ik_link_name = "Ignored"
- self.__compute_ik_req.ik_request.pose_stamped.header.frame_id = (
- self.__base_link_name
- )
- # self.__compute_ik_req.ik_request.pose_stamped.header.stamp = "Set during request"
- # self.__compute_ik_req.ik_request.pose_stamped.pose = "Set during request"
- # self.__compute_ik_req.ik_request.ik_link_names = "Ignored"
- # self.__compute_ik_req.ik_request.pose_stamped_vector = "Ignored"
- # self.__compute_ik_req.ik_request.timeout.sec = "Ignored"
- # self.__compute_ik_req.ik_request.timeout.nanosec = "Ignored"
-
- @property
- def planning_scene(self) -> Optional[PlanningScene]:
- return self.__planning_scene
-
- @property
- def follow_joint_trajectory_action_client(self) -> str:
- return self.__follow_joint_trajectory_action_client
-
- @property
- def end_effector_name(self) -> str:
- return self.__end_effector_name
-
- @property
- def base_link_name(self) -> str:
- return self.__base_link_name
-
- @property
- def joint_names(self) -> List[str]:
- return self.__joint_names
-
- @property
- def joint_state(self) -> Optional[JointState]:
- self.__joint_state_mutex.acquire()
- joint_state = self.__joint_state
- self.__joint_state_mutex.release()
- return joint_state
-
- @property
- def new_joint_state_available(self):
- return self.__new_joint_state_available
-
- @property
- def max_velocity(self) -> float:
- return self.__move_action_goal.request.max_velocity_scaling_factor
-
- @max_velocity.setter
- def max_velocity(self, value: float):
- self.__move_action_goal.request.max_velocity_scaling_factor = value
-
- @property
- def max_acceleration(self) -> float:
- return self.__move_action_goal.request.max_acceleration_scaling_factor
-
- @max_acceleration.setter
- def max_acceleration(self, value: float):
- self.__move_action_goal.request.max_acceleration_scaling_factor = value
-
- @property
- def num_planning_attempts(self) -> int:
- return self.__move_action_goal.request.num_planning_attempts
-
- @num_planning_attempts.setter
- def num_planning_attempts(self, value: int):
- self.__move_action_goal.request.num_planning_attempts = value
-
- @property
- def allowed_planning_time(self) -> float:
- return self.__move_action_goal.request.allowed_planning_time
-
- @allowed_planning_time.setter
- def allowed_planning_time(self, value: float):
- self.__move_action_goal.request.allowed_planning_time = value
-
- @property
- def cartesian_avoid_collisions(self) -> bool:
- return self.__cartesian_path_request.request.avoid_collisions
-
- @cartesian_avoid_collisions.setter
- def cartesian_avoid_collisions(self, value: bool):
- self.__cartesian_path_request.avoid_collisions = value
-
- @property
- def cartesian_jump_threshold(self) -> float:
- return self.__cartesian_path_request.request.jump_threshold
-
- @cartesian_jump_threshold.setter
- def cartesian_jump_threshold(self, value: float):
- self.__cartesian_path_request.jump_threshold = value
-
- @property
- def cartesian_prismatic_jump_threshold(self) -> float:
- return self.__cartesian_path_request.request.prismatic_jump_threshold
-
- @cartesian_prismatic_jump_threshold.setter
- def cartesian_prismatic_jump_threshold(self, value: float):
- self.__cartesian_path_request.prismatic_jump_threshold = value
-
- @property
- def cartesian_revolute_jump_threshold(self) -> float:
- return self.__cartesian_path_request.request.revolute_jump_threshold
-
- @cartesian_revolute_jump_threshold.setter
- def cartesian_revolute_jump_threshold(self, value: float):
- self.__cartesian_path_request.revolute_jump_threshold = value
-
- @property
- def pipeline_id(self) -> int:
- return self.__move_action_goal.request.pipeline_id
-
- @pipeline_id.setter
- def pipeline_id(self, value: str):
- self.__move_action_goal.request.pipeline_id = value
-
- @property
- def planner_id(self) -> int:
- return self.__move_action_goal.request.planner_id
-
- @planner_id.setter
- def planner_id(self, value: str):
- self.__move_action_goal.request.planner_id = value
-
-
-def init_joint_state(
- joint_names: List[str],
- joint_positions: Optional[List[str]] = None,
- joint_velocities: Optional[List[str]] = None,
- joint_effort: Optional[List[str]] = None,
-) -> JointState:
- joint_state = JointState()
-
- joint_state.name = joint_names
- joint_state.position = (
- joint_positions if joint_positions is not None else [0.0] * len(joint_names)
- )
- joint_state.velocity = (
- joint_velocities if joint_velocities is not None else [0.0] * len(joint_names)
- )
- joint_state.effort = (
- joint_effort if joint_effort is not None else [0.0] * len(joint_names)
- )
-
- return joint_state
-
-
-def init_execute_trajectory_goal(
- joint_trajectory: JointTrajectory,
-) -> Optional[ExecuteTrajectory.Goal]:
- if joint_trajectory is None:
- return None
-
- execute_trajectory_goal = ExecuteTrajectory.Goal()
-
- execute_trajectory_goal.trajectory.joint_trajectory = joint_trajectory
-
- return execute_trajectory_goal
-
-
-def init_dummy_joint_trajectory_from_state(
- joint_state: JointState, duration_sec: int = 0, duration_nanosec: int = 0
-) -> JointTrajectory:
- joint_trajectory = JointTrajectory()
- joint_trajectory.joint_names = joint_state.name
-
- point = JointTrajectoryPoint()
- point.positions = joint_state.position
- point.velocities = joint_state.velocity
- point.accelerations = [0.0] * len(joint_trajectory.joint_names)
- point.effort = joint_state.effort
- point.time_from_start.sec = duration_sec
- point.time_from_start.nanosec = duration_nanosec
- joint_trajectory.points.append(point)
-
- return joint_trajectory
diff --git a/unilabos/devices/ros_dev/moveit_interface.py b/unilabos/devices/ros_dev/moveit_interface.py
deleted file mode 100644
index 81c2d112..00000000
--- a/unilabos/devices/ros_dev/moveit_interface.py
+++ /dev/null
@@ -1,384 +0,0 @@
-import json
-import time
-from copy import deepcopy
-from pathlib import Path
-
-from moveit_msgs.msg import JointConstraint, Constraints
-from rclpy.action import ActionClient
-from tf2_ros import Buffer, TransformListener
-from unilabos_msgs.action import SendCmd
-
-from unilabos.devices.ros_dev.moveit2 import MoveIt2
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class MoveitInterface:
- _ros_node: BaseROS2DeviceNode
- tf_buffer: Buffer
- tf_listener: TransformListener
-
- def __init__(self, moveit_type, joint_poses, rotation=None, device_config=None, **kwargs):
- self.device_config = device_config
- self.rotation = rotation
- self.data_config = json.load(
- open(
- f"{Path(__file__).parent.parent.parent.absolute()}/device_mesh/devices/{moveit_type}/config/move_group.json",
- encoding="utf-8",
- )
- )
- self.arm_move_flag = False
- self.move_option = ["pick", "place", "side_pick", "side_place"]
- self.joint_poses = joint_poses
- self.cartesian_flag = False
- self.mesh_group = ["reactor", "sample", "beaker"]
- self.moveit2 = {}
- self.resource_action = None
- self.resource_client = None
- self.resource_action_ok = False
-
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
- self.tf_buffer = Buffer()
- self.tf_listener = TransformListener(self.tf_buffer, self._ros_node)
-
- for move_group, config in self.data_config.items():
-
- base_link_name = f"{self._ros_node.device_id}_{config['base_link_name']}"
- end_effector_name = f"{self._ros_node.device_id}_{config['end_effector_name']}"
- joint_names = [f"{self._ros_node.device_id}_{name}" for name in config["joint_names"]]
-
- self.moveit2[f"{move_group}"] = MoveIt2(
- node=self._ros_node,
- joint_names=joint_names,
- base_link_name=base_link_name,
- end_effector_name=end_effector_name,
- group_name=f"{self._ros_node.device_id}_{move_group}",
- callback_group=self._ros_node.callback_group,
- use_move_group_action=True,
- ignore_new_calls_while_executing=True,
- )
- self.moveit2[f"{move_group}"].allowed_planning_time = 3.0
-
- self._ros_node.create_timer(1, self.wait_for_resource_action, callback_group=self._ros_node.callback_group)
-
-
- def wait_for_resource_action(self):
- if not self.resource_action_ok:
-
- while self.resource_action is None:
- self.resource_action = self.check_tf_update_actions()
- time.sleep(1)
- self.resource_client = ActionClient(self._ros_node, SendCmd, self.resource_action)
- self.resource_action_ok = True
- while not self.resource_client.wait_for_server(timeout_sec=5.0):
- self._ros_node.lab_logger().info("等待 TfUpdate 服务器...")
-
- def check_tf_update_actions(self):
- topics = self._ros_node.get_topic_names_and_types()
- for topic_item in topics:
- topic_name, topic_types = topic_item
- if "action_msgs/msg/GoalStatusArray" in topic_types:
- # 删除 /_action/status 部分
-
- base_name = topic_name.replace("/_action/status", "")
- # 检查最后一个部分是否为 tf_update
- parts = base_name.split("/")
- if parts and parts[-1] == "tf_update":
- return base_name
-
- return None
-
- def set_position(self, command):
- """使用moveit 移动到指定点
- Args:
- command: A JSON-formatted string that includes quaternion, speed, position
-
- position (list) : 点的位置 [x,y,z]
- quaternion (list) : 点的姿态(四元数) [x,y,z,w]
- move_group (string) : The move group moveit will plan
- speed (float) : The speed of the movement, speed > 0
- retry (int) : Retry times when moveit plan fails
-
- Returns:
- None
- """
-
- result = SendCmd.Result()
- cmd_str = command.replace("'", '"')
- cmd_dict = json.loads(cmd_str)
- self.moveit_task(**cmd_dict)
- return result
-
- def moveit_task(
- self, move_group, position, quaternion, speed=1, retry=10, cartesian=False, target_link=None, offsets=[0, 0, 0]
- ):
-
- speed_ = float(max(0.1, min(speed, 1)))
-
- self.moveit2[move_group].max_velocity = speed_
- self.moveit2[move_group].max_acceleration = speed_
-
- re_ = False
-
- pose_result = [x + y for x, y in zip(position, offsets)]
- # print(pose_result)
-
- while retry > -1 and not re_:
-
- self.moveit2[move_group].move_to_pose(
- target_link=target_link,
- position=pose_result,
- quat_xyzw=quaternion,
- cartesian=cartesian,
- # cartesian_fraction_threshold=0.0,
- cartesian_max_step=0.01,
- weight_position=1.0,
- )
- re_ = self.moveit2[move_group].wait_until_executed()
- retry += -1
-
- return re_
-
- def moveit_joint_task(self, move_group, joint_positions, joint_names=None, speed=1, retry=10):
-
- re_ = False
-
- joint_positions_ = [float(x) for x in joint_positions]
-
- speed_ = float(max(0.1, min(speed, 1)))
-
- self.moveit2[move_group].max_velocity = speed_
- self.moveit2[move_group].max_acceleration = speed_
-
- while retry > -1 and not re_:
-
- self.moveit2[move_group].move_to_configuration(joint_positions=joint_positions_, joint_names=joint_names)
- re_ = self.moveit2[move_group].wait_until_executed()
-
- retry += -1
- print(self.moveit2[move_group].compute_fk(joint_positions))
- return re_
-
- def resource_manager(self, resource, parent_link):
- goal_msg = SendCmd.Goal()
- str_dict = {}
- str_dict[resource] = parent_link
-
- goal_msg.command = json.dumps(str_dict)
- assert self.resource_client is not None
- self.resource_client.send_goal(goal_msg)
-
- return True
-
- def pick_and_place(self, command: str):
- """
- Using MoveIt to make the robotic arm pick or place materials to a target point.
-
- Args:
- command: A JSON-formatted string that includes option, target, speed, lift_height, mt_height
-
- *option (string) : Action type: pick/place/side_pick/side_place
- *move_group (string): The move group moveit will plan
- *status(string) : Target pose
- resource(string) : The target resource
- x_distance (float) : The distance to the target in x direction(meters)
- y_distance (float) : The distance to the target in y direction(meters)
- lift_height (float) : The height at which the material should be lifted(meters)
- retry (float) : Retry times when moveit plan fails
- speed (float) : The speed of the movement, speed > 0
- Returns:
- None
- """
- result = SendCmd.Result()
-
- try:
- cmd_str = str(command).replace("'", '"')
- cmd_dict = json.loads(cmd_str)
-
- if cmd_dict["option"] in self.move_option:
- option_index = self.move_option.index(cmd_dict["option"])
- place_flag = option_index % 2
-
- config = {}
- function_list = []
-
- status = cmd_dict["status"]
- joint_positions_ = self.joint_poses[cmd_dict["move_group"]][status]
-
- config.update({k: cmd_dict[k] for k in ["speed", "retry", "move_group"] if k in cmd_dict})
-
- # 夹取
- if not place_flag:
- if "target" in cmd_dict.keys():
- function_list.append(lambda: self.resource_manager(cmd_dict["resource"], cmd_dict["target"]))
- else:
- function_list.append(
- lambda: self.resource_manager(
- cmd_dict["resource"], self.moveit2[cmd_dict["move_group"]].end_effector_name
- )
- )
- else:
- function_list.append(lambda: self.resource_manager(cmd_dict["resource"], "world"))
-
- constraints = []
- if "constraints" in cmd_dict.keys():
-
- for i in range(len(cmd_dict["constraints"])):
- v = float(cmd_dict["constraints"][i])
- if v > 0:
- constraints.append(
- JointConstraint(
- joint_name=self.moveit2[cmd_dict["move_group"]].joint_names[i],
- position=joint_positions_[i],
- tolerance_above=v,
- tolerance_below=v,
- weight=1.0,
- )
- )
-
- if "lift_height" in cmd_dict.keys():
- retval = None
- retry = config.get("retry", 10)
- while retval is None and retry > 0:
- retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_)
- time.sleep(0.1)
- retry -= 1
- if retval is None:
- result.success = False
- return result
- pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
- quaternion = [
- retval.pose.orientation.x,
- retval.pose.orientation.y,
- retval.pose.orientation.z,
- retval.pose.orientation.w,
- ]
-
- function_list = [
- lambda: self.moveit_task(
- position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
- quaternion=quaternion,
- **config,
- cartesian=self.cartesian_flag,
- )
- ] + function_list
-
- pose[2] += float(cmd_dict["lift_height"])
- function_list.append(
- lambda: self.moveit_task(
- position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
- )
- )
- end_pose = pose
-
- if "x_distance" in cmd_dict.keys() or "y_distance" in cmd_dict.keys():
- if "x_distance" in cmd_dict.keys():
- deep_pose = deepcopy(pose)
- deep_pose[0] += float(cmd_dict["x_distance"])
- elif "y_distance" in cmd_dict.keys():
- deep_pose = deepcopy(pose)
- deep_pose[1] += float(cmd_dict["y_distance"])
-
- function_list = [
- lambda: self.moveit_task(
- position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
- )
- ] + function_list
- function_list.append(
- lambda: self.moveit_task(
- position=deep_pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
- )
- )
- end_pose = deep_pose
-
- retval_ik = None
- retry = config.get("retry", 10)
- while retval_ik is None and retry > 0:
- retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
- position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
- )
- time.sleep(0.1)
- retry -= 1
- if retval_ik is None:
- result.success = False
- return result
- position_ = [
- retval_ik.position[retval_ik.name.index(i)]
- for i in self.moveit2[cmd_dict["move_group"]].joint_names
- ]
- function_list = [
- lambda: self.moveit_joint_task(
- joint_positions=position_,
- joint_names=self.moveit2[cmd_dict["move_group"]].joint_names,
- **config,
- )
- ] + function_list
- else:
- function_list = [
- lambda: self.moveit_joint_task(**config, joint_positions=joint_positions_)
- ] + function_list
-
- for i in range(len(function_list)):
- if i == 0:
- self.cartesian_flag = False
- else:
- self.cartesian_flag = True
-
- re = function_list[i]()
- if not re:
- print(i, re)
- result.success = False
- return result
- result.success = True
-
- except Exception as e:
- print(e)
- self.cartesian_flag = False
- result.success = False
-
- return result
-
- def set_status(self, command: str):
- """
- Goto home position
-
- Args:
- command: A JSON-formatted string that includes speed
- *status (string) : The joint status moveit will plan
- *move_group (string): The move group moveit will plan
- separate (list) : The joint index to be separated
- lift_height (float) : The height at which the material should be lifted(meters)
- x_distance (float) : The distance to the target in x direction(meters)
- y_distance (float) : The distance to the target in y direction(meters)
- speed (float) : The speed of the movement, speed > 0
- retry (float) : Retry times when moveit plan fails
-
- Returns:
- None
- """
-
- result = SendCmd.Result()
-
- try:
- cmd_str = command.replace("'", '"')
- cmd_dict = json.loads(cmd_str)
- config = {}
- config["move_group"] = cmd_dict["move_group"]
- if "speed" in cmd_dict.keys():
- config["speed"] = cmd_dict["speed"]
- if "retry" in cmd_dict.keys():
- config["retry"] = cmd_dict["retry"]
-
- status = cmd_dict["status"]
- joint_positions_ = self.joint_poses[cmd_dict["move_group"]][status]
- re = self.moveit_joint_task(**config, joint_positions=joint_positions_)
- if not re:
- result.success = False
- return result
- result.success = True
- except Exception as e:
- print(e)
- result.success = False
-
- return result
diff --git a/unilabos/devices/rotavap/__init__.py b/unilabos/devices/rotavap/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/rotavap/rotavap_one.py b/unilabos/devices/rotavap/rotavap_one.py
deleted file mode 100644
index 507e1231..00000000
--- a/unilabos/devices/rotavap/rotavap_one.py
+++ /dev/null
@@ -1,64 +0,0 @@
-import json
-from serial import Serial
-import time as time_
-import threading
-
-class RotavapOne:
- def __init__(self, port, rate=9600):
- self.ser = Serial(port,rate)
- self.pump_state = 'h'
- self.pump_time = 0
- self.rotate_state = 'h'
- self.rotate_time = 0
- self.success = True
- if not self.ser.is_open:
- self.ser.open()
-
- # self.main_loop()
- t = threading.Thread(target=self.main_loop ,daemon=True)
- t.start()
-
- def cmd_write(self, cmd):
- self.ser.write(cmd)
- self.ser.read_all()
-
- def set_rotate_time(self, time):
- self.success = False
- self.rotate_time = time
- self.success = True
-
-
- def set_pump_time(self, time):
- self.success = False
- self.pump_time = time
- self.success = True
-
- def set_timer(self, command):
- self.success = False
- timer = json.loads(command)
-
- rotate_time = timer['rotate_time']
- pump_time = timer['pump_time']
-
- self.rotate_time = rotate_time
- self.pump_time = pump_time
-
- self.success = True
-
-
- def main_loop(self):
- param = ['rotate','pump']
- while True:
- for i in param:
- if getattr(self, f'{i}_time') <= 0:
- setattr(self, f'{i}_state','l')
- else:
- setattr(self, f'{i}_state','h')
- setattr(self, f'{i}_time',getattr(self, f'{i}_time')-1)
- cmd = f'1{self.pump_state}2{self.rotate_state}3l4l\n'
- self.cmd_write(cmd.encode())
-
- time_.sleep(1)
-
-if __name__ == '__main__':
- ro = RotavapOne(port='COM15')
diff --git a/unilabos/devices/sealer/sealer.py b/unilabos/devices/sealer/sealer.py
deleted file mode 100644
index f2149279..00000000
--- a/unilabos/devices/sealer/sealer.py
+++ /dev/null
@@ -1,100 +0,0 @@
-import serial, time, re
-
-class SimpleSealer:
- """
- It purposely skips CRC/ACK handling and sends raw commands of the form
- '**00??[=xxxx]zz!'. Good enough for quick experiments or automation
- scripts where robustness is less critical.
-
- Example
- -------
- >>> sealer = SimpleSealer("COM24")
- >>> sealer.set_temperature(160) # 160 °C
- >>> sealer.set_time(2.0) # 2 s
- >>> sealer.seal_cycle() # wait‑heat‑seal‑eject
- >>> sealer.close()
- """
- T_RE = re.compile(r"\*T\d\d:\d\d:\d\d=(\d+),(\d),(\d),")
-
- def __init__(self, port: str, baud: int = 19200, thresh_c: int = 150):
- self.port = port
- self.baud = baud
- self.thresh_c = thresh_c
- self.ser = serial.Serial(port, baud, timeout=0.3)
- self.ser.reset_input_buffer()
-
- # ---------- low‑level helpers ----------
- def _send(self, raw: str):
- """Write an already‑formed ASCII command, e.g. '**00DH=0160zz!'."""
- self.ser.write(raw.encode())
- print(">>>", raw)
-
- def _read_frame(self) -> str:
- """Read one frame (ending at '!') and strip the terminator."""
- return self.ser.read_until(b'!').decode(errors='ignore').strip()
-
- # ---------- high‑level commands ----------
- def set_temperature(self, celsius: int):
- self._send(f"**00DH={celsius:04d}zz!")
-
- def set_time(self, seconds: float):
- units = int(round(seconds * 10))
- self._send(f"**00DT={units:04d}zz!")
-
- def open_drawer(self):
- self._send("**00MOzz!")
-
- def close_drawer(self):
- self._send("**00MCzz!")
-
- def seal(self):
- self._send("**00GSzz!")
-
- # ---------- waits ----------
- def wait_temp(self):
- print(f"[Waiting ≥{self.thresh_c}°C]")
- while True:
- frame = self._read_frame()
- if frame.startswith("*T"):
- m = self.T_RE.match(frame)
- if not m:
- continue
- temp = int(m.group(1)) / 10
- blk = int(m.group(3)) # 1=Ready,4=Converging
- print(f"\rTemp={temp:5.1f}°C | Block={blk}", end="")
- if temp >= self.thresh_c and blk in (1, 0, 4):
- print(" <-- OK")
- return
-
- def wait_finish(self):
- while True:
- frame = self._read_frame()
- if frame.startswith("*T"):
- parts = frame.split('=')[1].split(',')
- status = int(parts[1])
- cnt = int(parts[6][: -3] if parts[6].endswith("!") else parts[6])
- print(f"\rRemaining {cnt/10:4.1f}s", end="")
- if status == 4:
- print("\n[Seal Done]")
- return
-
- # ---------- convenience helpers ----------
- def seal_cycle(self):
- """Full cycle: wait heat, seal, wait finish, eject drawer."""
- time.sleep(10)
- self.seal()
- self.open_drawer()
-
- def close(self):
- self.ser.close()
-
-
-if __name__ == "__main__":
- # Quick demo usage (modify COM port and parameters as needed)
- sealer = SimpleSealer("COM24")
- try:
- sealer.set_temperature(160) # °C
- sealer.set_time(2.0) # seconds
- sealer.seal_cycle()
- finally:
- sealer.close()
\ No newline at end of file
diff --git a/unilabos/devices/separator/__init__.py b/unilabos/devices/separator/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/separator/chinwe.py b/unilabos/devices/separator/chinwe.py
deleted file mode 100644
index 8beac447..00000000
--- a/unilabos/devices/separator/chinwe.py
+++ /dev/null
@@ -1,649 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Contains drivers for:
-1. SyringePump: Runze Fluid SY-03B (ASCII)
-2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant)
-3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU)
-"""
-
-import socket
-import serial
-import time
-import threading
-import struct
-import re
-import traceback
-import queue
-from typing import Optional, Dict, List, Any
-
-try:
- from unilabos.device_comms.universal_driver import UniversalDriver
-except ImportError:
- import logging
- class UniversalDriver:
- def __init__(self):
- self.logger = logging.getLogger(self.__class__.__name__)
-
- def execute_command_from_outer(self, command: str):
- pass
-
-# ==============================================================================
-# 1. Transport Layer (通信层)
-# ==============================================================================
-
-class TransportManager:
- """
- 统一通信管理类。
- 自动识别 串口 (Serial) 或 网络 (TCP) 连接。
- """
- def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
- self.port = port
- self.baudrate = baudrate
- self.timeout = timeout
- self.logger = logger
- self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
-
- self.is_tcp = False
- self.serial = None
- self.socket = None
-
- # 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP
- if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')):
- self.is_tcp = True
- self._connect_tcp()
- else:
- self._connect_serial()
-
- def _log(self, msg):
- if self.logger:
- pass
- # self.logger.debug(f"[Transport] {msg}")
-
- def _connect_tcp(self):
- try:
- if ':' in self.port:
- host, p = self.port.split(':')
- self.tcp_host = host
- self.tcp_port = int(p)
- else:
- self.tcp_host = self.port
- self.tcp_port = 8899 # 默认端口
-
- # if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...")
- self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- self.socket.settimeout(self.timeout)
- self.socket.connect((self.tcp_host, self.tcp_port))
- except Exception as e:
- raise ConnectionError(f"TCP connection failed: {e}")
-
- def _connect_serial(self):
- try:
- # if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...")
- self.serial = serial.Serial(
- port=self.port,
- baudrate=self.baudrate,
- timeout=self.timeout
- )
- except Exception as e:
- raise ConnectionError(f"Serial open failed: {e}")
-
- def close(self):
- """关闭连接"""
- if self.is_tcp and self.socket:
- try: self.socket.close()
- except: pass
- elif not self.is_tcp and self.serial and self.serial.is_open:
- self.serial.close()
-
- def clear_buffer(self):
- """清空缓冲区 (Thread-safe)"""
- with self.lock:
- if self.is_tcp:
- self.socket.setblocking(False)
- try:
- while True:
- if not self.socket.recv(1024): break
- except: pass
- finally: self.socket.settimeout(self.timeout)
- else:
- self.serial.reset_input_buffer()
-
- def write(self, data: bytes):
- """发送原始字节"""
- with self.lock:
- if self.is_tcp:
- self.socket.sendall(data)
- else:
- self.serial.write(data)
-
- def read(self, size: int) -> bytes:
- """读取指定长度字节"""
- if self.is_tcp:
- data = b''
- start = time.time()
- while len(data) < size:
- if time.time() - start > self.timeout: break
- try:
- chunk = self.socket.recv(size - len(data))
- if not chunk: break
- data += chunk
- except socket.timeout: break
- return data
- else:
- return self.serial.read(size)
-
- def send_ascii_command(self, command: str) -> str:
- """
- 发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。
- """
- with self.lock:
- data = command.encode('ascii') if isinstance(command, str) else command
- self.clear_buffer()
- self.write(data)
-
- # Read until \r
- if self.is_tcp:
- resp = b''
- start = time.time()
- while True:
- if time.time() - start > self.timeout: break
- try:
- char = self.socket.recv(1)
- if not char: break
- resp += char
- if char == b'\r': break
- except: break
- return resp.decode('ascii', errors='ignore').strip()
- else:
- return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip()
-
-# ==============================================================================
-# 2. Syringe Pump Driver (注射泵)
-# ==============================================================================
-
-class SyringePump:
- """SY-03B 注射泵驱动 (ASCII协议)"""
-
- CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R"
- CMD_SWITCH_VALVE = "I{port}R"
- CMD_ASPIRATE = "P{vol}R"
- CMD_DISPENSE = "D{vol}R"
- CMD_DISPENSE_ALL = "A0R"
- CMD_STOP = "TR"
- CMD_QUERY_STATUS = "Q"
- CMD_QUERY_PLUNGER = "?0"
-
- def __init__(self, device_id: int, transport: TransportManager):
- if not 1 <= device_id <= 15:
- pass # Allow all IDs for now
- self.id = str(device_id)
- self.transport = transport
-
- def _send(self, template: str, **kwargs) -> str:
- cmd = f"/{self.id}" + template.format(**kwargs) + "\r"
- return self.transport.send_ascii_command(cmd)
-
- def is_busy(self) -> bool:
- """查询繁忙状态"""
- resp = self._send(self.CMD_QUERY_STATUS)
- # 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40)
- if len(resp) >= 3:
- status_byte = ord(resp[2])
- # Bit 5: 1=Ready, 0=Busy
- return (status_byte & 0x20) == 0
- return False
-
- def wait_until_idle(self, timeout=30):
- """阻塞等待直到空闲"""
- start = time.time()
- while time.time() - start < timeout:
- if not self.is_busy(): return
- time.sleep(0.5)
- # raise TimeoutError(f"Pump {self.id} wait idle timeout")
- pass
-
- def initialize(self, drain_port=0, output_port=0, speed=10):
- """初始化"""
- self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port)
-
- def switch_valve(self, port: int):
- """切换阀门 (1-8)"""
- self._send(self.CMD_SWITCH_VALVE, port=port)
-
- def aspirate(self, steps: int):
- """吸液 (相对步数)"""
- self._send(self.CMD_ASPIRATE, vol=steps)
-
- def dispense(self, steps: int):
- """排液 (相对步数)"""
- self._send(self.CMD_DISPENSE, vol=steps)
-
- def stop(self):
- """停止"""
- self._send(self.CMD_STOP)
-
- def get_position(self) -> int:
- """获取柱塞位置 (步数)"""
- resp = self._send(self.CMD_QUERY_PLUNGER)
- m = re.search(r'\d+', resp)
- return int(m.group()) if m else -1
-
-# ==============================================================================
-# 3. Stepper Motor Driver (步进电机)
-# ==============================================================================
-
-class EmmMotor:
- """Emm V5.0 闭环步进电机驱动"""
-
- def __init__(self, device_id: int, transport: TransportManager):
- self.id = device_id
- self.transport = transport
-
- def _send(self, func_code: int, payload: list) -> bytes:
- with self.transport.lock:
- self.transport.clear_buffer()
- # 格式: [ID] [Func] [Data...] [Check=0x6B]
- body = [self.id, func_code] + payload
- body.append(0x6B) # Checksum
- self.transport.write(bytes(body))
-
- # 根据指令不同，读取不同长度响应
- read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
- return self.transport.read(read_len)
-
- def enable(self, on=True):
- """使能 (True=锁轴, False=松轴)"""
- state = 1 if on else 0
- self._send(0xF3, [0xAB, state, 0])
-
- def run_speed(self, speed_rpm: int, direction=0, acc=10):
- """速度模式运行"""
- sp = struct.pack('>H', int(speed_rpm))
- self._send(0xF6, [direction, sp[0], sp[1], acc, 0])
-
- def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False):
- """位置模式运行"""
- sp = struct.pack('>H', int(speed_rpm))
- pl = struct.pack('>I', int(pulses))
- is_abs = 1 if absolute else 0
- self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0])
-
- def stop(self):
- """停止"""
- self._send(0xFE, [0x98, 0])
-
- def set_zero(self):
- """清零位置"""
- self._send(0x0A, [])
-
- def get_position(self) -> int:
- """获取当前脉冲位置"""
- resp = self._send(0x32, [])
- if len(resp) >= 8:
- sign = resp[2]
- val = struct.unpack('>I', resp[3:7])[0]
- return -val if sign == 1 else val
- return 0
-
-# ==============================================================================
-# 4. Liquid Sensor Driver (液位传感器)
-# ==============================================================================
-
-class XKCSensor:
- """XKC RS485 液位传感器 (Modbus RTU)"""
-
- def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300):
- self.id = device_id
- self.transport = transport
- self.threshold = threshold
-
- def _crc(self, data: bytes) -> bytes:
- crc = 0xFFFF
- for byte in data:
- crc ^= byte
- for _ in range(8):
- if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
- else: crc >>= 1
- return struct.pack(' Optional[Dict[str, Any]]:
- """
- 读取液位。
- 返回: {'level': bool, 'rssi': int}
- """
- with self.transport.lock:
- self.transport.clear_buffer()
- # Modbus Read Registers: 01 03 00 01 00 02 CRC
- payload = struct.pack('>HH', 0x0001, 0x0002)
- msg = struct.pack('BB', self.id, 0x03) + payload
- msg += self._crc(msg)
- self.transport.write(msg)
-
- # Read header
- h = self.transport.read(3) # Addr, Func, Len
- if len(h) < 3: return None
- length = h[2]
-
- # Read body + CRC
- body = self.transport.read(length + 2)
- if len(body) < length + 2:
- # Firmware bug fix specific to some modules
- if len(body) == 4 and length == 4:
- pass
- else:
- return None
-
- data = body[:-2]
- if len(data) == 2:
- rssi = data[1]
- elif len(data) >= 4:
- rssi = (data[2] << 8) | data[3]
- else:
- return None
-
- return {
- 'level': rssi > self.threshold,
- 'rssi': rssi
- }
-
-# ==============================================================================
-# 5. Main Device Class (ChinweDevice)
-# ==============================================================================
-
-class ChinweDevice(UniversalDriver):
- """
- ChinWe 工作站主驱动
- 继承自 UniversalDriver，管理所有子设备（泵、电机、传感器）
- """
-
- def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600,
- pump_ids: List[int] = None, motor_ids: List[int] = None,
- sensor_id: int = 6, sensor_threshold: int = 300,
- timeout: float = 10.0):
- """
- 初始化 ChinWe 工作站
- :param port: 串口号 或 IP:Port
- :param baudrate: 串口波特率
- :param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3])
- :param motor_ids: 步进电机 ID列表 (默认 [4, 5])
- :param sensor_id: 液位传感器 ID (默认 6)
- :param sensor_threshold: 传感器液位判定阈值
- :param timeout: 通信超时时间 (默认 10秒)
- """
- super().__init__()
- self.port = port
- self.baudrate = baudrate
- self.timeout = timeout
- self.mgr = None
- self._is_connected = False
-
- # 默认配置
- if pump_ids is None: pump_ids = [1, 2, 3]
- if motor_ids is None: motor_ids = [4, 5]
-
- # 配置信息
- self.pump_ids = pump_ids
- self.motor_ids = motor_ids
- self.sensor_id = sensor_id
- self.sensor_threshold = sensor_threshold
-
- # 子设备实例容器
- self.pumps: Dict[int, SyringePump] = {}
- self.motors: Dict[int, EmmMotor] = {}
- self.sensor: Optional[XKCSensor] = None
-
- # 轮询线程控制
- self._stop_event = threading.Event()
- self._poll_thread = None
-
- # 实时状态缓存
- self.status_cache = {
- "sensor_rssi": 0,
- "sensor_level": False,
- "connected": False
- }
-
- # 自动连接
- if self.port:
- self.connect()
-
- def connect(self) -> bool:
- if self._is_connected: return True
- try:
- self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...")
- self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger)
-
- # 初始化所有泵
- for pid in self.pump_ids:
- self.pumps[pid] = SyringePump(pid, self.mgr)
-
- # 初始化所有电机
- for mid in self.motor_ids:
- self.motors[mid] = EmmMotor(mid, self.mgr)
-
- # 初始化传感器
- self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold)
-
- self._is_connected = True
- self.status_cache["connected"] = True
-
- # 启动轮询线程
- self._start_polling()
- return True
- except Exception as e:
- self.logger.error(f"Connection failed: {e}")
- self._is_connected = False
- self.status_cache["connected"] = False
- return False
-
- def disconnect(self):
- self._stop_event.set()
- if self._poll_thread:
- self._poll_thread.join(timeout=2.0)
-
- if self.mgr:
- self.mgr.close()
-
- self._is_connected = False
- self.status_cache["connected"] = False
- self.logger.info("Disconnected.")
-
- def _start_polling(self):
- """启动传感器轮询线程"""
- if self._poll_thread and self._poll_thread.is_alive():
- return
-
- self._stop_event.clear()
- self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll")
- self._poll_thread.start()
-
- def _polling_loop(self):
- """轮询主循环"""
- self.logger.info("Sensor polling started.")
- error_count = 0
- while not self._stop_event.is_set():
- if not self._is_connected or not self.sensor:
- time.sleep(1)
- continue
-
- try:
- # 获取传感器数据
- data = self.sensor.read_level()
- if data:
- self.status_cache["sensor_rssi"] = data['rssi']
- self.status_cache["sensor_level"] = data['level']
- error_count = 0
- else:
- error_count += 1
-
- # 降低轮询频率防止总线拥塞
- time.sleep(0.2)
-
- except Exception as e:
- error_count += 1
- if error_count > 10: # 连续错误记录日志
- # self.logger.error(f"Polling error: {e}")
- error_count = 0
- time.sleep(1)
-
- # --- 对外暴露属性 (Properties) ---
-
- @property
- def sensor_level(self) -> bool:
- return self.status_cache["sensor_level"]
-
- @property
- def sensor_rssi(self) -> int:
- return self.status_cache["sensor_rssi"]
-
- @property
- def is_connected(self) -> bool:
- return self._is_connected
-
- # --- 对外功能指令 (Actions) ---
-
- def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10):
- """指定泵初始化"""
- pump_id = int(pump_id)
- if pump_id in self.pumps:
- self.pumps[pump_id].initialize(drain_port, output_port, speed)
- self.pumps[pump_id].wait_until_idle()
- return True
- return False
-
- def pump_aspirate(self, pump_id: int, volume: int, valve_port: int):
- """
- 泵吸液 (阻塞)
- :param valve_port: 阀门端口 (1-8)
- """
- pump_id = int(pump_id)
- valve_port = int(valve_port)
- if pump_id in self.pumps:
- pump = self.pumps[pump_id]
- # 1. 切换阀门
- pump.switch_valve(valve_port)
- pump.wait_until_idle()
- # 2. 吸液
- pump.aspirate(volume)
- pump.wait_until_idle()
- return True
- return False
-
- def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
- """
- 泵排液 (阻塞)
- :param valve_port: 阀门端口 (1-8)
- """
- pump_id = int(pump_id)
- valve_port = int(valve_port)
- if pump_id in self.pumps:
- pump = self.pumps[pump_id]
- # 1. 切换阀门
- pump.switch_valve(valve_port)
- pump.wait_until_idle()
- # 2. 排液
- pump.dispense(volume)
- pump.wait_until_idle()
- return True
- return False
-
- def pump_valve(self, pump_id: int, port: int):
- """泵切换阀门 (阻塞)"""
- pump_id = int(pump_id)
- port = int(port)
- if pump_id in self.pumps:
- pump = self.pumps[pump_id]
- pump.switch_valve(port)
- pump.wait_until_idle()
- return True
- return False
-
- def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"):
- """
- 电机一直旋转 (速度模式)
- :param direction: "顺时针" or "逆时针"
- """
- motor_id = int(motor_id)
- if motor_id not in self.motors: return False
-
- dir_val = 0 if direction == "顺时针" else 1
- self.motors[motor_id].run_speed(speed, dir_val)
- return True
-
- def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
- """
- 电机旋转1/4圈 (阻塞)
- 假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲
- """
- motor_id = int(motor_id)
- if motor_id not in self.motors: return False
-
- pulses = 800
- dir_val = 0 if direction == "顺时针" else 1
-
- self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False)
-
- # 预估时间阻塞 (单位: 分钟 -> 秒)
- # Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM.
- estimated_time = 15.0 / max(1, speed)
- time.sleep(estimated_time + 0.5)
-
- return True
-
- def motor_stop(self, motor_id: int):
- """电机停止"""
- motor_id = int(motor_id)
- if motor_id in self.motors:
- self.motors[motor_id].stop()
- return True
- return False
-
- def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool:
- """
- 等待传感器达到指定电平
- :param target_state: "有液" or "无液"
- """
- target_bool = True if target_state == "有液" else False
-
- self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}")
- start = time.time()
- while time.time() - start < timeout:
- if self.sensor_level == target_bool:
- return True
- time.sleep(0.1)
- self.logger.warning("Wait sensor level timeout")
- return False
-
- def wait_time(self, duration: int) -> bool:
- """
- 等待指定时间 (秒)
- :param duration: 秒
- """
- self.logger.info(f"Waiting for {duration} seconds...")
- time.sleep(duration)
- return True
-
- def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
- """支持标准 JSON 指令调用"""
- return super().execute_command_from_outer(command_dict)
-
-if __name__ == "__main__":
- # Test
- logging.basicConfig(level=logging.INFO)
- dev = ChinweDevice(port="192.168.31.201:8899")
- try:
- if dev.is_connected:
- print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
-
- # Test pump 1
- # dev.pump_valve(1, 1)
- # dev.pump_move(1, 1000, "aspirate")
-
- # Test motor 4
- # dev.motor_run(4, 60, 0, 2)
-
- for _ in range(5):
- print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
- time.sleep(1)
- finally:
- dev.disconnect()
diff --git a/unilabos/devices/separator/homemade_grbl_conductivity.py b/unilabos/devices/separator/homemade_grbl_conductivity.py
deleted file mode 100644
index 9588f195..00000000
--- a/unilabos/devices/separator/homemade_grbl_conductivity.py
+++ /dev/null
@@ -1,156 +0,0 @@
-import json
-import serial
-import time as systime
-import threading
-
-
-class SeparatorController:
- """Controls the operation of a separator device using serial communication.
-
- This class manages the interaction with both an executor and a sensor through serial ports, allowing for stirring, settling, and extracting operations based on sensor data.
-
- Args:
- port_executor (str): The serial port for the executor device.
- port_sensor (str): The serial port for the sensor device.
- baudrate_executor (int, optional): The baud rate for the executor device. Defaults to 115200.
- baudrate_sensor (int, optional): The baud rate for the sensor device. Defaults to 115200.
-
- Attributes:
- serial_executor (Serial): The serial connection to the executor device.
- serial_sensor (Serial): The serial connection to the sensor device.
- sensordata (float): The latest sensor data read from the sensor device.
- success (bool): Indicates whether the last operation was successful.
- status (str): The current status of the controller, which can be 'Idle', 'Stirring', 'Settling', or 'Extracting'.
- """
- def __init__(
- self,
- port_executor: str,
- port_sensor: str,
- baudrate_executor: int = 115200,
- baudrate_sensor: int = 115200,
- ):
-
- self.serial_executor = serial.Serial(port_executor, baudrate_executor)
- self.serial_sensor = serial.Serial(port_sensor, baudrate_sensor)
-
- if not self.serial_executor.is_open:
- self.serial_executor.open()
- if not self.serial_sensor.is_open:
- self.serial_sensor.open()
-
- self.sensordata = 0.00
- self.success = False
-
- self.status = "Idle" # 'Idle', 'Stirring' ,'Settling' , 'Extracting',
-
- systime.sleep(2)
- t = threading.Thread(target=self.read_sensor_loop, daemon=True)
- t.start()
-
- def write(self, data):
- self.serial_executor.write(data)
- a = self.serial_executor.read_all()
-
- def stir(self, stir_time: float = 10, stir_speed: float = 300, settling_time: float = 10):
- """Controls the stirring operation of the separator.
-
- This function initiates a stirring process for a specified duration and speed, followed by a settling phase. It updates the status of the controller and communicates with the executor to perform the stirring action.
-
- Args:
- stir_time (float, optional): The duration for which to stir, in seconds. Defaults to 10.
- stir_speed (float, optional): The speed of stirring, in RPM. Defaults to 300.
- settling_time (float, optional): The duration for which to settle after stirring, in seconds. Defaults to 10.
-
- Returns:
- None
- """
- self.success = False
- start_time = systime.time()
- self.status = "Stirring"
-
- stir_speed_second = stir_speed / 60
- cmd = f"G91 Z{stir_speed_second}\n"
- cmd_data = bytearray(cmd, "ascii")
- self.write(bytearray(f"$112={stir_speed_second}", "ascii"))
- while self.status != "Idle":
- # print(self.sensordata)
- if self.status == "Stirring":
- if systime.time() - start_time < stir_time:
- self.write(cmd_data)
- systime.sleep(1)
- else:
- self.status = "Settling"
- start_time = systime.time()
-
- elif self.status == "Settling":
- if systime.time() - start_time > settling_time:
- break
- self.success = True
-
- def valve_open(self, condition, value):
- """Opens the valve, then wait to close the valve based on a specified condition.
-
- This function sends a command to open the valve and continuously monitors the sensor data until the specified condition is met. Once the condition is satisfied, it closes the valve and updates the status of the controller.
-
- Args:
-
- condition (str): The condition to be monitored, either 'delta' or 'time'.
- value (float): The threshold value for the condition.
- `delta > 0.05`, `time > 60`
-
- Returns:
- None
- """
- if condition not in ["delta", "time"]:
- raise ValueError("Invalid condition")
- elif condition == "delta":
- valve_position = 0.66
- else:
- valve_position = 0.8
-
- self.write((f"G91 X{valve_position}\n").encode())
- last = self.sensordata
- start_time = systime.time()
- while True:
- data = self.sensordata
- delta = abs(data - last)
- time = systime.time() - start_time
-
- if eval(f"{condition} > {value}"):
- break
- last = data
- systime.sleep(0.05)
-
- self.status = "Idle"
-
- self.write((f"G91 X-{valve_position}\n").encode())
-
- def valve_open_cmd(self,command:str):
- self.success = False
- try:
- cmd_dict = json.loads(command)
- self.valve_open(**cmd_dict)
- self.success = True
- except Exception as e:
- raise f"error: {e}"
-
- def read_sensor_loop(self):
- while True:
- msg = self.serial_sensor.readline()
- ascii_string = "".join(chr(byte) for byte in msg)
- # print(msg)
- if ascii_string.startswith("A3"):
- try:
- self.sensordata = float(ascii_string.split(":")[1])
- except:
- return
- self.serial_sensor.read_all()
- systime.sleep(0.05)
-
-
-if __name__ == "__main__":
-
- e = SeparatorController(port_sensor="COM40", port_executor="COM41")
- print(e.status)
- e.stir(10, 720, 10)
- e.valve_open("delta", 0.3)
diff --git a/unilabos/devices/temperature/__init__.py b/unilabos/devices/temperature/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/temperature/chiller.py b/unilabos/devices/temperature/chiller.py
deleted file mode 100644
index 22878b5c..00000000
--- a/unilabos/devices/temperature/chiller.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import json
-import serial
-
-class Chiller():
-# def xuanzheng_temp_set(tempset: int):
- # 设置目标温度
- def __init__(self, port,rate=9600):
- self.T_set = 24
- self.success = True
- self.ser = serial.Serial(
- port=port,
- baudrate=rate,
- bytesize=8,
- parity='N',
- stopbits=1,
- timeout=1
- )
-
- def modbus_crc(self, data: bytes) -> bytes:
- crc = 0xFFFF
- for pos in data:
- crc ^= pos
- for _ in range(8):
- if (crc & 0x0001) != 0:
- crc >>= 1
- crc ^= 0xA001
- else:
- crc >>= 1
- return crc.to_bytes(2, byteorder='little')
-
- def build_modbus_frame(self,device_address: int, function_code: int, register_address: int, value: int) -> bytes:
- frame = bytearray([
- device_address,
- function_code,
- (register_address >> 8) & 0xFF,
- register_address & 0xFF,
- (value >> 8) & 0xFF,
- value & 0xFF
- ])
- crc = self.modbus_crc(frame)
- return frame + crc
-
- def convert_temperature_to_modbus_value(self, temperature: float, decimal_points: int = 1) -> int:
- factor = 10 ** decimal_points
- value = int(temperature * factor)
- return value & 0xFFFF
-
- def set_temperature(self, command):
- T_set = json.loads(command)['temperature']
- self.T_set = int(T_set)
- self.success = False
-
- temperature_value = self.convert_temperature_to_modbus_value(self.T_set, decimal_points=1)
- device_address = 0x01
- function_code = 0x06
- register_address = 0x000B
- frame = self.build_modbus_frame(device_address, function_code, register_address, temperature_value)
- self.ser.write(frame)
- response = self.ser.read(8)
- self.success = True
-
- def stop(self):
- self.set_temperature(25)
-
-if __name__ == '__main__':
- ch = Chiller(port='COM17')
- ch.set_temperature(20)
\ No newline at end of file
diff --git a/unilabos/devices/temperature/prototype_sensor.py b/unilabos/devices/temperature/prototype_sensor.py
deleted file mode 100644
index 84a134ab..00000000
--- a/unilabos/devices/temperature/prototype_sensor.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import serial
-import struct
-
-class TempSensor:
- def __init__(self,port,baudrate=9600):
-
- # 配置串口
- self.ser = serial.Serial(
- port=port,
- baudrate=baudrate,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=1
- )
-
- def calculate_crc(self,data):
- crc = 0xFFFF
- for pos in data:
- crc ^= pos
- for i in range(8):
- if (crc & 0x0001) != 0:
- crc >>= 1
- crc ^= 0xA001
- else:
- crc >>= 1
- return crc
-
- def build_modbus_request(self, device_id, function_code, register_address, register_count):
- request = struct.pack('>BBHH', device_id, function_code, register_address, register_count)
- crc = self.calculate_crc(request)
- request += struct.pack('H', data[:2])[0]
- low_value = struct.unpack('>H', data[2:])[0]
-
- # 组合高位和低位并计算实际温度
- raw_temperature = (high_value << 16) | low_value
- if raw_temperature & 0x8000: # 如果低位寄存器最高位为1，表示负值
- raw_temperature -= 0x10000 # 转换为正确的负数表示
-
- actual_temperature = raw_temperature / 10.0
- return actual_temperature
-
-
\ No newline at end of file
diff --git a/unilabos/devices/temperature/sensor.py b/unilabos/devices/temperature/sensor.py
deleted file mode 100644
index 81ffa5f2..00000000
--- a/unilabos/devices/temperature/sensor.py
+++ /dev/null
@@ -1,90 +0,0 @@
-import serial
-import time
-import struct
-import tkinter as tk
-from tkinter import ttk
-
-# 配置串口
-ser = serial.Serial(
- port='COM13',
- baudrate=9600,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=1
-)
-
-def calculate_crc(data):
- crc = 0xFFFF
- for pos in data:
- crc ^= pos
- for i in range(8):
- if (crc & 0x0001) != 0:
- crc >>= 1
- crc ^= 0xA001
- else:
- crc >>= 1
- return crc
-
-def build_modbus_request(device_id, function_code, register_address, register_count):
- request = struct.pack('>BBHH', device_id, function_code, register_address, register_count)
- crc = calculate_crc(request)
- request += struct.pack('H', data[:2])[0]
- low_value = struct.unpack('>H', data[2:])[0]
-
- # 组合高位和低位并计算实际温度
- raw_temperature = (high_value << 16) | low_value
- if raw_temperature & 0x8000: # 如果低位寄存器最高位为1，表示负值
- raw_temperature -= 0x10000 # 转换为正确的负数表示
-
- actual_temperature = raw_temperature / 10.0
- return actual_temperature
-
-def update_temperature_label():
- temperature = read_temperature()
- if temperature is not None:
- temperature_label.config(text=f"反应温度: {temperature:.1f} °C")
- else:
- temperature_label.config(text="Error reading temperature")
- root.after(1000, update_temperature_label) # 每秒更新一次
-
-# 创建主窗口
-root = tk.Tk()
-root.title("反应温度监控")
-
-# 创建标签来显示温度
-temperature_label = ttk.Label(root, text="反应温度: -- °C", font=("Helvetica", 20))
-temperature_label.pack(padx=20, pady=20)
-
-# 开始更新温度
-update_temperature_label()
-
-# 运行主循环
-root.mainloop()
diff --git a/unilabos/devices/temperature/sensor_node.py b/unilabos/devices/temperature/sensor_node.py
deleted file mode 100644
index cb3b175f..00000000
--- a/unilabos/devices/temperature/sensor_node.py
+++ /dev/null
@@ -1,117 +0,0 @@
-import json
-import threading,time
-
-# class TempSensorNode:
-# def __init__(self,port,warning,address):
-# self._value = 0.0
-# self.warning = warning
-# self.device_id = address
-
-# self.hardware_interface = port
-# # t = threading.Thread(target=self.read_temperature, daemon=True)
-# # t.start()
-
-# def send_command(self ,command):
-# print('send_command---------------------')
-# pass
-
-# @property
-# def value(self) -> float:
-# self._value = self.send_command(self.device_id)
-# return self._value
-# # def read_temperature(self):
-# # while True:
-# # self.value = self.send_command(self.device_id)
-# # print(self.value,'-----------')
-# # time.sleep(1)
-
-# def set_warning(self, warning_temp):
-# self.warning = warning_temp
-
-
-
-import serial
-import struct
-from rclpy.node import Node
-import rclpy
-import threading
-
-class TempSensorNode():
- def __init__(self,port,warning,address,baudrate=9600):
- self._value = 0.0
- self.warning = warning
- self.device_id = address
- self.success = False
- # 配置串口
- self.hardware_interface = serial.Serial(
- port=port,
- baudrate=baudrate,
- bytesize=serial.EIGHTBITS,
- parity=serial.PARITY_NONE,
- stopbits=serial.STOPBITS_ONE,
- timeout=1
- )
- self.lock = threading.Lock()
-
- def calculate_crc(self,data):
- crc = 0xFFFF
- for pos in data:
- crc ^= pos
- for i in range(8):
- if (crc & 0x0001) != 0:
- crc >>= 1
- crc ^= 0xA001
- else:
- crc >>= 1
- return crc
-
- def build_modbus_request(self, device_id, function_code, register_address, register_count):
- request = struct.pack('>BBHH', device_id, function_code, register_address, register_count)
- crc = self.calculate_crc(request)
- request += struct.pack('H', data[:2])[0]
- low_value = struct.unpack('>H', data[2:])[0]
-
- # 组合高位和低位并计算实际温度
- raw_temperature = (high_value << 16) | low_value
- if raw_temperature & 0x8000: # 如果低位寄存器最高位为1，表示负值
- raw_temperature -= 0x10000 # 转换为正确的负数表示
-
- actual_temperature = raw_temperature / 10.0
- return actual_temperature
-
- @property
- def value(self) -> float:
- self._value = self.send_prototype_command(self.device_id)
- return self._value
-
- def set_warning(self, command):
- self.success = False
- temp = json.loads(command)["warning_temp"]
- self.warning = round(float(temp), 1)
- self.success = True
diff --git a/unilabos/devices/vaccum/__init__.py b/unilabos/devices/vaccum/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/virtual/__init__.py b/unilabos/devices/virtual/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/virtual/virtual_centrifuge.py b/unilabos/devices/virtual/virtual_centrifuge.py
deleted file mode 100644
index afce45a9..00000000
--- a/unilabos/devices/virtual/virtual_centrifuge.py
+++ /dev/null
@@ -1,220 +0,0 @@
-import asyncio
-import logging
-import time as time_module
-from typing import Dict, Any, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class VirtualCentrifuge:
- """Virtual centrifuge device - 简化版，只保留核心功能"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and "id" in kwargs:
- device_id = kwargs.pop("id")
- if config is None and "config" in kwargs:
- config = kwargs.pop("config")
-
- # 设置默认值
- self.device_id = device_id or "unknown_centrifuge"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualCentrifuge.{self.device_id}")
- self.data = {}
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
- self._max_speed = self.config.get("max_speed") or kwargs.get("max_speed", 15000.0)
- self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 40.0)
- self._min_temp = self.config.get("min_temp") or kwargs.get("min_temp", 4.0)
-
- # 处理其他kwargs参数
- skip_keys = {"port", "max_speed", "max_temp", "min_temp"}
- for key, value in kwargs.items():
- if key not in skip_keys and not hasattr(self, key):
- setattr(self, key, value)
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual centrifuge"""
- self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
-
- # 只保留核心状态
- self.data.update({
- "status": "Idle",
- "centrifuge_state": "Stopped", # Stopped, Running, Completed, Error
- "current_speed": 0.0,
- "target_speed": 0.0,
- "current_temp": 25.0,
- "target_temp": 25.0,
- "time_remaining": 0.0,
- "progress": 0.0,
- "message": "Ready for centrifugation"
- })
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual centrifuge"""
- self.logger.info(f"Cleaning up virtual centrifuge {self.device_id}")
-
- self.data.update({
- "status": "Offline",
- "centrifuge_state": "Offline",
- "current_speed": 0.0,
- "current_temp": 25.0,
- "message": "System offline"
- })
- return True
-
- async def centrifuge(
- self,
- vessel: str,
- speed: float,
- time: float,
- temp: float = 25.0
- ) -> bool:
- """Execute centrifuge action - 简化的离心流程"""
- self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} rpm, time={time}s, temp={temp}°C")
-
- # 验证参数
- if speed > self._max_speed or speed < 100.0:
- error_msg = f"离心速度 {speed} rpm 超出范围 (100-{self._max_speed} rpm)"
- self.logger.error(error_msg)
- self.data.update({
- "status": f"Error: {error_msg}",
- "centrifuge_state": "Error",
- "message": error_msg
- })
- return False
-
- if temp > self._max_temp or temp < self._min_temp:
- error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}-{self._max_temp}°C)"
- self.logger.error(error_msg)
- self.data.update({
- "status": f"Error: {error_msg}",
- "centrifuge_state": "Error",
- "message": error_msg
- })
- return False
-
- # 开始离心
- self.data.update({
- "status": f"离心中: {vessel}",
- "centrifuge_state": "Running",
- "current_speed": speed,
- "target_speed": speed,
- "current_temp": temp,
- "target_temp": temp,
- "time_remaining": time,
- "progress": 0.0,
- "message": f"Centrifuging {vessel} at {speed} rpm, {temp}°C"
- })
-
- try:
- # 离心过程 - 实时更新进度
- start_time = time_module.time()
- total_time = time
-
- while True:
- current_time = time_module.time()
- elapsed = current_time - start_time
- remaining = max(0, total_time - elapsed)
- progress = min(100.0, (elapsed / total_time) * 100)
-
- # 更新状态
- self.data.update({
- "time_remaining": remaining,
- "progress": progress,
- "status": f"离心中: {vessel} | {speed} rpm | {temp}°C | {progress:.1f}% | 剩余: {remaining:.0f}s",
- "message": f"Centrifuging: {progress:.1f}% complete, {remaining:.0f}s remaining"
- })
-
- # 时间到了，退出循环
- if remaining <= 0:
- break
-
- # 每秒更新一次
- await self._ros_node.sleep(1.0)
-
- # 离心完成
- self.data.update({
- "status": f"离心完成: {vessel} | {speed} rpm | {time}s",
- "centrifuge_state": "Completed",
- "progress": 100.0,
- "time_remaining": 0.0,
- "current_speed": 0.0, # 停止旋转
- "current_temp": 25.0, # 恢复室温
- "message": f"Centrifugation completed: {vessel} at {speed} rpm for {time}s"
- })
-
- self.logger.info(f"Centrifugation completed: {vessel} at {speed} rpm for {time}s")
- return True
-
- except Exception as e:
- # 出错处理
- self.logger.error(f"Error during centrifugation: {str(e)}")
-
- self.data.update({
- "status": f"离心错误: {str(e)}",
- "centrifuge_state": "Error",
- "current_speed": 0.0,
- "current_temp": 25.0,
- "progress": 0.0,
- "time_remaining": 0.0,
- "message": f"Centrifugation failed: {str(e)}"
- })
- return False
-
- # === 核心状态属性 ===
- @property
- def status(self) -> str:
- return self.data.get("status", "Unknown")
-
- @property
- def centrifuge_state(self) -> str:
- return self.data.get("centrifuge_state", "Unknown")
-
- @property
- def current_speed(self) -> float:
- return self.data.get("current_speed", 0.0)
-
- @property
- def target_speed(self) -> float:
- return self.data.get("target_speed", 0.0)
-
- @property
- def current_temp(self) -> float:
- return self.data.get("current_temp", 25.0)
-
- @property
- def target_temp(self) -> float:
- return self.data.get("target_temp", 25.0)
-
- @property
- def max_speed(self) -> float:
- return self._max_speed
-
- @property
- def max_temp(self) -> float:
- return self._max_temp
-
- @property
- def min_temp(self) -> float:
- return self._min_temp
-
- @property
- def time_remaining(self) -> float:
- return self.data.get("time_remaining", 0.0)
-
- @property
- def progress(self) -> float:
- return self.data.get("progress", 0.0)
-
- @property
- def message(self) -> str:
- return self.data.get("message", "")
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_column.py b/unilabos/devices/virtual/virtual_column.py
deleted file mode 100644
index 539f302a..00000000
--- a/unilabos/devices/virtual/virtual_column.py
+++ /dev/null
@@ -1,210 +0,0 @@
-import asyncio
-import logging
-from typing import Dict, Any, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-class VirtualColumn:
- """Virtual column device for RunColumn protocol 🏛️"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and 'id' in kwargs:
- device_id = kwargs.pop('id')
- if config is None and 'config' in kwargs:
- config = kwargs.pop('config')
-
- # 设置默认值
- self.device_id = device_id or "unknown_column"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualColumn.{self.device_id}")
- self.data = {}
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
- self._max_flow_rate = self.config.get('max_flow_rate') or kwargs.get('max_flow_rate', 10.0)
- self._column_length = self.config.get('column_length') or kwargs.get('column_length', 25.0)
- self._column_diameter = self.config.get('column_diameter') or kwargs.get('column_diameter', 2.0)
-
- print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
- print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual column 🚀"""
- self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
-
- self.data.update({
- "status": "Idle",
- "column_state": "Ready",
- "current_flow_rate": 0.0,
- "max_flow_rate": self._max_flow_rate,
- "column_length": self._column_length,
- "column_diameter": self._column_diameter,
- "processed_volume": 0.0,
- "progress": 0.0,
- "current_status": "Ready for separation"
- })
-
- self.logger.info(f"✅ 色谱柱 {self.device_id} 初始化完成 🏛️")
- self.logger.info(f"📊 设备规格: 最大流速 {self._max_flow_rate}mL/min | 柱长 {self._column_length}cm 📏")
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual column 🧹"""
- self.logger.info(f"🧹 清理虚拟色谱柱 {self.device_id} 🔚")
-
- self.data.update({
- "status": "Offline",
- "column_state": "Offline",
- "current_status": "System offline"
- })
-
- self.logger.info(f"✅ 色谱柱 {self.device_id} 清理完成 💤")
- return True
-
- async def run_column(self, from_vessel: str, to_vessel: str, column: str, **kwargs) -> bool:
- """Execute column chromatography run - matches RunColumn action 🏛️"""
-
- # 提取额外参数
- rf = kwargs.get('rf', '0.3')
- solvent1 = kwargs.get('solvent1', 'ethyl_acetate')
- solvent2 = kwargs.get('solvent2', 'hexane')
- ratio = kwargs.get('ratio', '30:70')
-
- self.logger.info(f"🏛️ 开始柱层析分离: {from_vessel} → {to_vessel} 🚰")
- self.logger.info(f" 🧪 使用色谱柱: {column}")
- self.logger.info(f" 🎯 Rf值: {rf}")
- self.logger.info(f" 🧪 洗脱溶剂: {solvent1}:{solvent2} ({ratio}) 💧")
-
- # 更新设备状态
- self.data.update({
- "status": "Running",
- "column_state": "Separating",
- "current_status": "🏛️ Column separation in progress",
- "progress": 0.0,
- "processed_volume": 0.0,
- "current_from_vessel": from_vessel,
- "current_to_vessel": to_vessel,
- "current_column": column,
- "current_rf": rf,
- "current_solvents": f"{solvent1}:{solvent2} ({ratio})"
- })
-
- # 模拟柱层析分离过程
- # 假设处理时间基于流速和柱子长度
- base_time = (self._column_length * 2) / self._max_flow_rate # 简化计算
- separation_time = max(base_time, 20.0) # 最少20秒
-
- self.logger.info(f"⏱️ 预计分离时间: {separation_time:.1f}秒 ⌛")
- self.logger.info(f"📏 柱参数: 长度 {self._column_length}cm | 流速 {self._max_flow_rate}mL/min 🌊")
-
- steps = 20 # 分20个步骤模拟分离过程
- step_time = separation_time / steps
-
- for i in range(steps):
- await self._ros_node.sleep(step_time)
-
- progress = (i + 1) / steps * 100
- volume_processed = (i + 1) * 5.0 # 假设每步处理5mL
-
- # 不同阶段的状态描述
- if progress <= 25:
- phase = "🌊 样品上柱阶段"
- phase_emoji = "📥"
- elif progress <= 50:
- phase = "🧪 洗脱开始"
- phase_emoji = "💧"
- elif progress <= 75:
- phase = "⚗️ 成分分离中"
- phase_emoji = "🔄"
- else:
- phase = "🎯 收集产物"
- phase_emoji = "📤"
-
- # 更新状态
- status_msg = f"{phase_emoji} {phase}: {progress:.1f}% | 💧 已处理: {volume_processed:.1f}mL"
-
- self.data.update({
- "progress": progress,
- "processed_volume": volume_processed,
- "current_status": status_msg,
- "current_phase": phase
- })
-
- # 进度日志（每25%打印一次）
- if progress >= 25 and (i + 1) % 5 == 0: # 每5步（25%）打印一次
- self.logger.info(f"📊 分离进度: {progress:.0f}% | {phase} | 💧 {volume_processed:.1f}mL 完成 ✨")
-
- # 分离完成
- final_status = f"✅ 柱层析分离完成: {from_vessel} → {to_vessel} | 💧 共处理 {volume_processed:.1f}mL"
-
- self.data.update({
- "status": "Idle",
- "column_state": "Ready",
- "current_status": final_status,
- "progress": 100.0,
- "final_volume": volume_processed
- })
-
- self.logger.info(f"🎉 柱层析分离完成! ✨")
- self.logger.info(f"📊 分离结果:")
- self.logger.info(f" 🥽 源容器: {from_vessel}")
- self.logger.info(f" 🥽 目标容器: {to_vessel}")
- self.logger.info(f" 🏛️ 使用色谱柱: {column}")
- self.logger.info(f" 💧 处理体积: {volume_processed:.1f}mL")
- self.logger.info(f" 🧪 洗脱条件: {solvent1}:{solvent2} ({ratio})")
- self.logger.info(f" 🎯 Rf值: {rf}")
- self.logger.info(f" ⏱️ 总耗时: {separation_time:.1f}秒 🏁")
-
- return True
-
- # 状态属性
- @property
- def status(self) -> str:
- return self.data.get("status", "❓ Unknown")
-
- @property
- def column_state(self) -> str:
- return self.data.get("column_state", "❓ Unknown")
-
- @property
- def current_flow_rate(self) -> float:
- return self.data.get("current_flow_rate", 0.0)
-
- @property
- def max_flow_rate(self) -> float:
- return self.data.get("max_flow_rate", 0.0)
-
- @property
- def column_length(self) -> float:
- return self.data.get("column_length", 0.0)
-
- @property
- def column_diameter(self) -> float:
- return self.data.get("column_diameter", 0.0)
-
- @property
- def processed_volume(self) -> float:
- return self.data.get("processed_volume", 0.0)
-
- @property
- def progress(self) -> float:
- return self.data.get("progress", 0.0)
-
- @property
- def current_status(self) -> str:
- return self.data.get("current_status", "📋 Ready")
-
- @property
- def current_phase(self) -> str:
- return self.data.get("current_phase", "🏠 待机中")
-
- @property
- def final_volume(self) -> float:
- return self.data.get("final_volume", 0.0)
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_filter.py b/unilabos/devices/virtual/virtual_filter.py
deleted file mode 100644
index 98effc99..00000000
--- a/unilabos/devices/virtual/virtual_filter.py
+++ /dev/null
@@ -1,244 +0,0 @@
-import asyncio
-import logging
-import time as time_module
-from typing import Dict, Any, Optional
-
-from unilabos.compile.utils.vessel_parser import get_vessel
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class VirtualFilter:
- """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
- if device_id is None and "id" in kwargs:
- device_id = kwargs.pop("id")
- if config is None and "config" in kwargs:
- config = kwargs.pop("config")
-
- self.device_id = device_id or "unknown_filter"
- self.config = config or {}
- self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
- self.data = {}
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
- self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
- self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
- self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
-
- # 处理其他kwargs参数
- skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
- for key, value in kwargs.items():
- if key not in skip_keys and not hasattr(self, key):
- setattr(self, key, value)
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual filter 🚀"""
- self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
-
- # 按照 Filter.action 的 feedback 字段初始化
- self.data.update(
- {
- "status": "Idle",
- "progress": 0.0, # Filter.action feedback
- "current_temp": 25.0, # Filter.action feedback
- "filtered_volume": 0.0, # Filter.action feedback
- "message": "Ready for filtration",
- }
- )
-
- self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual filter 🧹"""
- self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
-
- self.data.update({"status": "Offline"})
-
- self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
- return True
-
- async def filter(
- self,
- vessel: dict,
- filtrate_vessel: dict = {},
- stir: bool = False,
- stir_speed: float = 300.0,
- temp: float = 25.0,
- continue_heatchill: bool = False,
- volume: float = 0.0,
- ) -> bool:
- """Execute filter action - 完全按照 Filter.action 参数 🌊"""
- vessel_id, _ = get_vessel(vessel)
- filtrate_vessel_id, _ = get_vessel(filtrate_vessel) if filtrate_vessel else (f"{vessel_id}_filtrate", {})
-
- # 🔧 新增：温度自动调整
- original_temp = temp
- if temp == 0.0:
- temp = 25.0 # 0度自动设置为室温
- self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
- elif temp < 4.0:
- temp = 4.0 # 小于4度自动设置为4度
- self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
-
- self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
- self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
- self.logger.info(f" 🌡️ 温度: {temp}°C")
- self.logger.info(f" 💧 体积: {volume}mL")
- self.logger.info(f" 🔥 保持加热: {continue_heatchill}")
-
- # 验证参数
- if temp > self._max_temp or temp < 4.0:
- error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
- return False
-
- if stir and stir_speed > self._max_stir_speed:
- error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
- return False
-
- if volume > self._max_volume:
- error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({"status": f"Error", "message": error_msg})
- return False
-
- # 开始过滤
- filter_volume = volume if volume > 0 else 50.0
- self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
-
- self.data.update(
- {
- "status": f"Running",
- "current_temp": temp,
- "filtered_volume": 0.0,
- "progress": 0.0,
- "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
- }
- )
-
- try:
- # 过滤过程 - 实时更新进度
- start_time = time_module.time()
-
- # 根据体积和搅拌估算过滤时间
- base_time = filter_volume / 5.0 # 5mL/s 基础速度
- if stir:
- base_time *= 0.8 # 搅拌加速过滤
- self.logger.info(f"🌪️ 搅拌加速过滤，预计时间减少20% ⚡")
- if temp > 50.0:
- base_time *= 0.7 # 高温加速过滤
- self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡")
-
- filter_time = max(base_time, 10.0) # 最少10秒
- self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛")
-
- while True:
- current_time = time_module.time()
- elapsed = current_time - start_time
- remaining = max(0, filter_time - elapsed)
- progress = min(100.0, (elapsed / filter_time) * 100)
- current_filtered = (progress / 100.0) * filter_volume
-
- # 更新状态 - 按照 Filter.action feedback 字段
- status_msg = f"🌊 过滤中: {vessel}"
- if stir:
- status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
- status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
-
- self.data.update(
- {
- "progress": progress, # Filter.action feedback
- "current_temp": temp, # Filter.action feedback
- "filtered_volume": current_filtered, # Filter.action feedback
- "status": "Running",
- "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
- }
- )
-
- # 进度日志（每25%打印一次）
- if progress >= 25 and progress % 25 < 1:
- self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨")
-
- if remaining <= 0:
- break
-
- await self._ros_node.sleep(1.0)
-
- # 过滤完成
- final_temp = temp if continue_heatchill else 25.0
- final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}"
- if continue_heatchill:
- final_status += " | 🔥 继续加热搅拌"
- self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
-
- self.data.update(
- {
- "status": final_status,
- "progress": 100.0, # Filter.action feedback
- "current_temp": final_temp, # Filter.action feedback
- "filtered_volume": filter_volume, # Filter.action feedback
- "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
- }
- )
-
- self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
- self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
- return True
-
- except Exception as e:
- error_msg = f"过滤过程中发生错误: {str(e)} 💥"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
- return False
-
- # === 核心状态属性 - 按照 Filter.action feedback 字段 ===
- @property
- def status(self) -> str:
- return self.data.get("status", "❓ Unknown")
-
- @property
- def progress(self) -> float:
- """Filter.action feedback 字段 📊"""
- return self.data.get("progress", 0.0)
-
- @property
- def current_temp(self) -> float:
- """Filter.action feedback 字段 🌡️"""
- return self.data.get("current_temp", 25.0)
-
- @property
- def current_status(self) -> str:
- """Filter.action feedback 字段 📋"""
- return self.data.get("current_status", "")
-
- @property
- def filtered_volume(self) -> float:
- """Filter.action feedback 字段 💧"""
- return self.data.get("filtered_volume", 0.0)
-
- @property
- def message(self) -> str:
- return self.data.get("message", "")
-
- @property
- def max_temp(self) -> float:
- return self._max_temp
-
- @property
- def max_stir_speed(self) -> float:
- return self._max_stir_speed
-
- @property
- def max_volume(self) -> float:
- return self._max_volume
diff --git a/unilabos/devices/virtual/virtual_gas_source.py b/unilabos/devices/virtual/virtual_gas_source.py
deleted file mode 100644
index 90528826..00000000
--- a/unilabos/devices/virtual/virtual_gas_source.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import time
-from typing import Dict, Any, Optional
-
-
-class VirtualGasSource:
- """Virtual gas source for testing"""
-
- def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
- self.device_id = device_id or "unknown_gas_source"
- self.config = config or {}
- self.data = {}
- self._status = "OPEN"
-
- async def initialize(self) -> bool:
- """Initialize virtual gas source"""
- self.data.update({
- "status": self._status
- })
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual gas source"""
- return True
-
- @property
- def status(self) -> str:
- return self._status
-
- def get_status(self) -> str:
- return self._status
-
- def set_status(self, string):
- self._status = string
- time.sleep(5)
-
- def open(self):
- self._status = "OPEN"
-
- def close(self):
- self._status = "CLOSED"
-
- def is_open(self):
- return self._status
-
- def is_closed(self):
- return not self._status
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_heatchill.py b/unilabos/devices/virtual/virtual_heatchill.py
deleted file mode 100644
index 29a9fd28..00000000
--- a/unilabos/devices/virtual/virtual_heatchill.py
+++ /dev/null
@@ -1,318 +0,0 @@
-import asyncio
-import logging
-import time as time_module # 重命名time模块，避免与参数冲突
-from typing import Dict, Any
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-class VirtualHeatChill:
- """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and 'id' in kwargs:
- device_id = kwargs.pop('id')
- if config is None and 'config' in kwargs:
- config = kwargs.pop('config')
-
- # 设置默认值
- self.device_id = device_id or "unknown_heatchill"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualHeatChill.{self.device_id}")
- self.data = {}
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
- self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 200.0)
- self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', -80.0)
- self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
-
- # 处理其他kwargs参数
- skip_keys = {'port', 'max_temp', 'min_temp', 'max_stir_speed'}
- for key, value in kwargs.items():
- if key not in skip_keys and not hasattr(self, key):
- setattr(self, key, value)
-
- print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
- print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual heat chill 🚀"""
- self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
-
- # 初始化状态信息
- self.data.update({
- "status": "🏠 待机中",
- "operation_mode": "Idle",
- "is_stirring": False,
- "stir_speed": 0.0,
- "remaining_time": 0.0,
- })
-
- self.logger.info(f"✅ 温控设备 {self.device_id} 初始化完成 🌡️")
- self.logger.info(f"📊 设备规格: 温度范围 {self._min_temp}°C ~ {self._max_temp}°C | 搅拌范围 0 ~ {self._max_stir_speed} RPM")
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual heat chill 🧹"""
- self.logger.info(f"🧹 清理虚拟温控设备 {self.device_id} 🔚")
-
- self.data.update({
- "status": "💤 离线",
- "operation_mode": "Offline",
- "is_stirring": False,
- "stir_speed": 0.0,
- "remaining_time": 0.0
- })
-
- self.logger.info(f"✅ 温控设备 {self.device_id} 清理完成 💤")
- return True
-
- async def heat_chill(self, temp: float, time, stir: bool,
- stir_speed: float, purpose: str, vessel: dict = {}) -> bool:
- """Execute heat chill action - 🔧 修复：确保参数类型正确"""
-
- # 🔧 关键修复：确保所有参数类型正确
- try:
- temp = float(temp)
- time_value = float(time) # 强制转换为浮点数
- stir_speed = float(stir_speed)
- stir = bool(stir)
- purpose = str(purpose)
- except (ValueError, TypeError) as e:
- error_msg = f"参数类型转换错误: temp={temp}({type(temp)}), time={time}({type(time)}), error={str(e)}"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: {error_msg}",
- "operation_mode": "Error"
- })
- return False
-
- # 确定温度操作emoji
- if temp > 25.0:
- temp_emoji = "🔥"
- operation_mode = "Heating"
- status_action = "加热"
- elif temp < 25.0:
- temp_emoji = "❄️"
- operation_mode = "Cooling"
- status_action = "冷却"
- else:
- temp_emoji = "🌡️"
- operation_mode = "Maintaining"
- status_action = "保温"
-
- self.logger.info(f"🌡️ 开始温控操作: {temp}°C {temp_emoji}")
- self.logger.info(f" 🎯 目标温度: {temp}°C {temp_emoji}")
- self.logger.info(f" ⏰ 持续时间: {time_value}s")
- self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
- self.logger.info(f" 📝 目的: {purpose}")
-
- # 验证参数范围
- if temp > self._max_temp or temp < self._min_temp:
- error_msg = f"🌡️ 温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: 温度超出范围 ⚠️",
- "operation_mode": "Error"
- })
- return False
-
- if stir and stir_speed > self._max_stir_speed:
- error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出最大值 {self._max_stir_speed} RPM ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: 搅拌速度超出范围 ⚠️",
- "operation_mode": "Error"
- })
- return False
-
- if time_value <= 0:
- error_msg = f"⏰ 时间 {time_value}s 必须大于0 ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: 时间参数无效 ⚠️",
- "operation_mode": "Error"
- })
- return False
-
- # 🔧 修复：使用转换后的时间值
- start_time = time_module.time()
- total_time = time_value # 使用转换后的浮点数
-
- self.logger.info(f"🚀 开始{status_action}程序! 预计用时 {total_time:.1f}秒 ⏱️")
-
- # 开始操作
- stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
-
- self.data.update({
- "status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
- "operation_mode": operation_mode,
- "is_stirring": stir,
- "stir_speed": stir_speed if stir else 0.0,
- "remaining_time": total_time,
- })
-
- # 在等待过程中每秒更新剩余时间
- last_logged_time = 0
- while True:
- current_time = time_module.time()
- elapsed = current_time - start_time
- remaining = max(0, total_time - elapsed)
- progress = (elapsed / total_time) * 100 if total_time > 0 else 100
-
- # 更新剩余时间和状态
- self.data.update({
- "remaining_time": remaining,
- "status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
- "progress": progress
- })
-
- # 进度日志（每25%打印一次）
- if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_time:
- self.logger.info(f"📊 {status_action}进度: {progress:.0f}% | ⏰ 剩余: {remaining:.0f}s | {temp_emoji} 目标: {temp}°C ✨")
- last_logged_time = int(progress)
-
- # 如果时间到了，退出循环
- if remaining <= 0:
- break
-
- # 等待1秒后再次检查
- await self._ros_node.sleep(1.0)
-
- # 操作完成
- final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
-
- self.data.update({
- "status": f"✅ 完成: 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
- "operation_mode": "Completed",
- "remaining_time": 0.0,
- "is_stirring": False,
- "stir_speed": 0.0,
- "progress": 100.0
- })
-
- self.logger.info(f"🎉 温控操作完成! ✨")
- self.logger.info(f"📊 操作结果:")
- self.logger.info(f" 🌡️ 达到温度: {temp}°C {temp_emoji}")
- self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
- if stir:
- self.logger.info(f" 🌪️ 搅拌速度: {stir_speed} RPM")
- self.logger.info(f" 📝 操作目的: {purpose} 🏁")
-
- return True
-
- async def heat_chill_start(self, temp: float, purpose: str, vessel: dict = {}) -> bool:
- """Start continuous heat chill 🔄"""
-
- # 🔧 添加类型转换
- try:
- temp = float(temp)
- purpose = str(purpose)
- except (ValueError, TypeError) as e:
- error_msg = f"参数类型转换错误: {str(e)}"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: {error_msg}",
- "operation_mode": "Error"
- })
- return False
-
- # 确定温度操作emoji
- if temp > 25.0:
- temp_emoji = "🔥"
- operation_mode = "Heating"
- status_action = "持续加热"
- elif temp < 25.0:
- temp_emoji = "❄️"
- operation_mode = "Cooling"
- status_action = "持续冷却"
- else:
- temp_emoji = "🌡️"
- operation_mode = "Maintaining"
- status_action = "恒温保持"
-
- self.logger.info(f"🔄 启动持续温控: {temp}°C {temp_emoji}")
- self.logger.info(f" 🎯 目标温度: {temp}°C {temp_emoji}")
- self.logger.info(f" 🔄 模式: {status_action}")
- self.logger.info(f" 📝 目的: {purpose}")
-
- # 验证参数
- if temp > self._max_temp or temp < self._min_temp:
- error_msg = f"🌡️ 温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: 温度超出范围 ⚠️",
- "operation_mode": "Error"
- })
- return False
-
- self.data.update({
- "status": f"🔄 启动: {status_action} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
- "operation_mode": operation_mode,
- "is_stirring": False,
- "stir_speed": 0.0,
- "remaining_time": -1.0, # -1 表示持续运行
- })
-
- self.logger.info(f"✅ 持续温控已启动! {temp_emoji} {status_action}模式 🚀")
- return True
-
- async def heat_chill_stop(self, vessel: dict = {}) -> bool:
- """Stop heat chill 🛑"""
-
- self.logger.info(f"🛑 停止温控:")
-
- self.data.update({
- "status": f"🛑 {self.device_id} 温控停止",
- "operation_mode": "Stopped",
- "is_stirring": False,
- "stir_speed": 0.0,
- "remaining_time": 0.0,
- })
-
- self.logger.info(f"✅ 温控设备已停止 {self.device_id} 温度控制 🏁")
- return True
-
- # 状态属性
- @property
- def status(self) -> str:
- return self.data.get("status", "🏠 待机中")
-
- @property
- def operation_mode(self) -> str:
- return self.data.get("operation_mode", "Idle")
-
- @property
- def is_stirring(self) -> bool:
- return self.data.get("is_stirring", False)
-
- @property
- def stir_speed(self) -> float:
- return self.data.get("stir_speed", 0.0)
-
- @property
- def remaining_time(self) -> float:
- return self.data.get("remaining_time", 0.0)
-
- @property
- def progress(self) -> float:
- return self.data.get("progress", 0.0)
-
- @property
- def max_temp(self) -> float:
- return self._max_temp
-
- @property
- def min_temp(self) -> float:
- return self._min_temp
-
- @property
- def max_stir_speed(self) -> float:
- return self._max_stir_speed
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_multiway_valve.py b/unilabos/devices/virtual/virtual_multiway_valve.py
deleted file mode 100644
index 1512f33d..00000000
--- a/unilabos/devices/virtual/virtual_multiway_valve.py
+++ /dev/null
@@ -1,278 +0,0 @@
-import time
-import logging
-from typing import Union, Dict, Optional
-
-
-class VirtualMultiwayValve:
- """
- 虚拟九通阀门 - 0号位连接transfer pump，1-8号位连接其他设备 🔄
- """
- def __init__(self, port: str = "VIRTUAL", positions: int = 8, **kwargs):
- self.port = port
- self.max_positions = positions # 1-8号位
- self.total_positions = positions + 1 # 0-8号位，共9个位置
-
- # 添加日志记录器
- self.logger = logging.getLogger(f"VirtualMultiwayValve.{port}")
-
- # 状态属性
- self._status = "Idle"
- self._valve_state = "Ready"
- self._current_position = 0 # 默认在0号位（transfer pump位置）
- self._target_position = 0
-
- print(f"🔄 === 虚拟多通阀门已创建 === ✨")
- print(f"🎯 端口: {port} | 📊 位置范围: 0-{self.max_positions} | 🏠 初始位置: 0 (transfer_pump)")
- self.logger.info(f"🔧 多通阀门初始化: 端口={port}, 最大位置={self.max_positions}")
-
- @property
- def status(self) -> str:
- return self._status
-
- @property
- def valve_state(self) -> str:
- return self._valve_state
-
- @property
- def current_position(self) -> int:
- return self._current_position
-
- @property
- def target_position(self) -> int:
- return self._target_position
-
- def get_current_position(self) -> int:
- """获取当前阀门位置 📍"""
- return self._current_position
-
- def get_current_port(self) -> str:
- """获取当前连接的端口名称 🔌"""
- return self._current_position
-
- def set_position(self, command: Union[int, str]):
- """
- 设置阀门位置 - 支持0-8位置 🎯
-
- Args:
- command: 目标位置 (0-8) 或位置字符串
- 0: transfer pump位置
- 1-8: 其他设备位置
- 'default': 默认位置（0号位）
- """
- try:
- # 🔧 处理特殊字符串命令
- if isinstance(command, str):
- command_lower = command.lower().strip()
-
- # 处理特殊命令
- if command_lower in ['default', 'pump', 'transfer_pump', 'home']:
- pos = 0 # 默认位置为0号位（transfer pump）
- self.logger.info(f"🔧 特殊命令 '{command}' 映射到位置 {pos}")
- elif command_lower in ['open']:
- pos = 0 # open命令也映射到0号位
- self.logger.info(f"🔧 OPEN命令映射到位置 {pos}")
- elif command_lower in ['close', 'closed']:
- # 关闭命令保持当前位置
- pos = self._current_position
- self.logger.info(f"🔧 CLOSE命令保持当前位置 {pos}")
- else:
- # 尝试转换为数字
- try:
- pos = int(command)
- except ValueError:
- error_msg = f"无法识别的命令: '{command}'"
- self.logger.error(f"❌ {error_msg}")
- raise ValueError(error_msg)
- else:
- pos = int(command)
-
- if pos < 0 or pos > self.max_positions:
- error_msg = f"位置必须在 0-{self.max_positions} 范围内"
- self.logger.error(f"❌ {error_msg}: 请求位置={pos}")
- raise ValueError(error_msg)
-
- # 获取位置描述emoji
- if pos == 0:
- pos_emoji = "🚰"
- pos_desc = "泵位置"
- else:
- pos_emoji = "🔌"
- pos_desc = f"端口{pos}"
-
- old_position = self._current_position
- old_port = self.get_current_port()
-
- self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos} {pos_emoji}")
-
- self._status = "Busy"
- self._valve_state = "Moving"
- self._target_position = pos
-
- # 模拟阀门切换时间
- switch_time = abs(self._current_position - pos) * 0.5 # 每个位置0.5秒
-
- if switch_time > 0:
- self.logger.info(f"⏱️ 阀门移动中... 预计用时: {switch_time:.1f}秒 🔄")
- time.sleep(switch_time)
-
- self._current_position = pos
- self._status = "Idle"
- self._valve_state = "Ready"
-
- current_port = self.get_current_port()
- success_msg = f"✅ 阀门已切换到位置 {pos} ({current_port}) {pos_emoji}"
-
- self.logger.info(success_msg)
- return success_msg
-
- except ValueError as e:
- error_msg = f"❌ 阀门切换失败: {str(e)}"
- self._status = "Error"
- self._valve_state = "Error"
- self.logger.error(error_msg)
- return error_msg
-
- def set_to_pump_position(self):
- """切换到transfer pump位置（0号位）🚰"""
- self.logger.info(f"🚰 切换到泵位置...")
- return self.set_position(0)
-
- def set_to_port(self, port_number: int):
- """
- 切换到指定端口位置 🔌
-
- Args:
- port_number: 端口号 (1-8)
- """
- if port_number < 1 or port_number > self.max_positions:
- error_msg = f"端口号必须在 1-{self.max_positions} 范围内"
- self.logger.error(f"❌ {error_msg}: 请求端口={port_number}")
- raise ValueError(error_msg)
-
- self.logger.info(f"🔌 切换到端口 {port_number}...")
- return self.set_position(port_number)
-
- def open(self):
- """打开阀门 - 设置到transfer pump位置（0号位）🔓"""
- self.logger.info(f"🔓 打开阀门，设置到泵位置...")
- return self.set_to_pump_position()
-
- def close(self):
- """关闭阀门 - 对于多通阀门，设置到一个"关闭"状态 🔒"""
- self.logger.info(f"🔒 关闭阀门...")
-
- self._status = "Busy"
- self._valve_state = "Closing"
- time.sleep(0.5)
-
- # 可以选择保持当前位置或设置特殊关闭状态
- self._status = "Idle"
- self._valve_state = "Closed"
-
- close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
- self.logger.info(close_msg)
- return close_msg
-
- def get_valve_position(self) -> int:
- """获取阀门位置 - 兼容性方法 📍"""
- return self._current_position
-
- def set_valve_position(self, command: Union[int, str]):
- """
- 设置阀门位置 - 兼容pump_protocol调用 🎯
- 这是set_position的别名方法，用于兼容pump_protocol.py
-
- Args:
- command: 目标位置 (0-8) 或位置字符串
- """
- # 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
- return self.set_position(command)
-
- def is_at_position(self, position: int) -> bool:
- """检查是否在指定位置 🎯"""
- result = self._current_position == position
- # 删除debug日志：self.logger.debug(f"🎯 位置检查: 当前={self._current_position}, 目标={position}, 匹配={result}")
- return result
-
- def is_at_pump_position(self) -> bool:
- """检查是否在transfer pump位置 🚰"""
- result = self._current_position == 0
- # 删除debug日志：pump_status = "是" if result else "否"
- # 删除debug日志：self.logger.debug(f"🚰 泵位置检查: {pump_status} (当前位置: {self._current_position})")
- return result
-
- def is_at_port(self, port_number: int) -> bool:
- """检查是否在指定端口位置 🔌"""
- result = self._current_position == port_number
- # 删除debug日志：port_status = "是" if result else "否"
- # 删除debug日志：self.logger.debug(f"🔌 端口{port_number}检查: {port_status} (当前位置: {self._current_position})")
- return result
-
- def reset(self):
- """重置阀门到transfer pump位置（0号位）🔄"""
- self.logger.info(f"🔄 重置阀门到泵位置...")
- return self.set_position(0)
-
- def switch_between_pump_and_port(self, port_number: int):
- """
- 在transfer pump位置和指定端口之间切换 🔄
-
- Args:
- port_number: 目标端口号 (1-8)
- """
- if self._current_position == 0:
- # 当前在pump位置，切换到指定端口
- self.logger.info(f"🔄 从泵位置切换到端口 {port_number}...")
- return self.set_to_port(port_number)
- else:
- # 当前在某个端口，切换到pump位置
- self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
- return self.set_to_pump_position()
-
- def get_flow_path(self) -> str:
- """获取当前流路路径描述 🌊"""
- current_port = self.get_current_port()
- if self._current_position == 0:
- flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
- else:
- flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
-
- # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
- return flow_path
-
- def __str__(self):
- current_port = self.get_current_port()
- status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
-
- return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
-
-
-# 使用示例
-if __name__ == "__main__":
- valve = VirtualMultiwayValve()
-
- print("🔄 === 虚拟九通阀门测试 === ✨")
- print(f"🏠 初始状态: {valve}")
- print(f"🌊 当前流路: {valve.get_flow_path()}")
-
- # 切换到试剂瓶1（1号位）
- print(f"\n🔌 切换到1号位: {valve.set_position(1)}")
- print(f"📍 当前状态: {valve}")
-
- # 切换到transfer pump位置（0号位）
- print(f"\n🚰 切换到pump位置: {valve.set_to_pump_position()}")
- print(f"📍 当前状态: {valve}")
-
- # 切换到试剂瓶2（2号位）
- print(f"\n🔌 切换到2号位: {valve.set_to_port(2)}")
- print(f"📍 当前状态: {valve}")
-
- # 测试切换功能
- print(f"\n🔄 智能切换测试:")
- print(f"当前位置: {valve._current_position}")
- print(f"切换结果: {valve.switch_between_pump_and_port(3)}")
- print(f"新位置: {valve._current_position}")
-
- # 重置测试
- print(f"\n🔄 重置测试: {valve.reset()}")
- print(f"📍 重置后状态: {valve}")
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_rotavap.py b/unilabos/devices/virtual/virtual_rotavap.py
deleted file mode 100644
index 5e85d35c..00000000
--- a/unilabos/devices/virtual/virtual_rotavap.py
+++ /dev/null
@@ -1,359 +0,0 @@
-import asyncio
-import logging
-import time as time_module
-from typing import Dict, Any, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-def debug_print(message):
- """调试输出 🔍"""
- print(f"🌪️ [ROTAVAP] {message}", flush=True)
-
-
-class VirtualRotavap:
- """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and "id" in kwargs:
- device_id = kwargs.pop("id")
- if config is None and "config" in kwargs:
- config = kwargs.pop("config")
-
- # 设置默认值
- self.device_id = device_id or "unknown_rotavap"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualRotavap.{self.device_id}")
- self.data = {}
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
- self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 180.0)
- self._max_rotation_speed = self.config.get("max_rotation_speed") or kwargs.get("max_rotation_speed", 280.0)
-
- # 处理其他kwargs参数
- skip_keys = {"port", "max_temp", "max_rotation_speed"}
- for key, value in kwargs.items():
- if key not in skip_keys and not hasattr(self, key):
- setattr(self, key, value)
-
- print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
- print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual rotary evaporator 🚀"""
- self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
-
- # 只保留核心状态
- self.data.update(
- {
- "status": "🏠 待机中",
- "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
- "current_temp": 25.0,
- "target_temp": 25.0,
- "rotation_speed": 0.0,
- "vacuum_pressure": 1.0, # 大气压
- "evaporated_volume": 0.0,
- "progress": 0.0,
- "remaining_time": 0.0,
- "message": "🌪️ Ready for evaporation",
- }
- )
-
- self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
- self.logger.info(
- f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
- )
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual rotary evaporator 🧹"""
- self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
-
- self.data.update(
- {
- "status": "💤 离线",
- "rotavap_state": "Offline",
- "current_temp": 25.0,
- "rotation_speed": 0.0,
- "vacuum_pressure": 1.0,
- "message": "💤 System offline",
- }
- )
-
- self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
- return True
-
- async def evaporate(
- self,
- vessel: str,
- pressure: float = 0.1,
- temp: float = 60.0,
- time: float = 180.0,
- stir_speed: float = 100.0,
- solvent: str = "",
- **kwargs,
- ) -> bool:
- """Execute evaporate action - 简化版 🌪️"""
-
- # 🔧 新增：确保time参数是数值类型
- if isinstance(time, str):
- try:
- time = float(time)
- except ValueError:
- self.logger.error(f"❌ 无法转换时间参数 '{time}' 为数值，使用默认值180.0秒")
- time = 180.0
- elif not isinstance(time, (int, float)):
- self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
- time = 180.0
-
- # 确保time是float类型; 并加速
- time = float(time) / 10.0
-
- # 🔧 简化处理：如果vessel就是设备自己，直接操作
- if vessel == self.device_id:
- debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
- actual_vessel = self.device_id
- else:
- actual_vessel = vessel
-
- # 参数预处理
- if solvent:
- self.logger.info(f"🧪 识别到溶剂: {solvent}")
- # 根据溶剂调整参数
- solvent_lower = solvent.lower()
- if any(s in solvent_lower for s in ["water", "aqueous"]):
- temp = max(temp, 80.0)
- pressure = max(pressure, 0.2)
- self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
- elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
- temp = min(temp, 50.0)
- pressure = min(pressure, 0.05)
- self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-
- self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
- self.logger.info(f" 🥽 容器: {actual_vessel}")
- self.logger.info(f" 🌡️ 温度: {temp}°C")
- self.logger.info(f" 💨 真空度: {pressure} bar")
- self.logger.info(f" ⏰ 时间: {time}s")
- self.logger.info(f" 🌀 转速: {stir_speed} RPM")
- if solvent:
- self.logger.info(f" 🧪 溶剂: {solvent}")
-
- # 验证参数
- if temp > self._max_temp or temp < 10.0:
- error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update(
- {
- "status": f"❌ 错误: 温度超出范围",
- "rotavap_state": "Error",
- "current_temp": 25.0,
- "progress": 0.0,
- "evaporated_volume": 0.0,
- "message": error_msg,
- }
- )
- return False
-
- if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
- error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update(
- {
- "status": f"❌ 错误: 转速超出范围",
- "rotavap_state": "Error",
- "current_temp": 25.0,
- "progress": 0.0,
- "evaporated_volume": 0.0,
- "message": error_msg,
- }
- )
- return False
-
- if pressure < 0.01 or pressure > 1.0:
- error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update(
- {
- "status": f"❌ 错误: 压力超出范围",
- "rotavap_state": "Error",
- "current_temp": 25.0,
- "progress": 0.0,
- "evaporated_volume": 0.0,
- "message": error_msg,
- }
- )
- return False
-
- # 开始蒸发 - 🔧 现在time已经确保是float类型
- self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
-
- self.data.update(
- {
- "status": f"🌪️ 蒸发中: {actual_vessel}",
- "rotavap_state": "Evaporating",
- "current_temp": temp,
- "target_temp": temp,
- "rotation_speed": stir_speed,
- "vacuum_pressure": pressure,
- "remaining_time": time,
- "progress": 0.0,
- "evaporated_volume": 0.0,
- "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
- }
- )
-
- try:
- # 蒸发过程 - 实时更新进度
- start_time = time_module.time()
- total_time = time
- last_logged_progress = 0
-
- while True:
- current_time = time_module.time()
- elapsed = current_time - start_time
- remaining = max(0, total_time - elapsed)
- progress = min(100.0, (elapsed / total_time) * 100)
-
- # 模拟蒸发体积 - 根据溶剂类型调整
- if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
- evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢
- elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
- evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快
- else:
- evaporated_vol = progress * 0.8 # 默认蒸发量
-
- # 🔧 更新状态 - 确保包含所有必需字段
- status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
-
- self.data.update(
- {
- "remaining_time": remaining,
- "progress": progress,
- "evaporated_volume": evaporated_vol,
- "current_temp": temp,
- "status": status_msg,
- "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
- }
- )
-
- # 进度日志（每25%打印一次）
- if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
- self.logger.info(
- f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
- )
- last_logged_progress = int(progress)
-
- # 时间到了，退出循环
- if remaining <= 0:
- break
-
- # 每秒更新一次
- await self._ros_node.sleep(1.0)
-
- # 蒸发完成
- if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
- final_evaporated = 60.0 # 水系溶剂
- elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
- final_evaporated = 100.0 # 易挥发溶剂
- else:
- final_evaporated = 80.0 # 默认
-
- self.data.update(
- {
- "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
- "rotavap_state": "Completed",
- "evaporated_volume": final_evaporated,
- "progress": 100.0,
- "current_temp": temp,
- "remaining_time": 0.0,
- "rotation_speed": 0.0,
- "vacuum_pressure": 1.0,
- "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
- }
- )
-
- self.logger.info(f"🎉 蒸发操作完成! ✨")
- self.logger.info(f"📊 蒸发结果:")
- self.logger.info(f" 🥽 容器: {actual_vessel}")
- self.logger.info(f" 💧 蒸发量: {final_evaporated:.1f}mL")
- self.logger.info(f" 🌡️ 蒸发温度: {temp}°C")
- self.logger.info(f" 💨 真空度: {pressure} bar")
- self.logger.info(f" 🌀 旋转速度: {stir_speed} RPM")
- self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
- if solvent:
- self.logger.info(f" 🧪 处理溶剂: {solvent} 🏁")
-
- return True
-
- except Exception as e:
- # 出错处理
- error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
- self.logger.error(f"❌ {error_msg}")
-
- self.data.update(
- {
- "status": f"❌ 蒸发错误: {str(e)}",
- "rotavap_state": "Error",
- "current_temp": 25.0,
- "progress": 0.0,
- "evaporated_volume": 0.0,
- "rotation_speed": 0.0,
- "vacuum_pressure": 1.0,
- "message": f"❌ Evaporation failed: {str(e)}",
- }
- )
- return False
-
- # === 核心状态属性 ===
- @property
- def status(self) -> str:
- return self.data.get("status", "❓ Unknown")
-
- @property
- def rotavap_state(self) -> str:
- return self.data.get("rotavap_state", "Unknown")
-
- @property
- def current_temp(self) -> float:
- return self.data.get("current_temp", 25.0)
-
- @property
- def rotation_speed(self) -> float:
- return self.data.get("rotation_speed", 0.0)
-
- @property
- def vacuum_pressure(self) -> float:
- return self.data.get("vacuum_pressure", 1.0)
-
- @property
- def evaporated_volume(self) -> float:
- return self.data.get("evaporated_volume", 0.0)
-
- @property
- def progress(self) -> float:
- return self.data.get("progress", 0.0)
-
- @property
- def message(self) -> str:
- return self.data.get("message", "")
-
- @property
- def max_temp(self) -> float:
- return self._max_temp
-
- @property
- def max_rotation_speed(self) -> float:
- return self._max_rotation_speed
-
- @property
- def remaining_time(self) -> float:
- return self.data.get("remaining_time", 0.0)
diff --git a/unilabos/devices/virtual/virtual_separator.py b/unilabos/devices/virtual/virtual_separator.py
deleted file mode 100644
index 0f266ce1..00000000
--- a/unilabos/devices/virtual/virtual_separator.py
+++ /dev/null
@@ -1,191 +0,0 @@
-import asyncio
-import logging
-from typing import Dict, Any, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class VirtualSeparator:
- """Virtual separator device for SeparateProtocol testing"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and "id" in kwargs:
- device_id = kwargs.pop("id")
- if config is None and "config" in kwargs:
- config = kwargs.pop("config")
-
- # 设置默认值
- self.device_id = device_id or "unknown_separator"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualSeparator.{self.device_id}")
- self.data = {}
-
- # 添加调试信息
- print(f"=== VirtualSeparator {self.device_id} is being created! ===")
- print(f"=== Config: {self.config} ===")
- print(f"=== Kwargs: {kwargs} ===")
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
- self._volume = self.config.get("volume") or kwargs.get("volume", 250.0)
- self._has_phases = self.config.get("has_phases") or kwargs.get("has_phases", True)
-
- # 处理其他kwargs参数，但跳过已知的配置参数
- skip_keys = {"port", "volume", "has_phases"}
- for key, value in kwargs.items():
- if key not in skip_keys and not hasattr(self, key):
- setattr(self, key, value)
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual separator"""
- print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
- self.logger.info(f"Initializing virtual separator {self.device_id}")
- self.data.update(
- {
- "status": "Ready",
- "separator_state": "Ready",
- "volume": self._volume,
- "has_phases": self._has_phases,
- "phase_separation": False,
- "stir_speed": 0.0,
- "settling_time": 0.0,
- "progress": 0.0,
- "message": "",
- }
- )
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual separator"""
- self.logger.info(f"Cleaning up virtual separator {self.device_id}")
- return True
-
- async def separate(
- self,
- purpose: str,
- product_phase: str,
- from_vessel: str,
- separation_vessel: str,
- to_vessel: str,
- waste_phase_to_vessel: str = "",
- solvent: str = "",
- solvent_volume: float = 50.0,
- through: str = "",
- repeats: int = 1,
- stir_time: float = 30.0,
- stir_speed: float = 300.0,
- settling_time: float = 300.0,
- ) -> bool:
- """Execute separate action - matches Separate action"""
- self.logger.info(f"Separate: purpose={purpose}, product_phase={product_phase}, from_vessel={from_vessel}")
-
- # 验证参数
- if product_phase not in ["top", "bottom"]:
- self.logger.error(f"Invalid product_phase {product_phase}, must be 'top' or 'bottom'")
- self.data["message"] = f"产物相位 {product_phase} 无效，必须是 'top' 或 'bottom'"
- return False
-
- if purpose not in ["wash", "extract"]:
- self.logger.error(f"Invalid purpose {purpose}, must be 'wash' or 'extract'")
- self.data["message"] = f"分离目的 {purpose} 无效，必须是 'wash' 或 'extract'"
- return False
-
- # 开始分离
- self.data.update(
- {
- "status": "Running",
- "separator_state": "Separating",
- "purpose": purpose,
- "product_phase": product_phase,
- "from_vessel": from_vessel,
- "separation_vessel": separation_vessel,
- "to_vessel": to_vessel,
- "waste_phase_to_vessel": waste_phase_to_vessel,
- "solvent": solvent,
- "solvent_volume": solvent_volume,
- "repeats": repeats,
- "stir_speed": stir_speed,
- "settling_time": settling_time,
- "phase_separation": True,
- "progress": 0.0,
- "message": f"正在分离: {from_vessel} -> {to_vessel}",
- }
- )
-
- # 模拟分离过程
- total_time = (stir_time + settling_time) * repeats
- simulation_time = min(total_time / 60.0, 15.0) # 最多模拟15秒
-
- for repeat in range(repeats):
- # 搅拌阶段
- for progress in range(0, 51, 10):
- await self._ros_node.sleep(simulation_time / (repeats * 10))
- overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
- self.data["progress"] = overall_progress
- self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
-
- # 静置分相阶段
- for progress in range(50, 101, 10):
- await self._ros_node.sleep(simulation_time / (repeats * 10))
- overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
- self.data["progress"] = overall_progress
- self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"
-
- # 分离完成
- self.data.update(
- {
- "status": "Ready",
- "separator_state": "Ready",
- "phase_separation": False,
- "stir_speed": 0.0,
- "progress": 100.0,
- "message": f"分离完成: {repeats}次分离操作",
- }
- )
-
- self.logger.info(f"Separation completed: {repeats} cycles from {from_vessel} to {to_vessel}")
- return True
-
- # 状态属性
- @property
- def status(self) -> str:
- return self.data.get("status", "Unknown")
-
- @property
- def separator_state(self) -> str:
- return self.data.get("separator_state", "Unknown")
-
- @property
- def volume(self) -> float:
- return self.data.get("volume", self._volume)
-
- @property
- def has_phases(self) -> bool:
- return self.data.get("has_phases", self._has_phases)
-
- @property
- def phase_separation(self) -> bool:
- return self.data.get("phase_separation", False)
-
- @property
- def stir_speed(self) -> float:
- return self.data.get("stir_speed", 0.0)
-
- @property
- def settling_time(self) -> float:
- return self.data.get("settling_time", 0.0)
-
- @property
- def progress(self) -> float:
- return self.data.get("progress", 0.0)
-
- @property
- def message(self) -> str:
- return self.data.get("message", "")
diff --git a/unilabos/devices/virtual/virtual_solenoid_valve.py b/unilabos/devices/virtual/virtual_solenoid_valve.py
deleted file mode 100644
index 26970cbe..00000000
--- a/unilabos/devices/virtual/virtual_solenoid_valve.py
+++ /dev/null
@@ -1,147 +0,0 @@
-import time
-import asyncio
-from typing import Union
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class VirtualSolenoidValve:
- """
- 虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
- """
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: str = None, config: dict = None, **kwargs):
- # 从配置中获取参数，提供默认值
- if config is None:
- config = {}
-
- self.device_id = device_id
- self.port = config.get("port", "VIRTUAL")
- self.voltage = config.get("voltage", 12.0)
- self.response_time = config.get("response_time", 0.1)
-
- # 状态属性
- self._status = "Idle"
- self._valve_state = "Closed" # "Open" or "Closed"
- self._is_open = False
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """初始化设备"""
- self._status = "Idle"
- return True
-
- async def cleanup(self) -> bool:
- """清理资源"""
- return True
-
- @property
- def status(self) -> str:
- return self._status
-
- @property
- def valve_state(self) -> str:
- return self._valve_state
-
- @property
- def is_open(self) -> bool:
- return self._is_open
-
- @property
- def valve_position(self) -> str:
- """获取阀门位置状态"""
- return "OPEN" if self._is_open else "CLOSED"
-
- async def set_valve_position(self, command: str = None, **kwargs):
- """
- 设置阀门位置 - ROS动作接口
-
- Args:
- command: "OPEN"/"CLOSED" 或其他控制命令
- """
- if command is None:
- return {"success": False, "message": "Missing command parameter"}
-
- print(f"SOLENOID_VALVE: {self.device_id} 接收到命令: {command}")
-
- self._status = "Busy"
-
- # 模拟阀门响应时间
- await self._ros_node.sleep(self.response_time)
-
- # 处理不同的命令格式
- if isinstance(command, str):
- cmd_upper = command.upper()
- if cmd_upper in ["OPEN", "ON", "TRUE", "1"]:
- self._is_open = True
- self._valve_state = "Open"
- result_msg = f"Valve {self.device_id} opened"
- elif cmd_upper in ["CLOSED", "CLOSE", "OFF", "FALSE", "0"]:
- self._is_open = False
- self._valve_state = "Closed"
- result_msg = f"Valve {self.device_id} closed"
- else:
- # 可能是端口名称，处理路径设置
- # 对于简单电磁阀，任何非关闭命令都视为开启
- self._is_open = True
- self._valve_state = "Open"
- result_msg = f"Valve {self.device_id} set to position: {command}"
- else:
- self._status = "Error"
- return {"success": False, "message": "Invalid command type"}
-
- self._status = "Idle"
- print(f"SOLENOID_VALVE: {result_msg}")
-
- return {
- "success": True,
- "message": result_msg,
- "valve_position": self.valve_position
- }
-
- async def open(self, **kwargs):
- """打开电磁阀 - ROS动作接口"""
- return await self.set_valve_position(command="OPEN")
-
- async def close(self, **kwargs):
- """关闭电磁阀 - ROS动作接口"""
- return await self.set_valve_position(command="CLOSED")
-
- async def set_status(self, string: str = None, **kwargs):
- """
- 设置阀门状态 - 兼容 StrSingleInput 类型
-
- Args:
- string: "ON"/"OFF" 或 "OPEN"/"CLOSED"
- """
- if string is None:
- return {"success": False, "message": "Missing string parameter"}
-
- # 将 string 参数转换为 command 参数
- if string.upper() in ["ON", "OPEN"]:
- command = "OPEN"
- elif string.upper() in ["OFF", "CLOSED"]:
- command = "CLOSED"
- else:
- command = string
-
- return await self.set_valve_position(command=command)
-
- def toggle(self):
- """切换阀门状态"""
- if self._is_open:
- return self.close()
- else:
- return self.open()
-
- def is_closed(self) -> bool:
- """检查阀门是否关闭"""
- return not self._is_open
-
- async def reset(self):
- """重置阀门到关闭状态"""
- return await self.close()
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_solid_dispenser.py b/unilabos/devices/virtual/virtual_solid_dispenser.py
deleted file mode 100644
index 63182616..00000000
--- a/unilabos/devices/virtual/virtual_solid_dispenser.py
+++ /dev/null
@@ -1,379 +0,0 @@
-import asyncio
-import logging
-import re
-from typing import Dict, Any, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-class VirtualSolidDispenser:
- """
- 虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
-
- 特点：
- - 高兼容性：缺少参数不报错 ✅
- - 智能识别：自动查找固体试剂瓶 🔍
- - 简单反馈：成功/失败 + 消息 📊
- """
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
- self.device_id = device_id or "virtual_solid_dispenser"
- self.config = config or {}
-
- # 设备参数
- self.max_capacity = float(self.config.get('max_capacity', 100.0)) # 最大加样量 (g)
- self.precision = float(self.config.get('precision', 0.001)) # 精度 (g)
-
- # 状态变量
- self._status = "Idle"
- self._current_reagent = ""
- self._dispensed_amount = 0.0
- self._total_operations = 0
-
- self.logger = logging.getLogger(f"VirtualSolidDispenser.{self.device_id}")
-
- print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
- print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """初始化固体加样器 🚀"""
- self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
- self._status = "Ready"
- self._current_reagent = ""
- self._dispensed_amount = 0.0
-
- self.logger.info(f"✅ 固体分配器 {self.device_id} 初始化完成 ⚗️")
- return True
-
- async def cleanup(self) -> bool:
- """清理固体加样器 🧹"""
- self.logger.info(f"🧹 清理固体分配器 {self.device_id} 🔚")
- self._status = "Idle"
-
- self.logger.info(f"✅ 固体分配器 {self.device_id} 清理完成 💤")
- return True
-
- def parse_mass_string(self, mass_str: str) -> float:
- """
- 解析质量字符串为数值 (g) ⚖️
-
- 支持格式: "2.9 g", "19.3g", "4.5 mg", "1.2 kg" 等
- """
- if not mass_str or not isinstance(mass_str, str):
- return 0.0
-
- # 移除空格并转小写
- mass_clean = mass_str.strip().lower()
-
- # 正则匹配数字和单位
- pattern = r'(\d+(?:\.\d+)?)\s*([a-z]*)'
- match = re.search(pattern, mass_clean)
-
- if not match:
- self.logger.debug(f"🔍 无法解析质量字符串: {mass_str}")
- return 0.0
-
- try:
- value = float(match.group(1))
- unit = match.group(2) or 'g' # 默认单位 g
-
- # 单位转换为 g
- unit_multipliers = {
- 'g': 1.0,
- 'gram': 1.0,
- 'grams': 1.0,
- 'mg': 0.001,
- 'milligram': 0.001,
- 'milligrams': 0.001,
- 'kg': 1000.0,
- 'kilogram': 1000.0,
- 'kilograms': 1000.0,
- 'μg': 0.000001,
- 'ug': 0.000001,
- 'microgram': 0.000001,
- 'micrograms': 0.000001,
- }
-
- multiplier = unit_multipliers.get(unit, 1.0)
- result = value * multiplier
-
- self.logger.debug(f"⚖️ 质量解析: {mass_str} → {result:.6f}g (原值: {value} {unit})")
- return result
-
- except (ValueError, TypeError):
- self.logger.warning(f"⚠️ 无法解析质量字符串: {mass_str}")
- return 0.0
-
- def parse_mol_string(self, mol_str: str) -> float:
- """
- 解析摩尔数字符串为数值 (mol) 🧮
-
- 支持格式: "0.12 mol", "16.2 mmol", "25.2mmol" 等
- """
- if not mol_str or not isinstance(mol_str, str):
- return 0.0
-
- # 移除空格并转小写
- mol_clean = mol_str.strip().lower()
-
- # 正则匹配数字和单位
- pattern = r'(\d+(?:\.\d+)?)\s*(m?mol)'
- match = re.search(pattern, mol_clean)
-
- if not match:
- self.logger.debug(f"🔍 无法解析摩尔数字符串: {mol_str}")
- return 0.0
-
- try:
- value = float(match.group(1))
- unit = match.group(2)
-
- # 单位转换为 mol
- if unit == 'mmol':
- result = value * 0.001
- else: # mol
- result = value
-
- self.logger.debug(f"🧮 摩尔数解析: {mol_str} → {result:.6f}mol (原值: {value} {unit})")
- return result
-
- except (ValueError, TypeError):
- self.logger.warning(f"⚠️ 无法解析摩尔数字符串: {mol_str}")
- return 0.0
-
- def find_solid_reagent_bottle(self, reagent_name: str) -> str:
- """
- 查找固体试剂瓶 🔍
-
- 这是一个简化版本，实际使用时应该连接到系统的设备图
- """
- if not reagent_name:
- self.logger.debug(f"🔍 未指定试剂名称，使用默认瓶")
- return "unknown_solid_bottle"
-
- # 可能的固体试剂瓶命名模式
- possible_names = [
- f"solid_bottle_{reagent_name}",
- f"reagent_solid_{reagent_name}",
- f"powder_{reagent_name}",
- f"{reagent_name}_solid",
- f"{reagent_name}_powder",
- f"solid_{reagent_name}",
- ]
-
- # 这里简化处理，实际应该查询设备图
- selected_bottle = possible_names[0]
- self.logger.debug(f"🔍 为试剂 {reagent_name} 选择试剂瓶: {selected_bottle}")
- return selected_bottle
-
- async def add_solid(
- self,
- vessel: str,
- reagent: str,
- mass: str = "",
- mol: str = "",
- purpose: str = "",
- **kwargs # 兼容额外参数
- ) -> Dict[str, Any]:
- """
- 添加固体试剂的主要方法 ⚗️
-
- Args:
- vessel: 目标容器
- reagent: 试剂名称
- mass: 质量字符串 (如 "2.9 g")
- mol: 摩尔数字符串 (如 "0.12 mol")
- purpose: 添加目的
- **kwargs: 其他兼容参数
-
- Returns:
- Dict: 操作结果
- """
- try:
- self.logger.info(f"⚗️ === 开始固体加样操作 === ✨")
- self.logger.info(f" 🥽 目标容器: {vessel}")
- self.logger.info(f" 🧪 试剂: {reagent}")
- self.logger.info(f" ⚖️ 质量: {mass}")
- self.logger.info(f" 🧮 摩尔数: {mol}")
- self.logger.info(f" 📝 目的: {purpose}")
-
- # 参数验证 - 宽松处理
- if not vessel:
- vessel = "main_reactor" # 默认容器
- self.logger.warning(f"⚠️ 未指定容器，使用默认容器: {vessel} 🏠")
-
- if not reagent:
- error_msg = "❌ 错误: 必须指定试剂名称"
- self.logger.error(error_msg)
- return {
- "success": False,
- "message": error_msg,
- "return_info": "missing_reagent"
- }
-
- # 解析质量和摩尔数
- mass_value = self.parse_mass_string(mass)
- mol_value = self.parse_mol_string(mol)
-
- self.logger.info(f"📊 解析结果 - 质量: {mass_value:.6f}g | 摩尔数: {mol_value:.6f}mol")
-
- # 确定实际加样量
- if mass_value > 0:
- actual_amount = mass_value
- amount_unit = "g"
- amount_emoji = "⚖️"
- self.logger.info(f"⚖️ 按质量加样: {actual_amount:.6f} {amount_unit}")
- elif mol_value > 0:
- # 简化处理：假设分子量为100 g/mol
- assumed_mw = 100.0
- actual_amount = mol_value * assumed_mw
- amount_unit = "g (from mol)"
- amount_emoji = "🧮"
- self.logger.info(f"🧮 按摩尔数加样: {mol_value:.6f} mol → {actual_amount:.6f} g (假设分子量 {assumed_mw})")
- else:
- # 没有指定量，使用默认值
- actual_amount = 1.0
- amount_unit = "g (default)"
- amount_emoji = "🎯"
- self.logger.warning(f"⚠️ 未指定质量或摩尔数，使用默认值: {actual_amount} {amount_unit} 🎯")
-
- # 检查容量限制
- if actual_amount > self.max_capacity:
- error_msg = f"❌ 错误: 请求量 {actual_amount:.3f}g 超过最大容量 {self.max_capacity}g"
- self.logger.error(error_msg)
- return {
- "success": False,
- "message": error_msg,
- "return_info": "exceeds_capacity"
- }
-
- # 查找试剂瓶
- reagent_bottle = self.find_solid_reagent_bottle(reagent)
- self.logger.info(f"🔍 使用试剂瓶: {reagent_bottle}")
-
- # 模拟加样过程
- self._status = "Dispensing"
- self._current_reagent = reagent
-
- # 计算操作时间 (基于质量)
- operation_time = max(0.5, actual_amount * 0.1) # 每克0.1秒，最少0.5秒
-
- self.logger.info(f"🚀 开始加样，预计时间: {operation_time:.1f}秒 ⏱️")
-
- # 显示进度的模拟
- steps = max(3, int(operation_time))
- step_time = operation_time / steps
-
- for i in range(steps):
- progress = (i + 1) / steps * 100
- await self._ros_node.sleep(step_time)
- if i % 2 == 0: # 每隔一步显示进度
- self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
-
- # 更新状态
- self._dispensed_amount = actual_amount
- self._total_operations += 1
- self._status = "Ready"
-
- # 成功结果
- success_message = f"✅ 成功添加 {reagent} {actual_amount:.6f} {amount_unit} 到 {vessel}"
-
- self.logger.info(f"🎉 === 固体加样完成 === ✨")
- self.logger.info(f"📊 操作结果:")
- self.logger.info(f" ✅ {success_message}")
- self.logger.info(f" 🧪 试剂瓶: {reagent_bottle}")
- self.logger.info(f" ⏱️ 用时: {operation_time:.1f}秒")
- self.logger.info(f" 🎯 总操作次数: {self._total_operations} 🏁")
-
- return {
- "success": True,
- "message": success_message,
- "return_info": f"dispensed_{actual_amount:.6f}g",
- "dispensed_amount": actual_amount,
- "reagent": reagent,
- "vessel": {"id": vessel},
- }
-
- except Exception as e:
- error_message = f"❌ 固体加样失败: {str(e)} 💥"
- self.logger.error(error_message)
- self._status = "Error"
-
- return {
- "success": False,
- "message": error_message,
- "return_info": "operation_failed"
- }
-
- # 状态属性
- @property
- def status(self) -> str:
- return self._status
-
- @property
- def current_reagent(self) -> str:
- return self._current_reagent
-
- @property
- def dispensed_amount(self) -> float:
- return self._dispensed_amount
-
- @property
- def total_operations(self) -> int:
- return self._total_operations
-
- def __str__(self):
- status_emoji = "✅" if self._status == "Ready" else "🔄" if self._status == "Dispensing" else "❌" if self._status == "Error" else "🏠"
- return f"⚗️ VirtualSolidDispenser({status_emoji} {self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
-
-
-# 测试函数
-async def test_solid_dispenser():
- """测试固体加样器 🧪"""
- print("⚗️ === 固体加样器测试开始 === 🧪")
-
- dispenser = VirtualSolidDispenser("test_dispenser")
- await dispenser.initialize()
-
- # 测试1: 按质量加样
- print(f"\n🧪 测试1: 按质量加样...")
- result1 = await dispenser.add_solid(
- vessel="main_reactor",
- reagent="magnesium",
- mass="2.9 g"
- )
- print(f"📊 测试1结果: {result1}")
-
- # 测试2: 按摩尔数加样
- print(f"\n🧮 测试2: 按摩尔数加样...")
- result2 = await dispenser.add_solid(
- vessel="main_reactor",
- reagent="sodium_nitrite",
- mol="0.28 mol"
- )
- print(f"📊 测试2结果: {result2}")
-
- # 测试3: 缺少参数
- print(f"\n⚠️ 测试3: 缺少参数测试...")
- result3 = await dispenser.add_solid(
- reagent="test_compound"
- )
- print(f"📊 测试3结果: {result3}")
-
- # 测试4: 超容量测试
- print(f"\n❌ 测试4: 超容量测试...")
- result4 = await dispenser.add_solid(
- vessel="main_reactor",
- reagent="heavy_compound",
- mass="150 g" # 超过100g限制
- )
- print(f"📊 测试4结果: {result4}")
- print(f"✅ === 测试完成 === 🎉")
-
-
-if __name__ == "__main__":
- asyncio.run(test_solid_dispenser())
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_stirrer.py b/unilabos/devices/virtual/virtual_stirrer.py
deleted file mode 100644
index 8e95617f..00000000
--- a/unilabos/devices/virtual/virtual_stirrer.py
+++ /dev/null
@@ -1,336 +0,0 @@
-import asyncio
-import logging
-import time as time_module
-from typing import Dict, Any
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-class VirtualStirrer:
- """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and 'id' in kwargs:
- device_id = kwargs.pop('id')
- if config is None and 'config' in kwargs:
- config = kwargs.pop('config')
-
- # 设置默认值
- self.device_id = device_id or "unknown_stirrer"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualStirrer.{self.device_id}")
- self.data = {}
-
- # 从config或kwargs中获取配置参数
- self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
- self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1500.0)
- self._min_speed = self.config.get('min_speed') or kwargs.get('min_speed', 50.0)
-
- # 处理其他kwargs参数
- skip_keys = {'port', 'max_speed', 'min_speed'}
- for key, value in kwargs.items():
- if key not in skip_keys and not hasattr(self, key):
- setattr(self, key, value)
-
- print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
- print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """Initialize virtual stirrer 🚀"""
- self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
-
- # 初始化状态信息
- self.data.update({
- "status": "🏠 待机中",
- "operation_mode": "Idle", # 操作模式: Idle, Stirring, Settling, Completed, Error
- "current_vessel": "", # 当前搅拌的容器
- "current_speed": 0.0, # 当前搅拌速度
- "is_stirring": False, # 是否正在搅拌
- "remaining_time": 0.0, # 剩余时间
- })
-
- self.logger.info(f"✅ 搅拌器 {self.device_id} 初始化完成 🌪️")
- self.logger.info(f"📊 设备规格: 速度范围 {self._min_speed} ~ {self._max_speed} RPM")
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual stirrer 🧹"""
- self.logger.info(f"🧹 清理虚拟搅拌器 {self.device_id} 🔚")
-
- self.data.update({
- "status": "💤 离线",
- "operation_mode": "Offline",
- "current_vessel": "",
- "current_speed": 0.0,
- "is_stirring": False,
- "remaining_time": 0.0,
- })
-
- self.logger.info(f"✅ 搅拌器 {self.device_id} 清理完成 💤")
- return True
-
- async def stir(self, stir_time: float, stir_speed: float, settling_time: float, **kwargs) -> bool:
- """Execute stir action - 定时搅拌 + 沉降 🌪️"""
-
- # 🔧 类型转换 - 确保所有参数都是数字类型
- try:
- stir_time = float(stir_time)
- stir_speed = float(stir_speed)
- settling_time = float(settling_time)
- except (ValueError, TypeError) as e:
- error_msg = f"参数类型转换失败: stir_time={stir_time}, stir_speed={stir_speed}, settling_time={settling_time}, error={e}"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: {error_msg}",
- "operation_mode": "Error"
- })
- return False
-
- self.logger.info(f"🌪️ 开始搅拌操作: 速度 {stir_speed} RPM | 时间 {stir_time}s | 沉降 {settling_time}s")
-
- # 验证参数
- if stir_speed > self._max_speed or stir_speed < self._min_speed:
- error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: 速度超出范围",
- "operation_mode": "Error"
- })
- return False
-
- # === 第一阶段：搅拌 ===
- start_time = time_module.time()
- total_stir_time = stir_time
-
- self.logger.info(f"🚀 开始搅拌阶段: {stir_speed} RPM × {total_stir_time}s ⏱️")
-
- self.data.update({
- "status": f"🌪️ 搅拌中: {stir_speed} RPM | ⏰ 剩余: {total_stir_time:.0f}s",
- "operation_mode": "Stirring",
- "current_speed": stir_speed,
- "is_stirring": True,
- "remaining_time": total_stir_time,
- })
-
- # 搅拌过程 - 实时更新剩余时间
- last_logged_time = 0
- while True:
- current_time = time_module.time()
- elapsed = current_time - start_time
- remaining = max(0, total_stir_time - elapsed)
- progress = (elapsed / total_stir_time) * 100 if total_stir_time > 0 else 100
-
- # 更新状态
- self.data.update({
- "remaining_time": remaining,
- "status": f"🌪️ 搅拌中: {stir_speed} RPM | ⏰ 剩余: {remaining:.0f}s"
- })
-
- # 进度日志（每25%打印一次）
- if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_time:
- self.logger.info(f"📊 搅拌进度: {progress:.0f}% | 🌪️ {stir_speed} RPM | ⏰ 剩余: {remaining:.0f}s ✨")
- last_logged_time = int(progress)
-
- # 搅拌时间到了
- if remaining <= 0:
- break
-
- await self._ros_node.sleep(1.0)
-
- self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
-
- # === 第二阶段：沉降（如果需要）===
- if settling_time > 0:
- start_settling_time = time_module.time()
- total_settling_time = settling_time
-
- self.logger.info(f"🛑 开始沉降阶段: 停止搅拌 × {total_settling_time}s ⏱️")
-
- self.data.update({
- "status": f"🛑 沉降中: 停止搅拌 | ⏰ 剩余: {total_settling_time:.0f}s",
- "operation_mode": "Settling",
- "current_speed": 0.0,
- "is_stirring": False,
- "remaining_time": total_settling_time,
- })
-
- # 沉降过程 - 实时更新剩余时间
- last_logged_settling = 0
- while True:
- current_time = time_module.time()
- elapsed = current_time - start_settling_time
- remaining = max(0, total_settling_time - elapsed)
- progress = (elapsed / total_settling_time) * 100 if total_settling_time > 0 else 100
-
- # 更新状态
- self.data.update({
- "remaining_time": remaining,
- "status": f"🛑 沉降中: 停止搅拌 | ⏰ 剩余: {remaining:.0f}s"
- })
-
- # 进度日志（每25%打印一次）
- if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_settling:
- self.logger.info(f"📊 沉降进度: {progress:.0f}% | 🛑 静置中 | ⏰ 剩余: {remaining:.0f}s ✨")
- last_logged_settling = int(progress)
-
- # 沉降时间到了
- if remaining <= 0:
- break
-
- await self._ros_node.sleep(1.0)
-
- self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
-
- # === 操作完成 ===
- settling_info = f" | 🛑 沉降: {settling_time:.0f}s" if settling_time > 0 else ""
-
- self.data.update({
- "status": f"✅ 完成: 🌪️ 搅拌 {stir_speed} RPM × {stir_time:.0f}s{settling_info}",
- "operation_mode": "Completed",
- "current_speed": 0.0,
- "is_stirring": False,
- "remaining_time": 0.0,
- })
-
- self.logger.info(f"🎉 搅拌操作完成! ✨")
- self.logger.info(f"📊 操作总结:")
- self.logger.info(f" 🌪️ 搅拌: {stir_speed} RPM × {stir_time}s")
- if settling_time > 0:
- self.logger.info(f" 🛑 沉降: {settling_time}s")
- self.logger.info(f" ⏱️ 总用时: {(stir_time + settling_time):.0f}s 🏁")
-
- return True
-
- async def start_stir(self, vessel: str, stir_speed: float, purpose: str = "") -> bool:
- """Start stir action - 开始持续搅拌 🔄"""
-
- # 🔧 类型转换
- try:
- stir_speed = float(stir_speed)
- vessel = str(vessel)
- purpose = str(purpose)
- except (ValueError, TypeError) as e:
- error_msg = f"参数类型转换错误: {str(e)}"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: {error_msg}",
- "operation_mode": "Error"
- })
- return False
-
- self.logger.info(f"🔄 启动持续搅拌: {vessel} | 🌪️ {stir_speed} RPM")
- if purpose:
- self.logger.info(f"📝 搅拌目的: {purpose}")
-
- # 验证参数
- if stir_speed > self._max_speed or stir_speed < self._min_speed:
- error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM) ⚠️"
- self.logger.error(f"❌ {error_msg}")
- self.data.update({
- "status": f"❌ 错误: 速度超出范围",
- "operation_mode": "Error"
- })
- return False
-
- purpose_info = f" | 📝 {purpose}" if purpose else ""
-
- self.data.update({
- "status": f"🔄 启动: 持续搅拌 {vessel} | 🌪️ {stir_speed} RPM{purpose_info}",
- "operation_mode": "Stirring",
- "current_vessel": vessel,
- "current_speed": stir_speed,
- "is_stirring": True,
- "remaining_time": -1.0, # -1 表示持续运行
- })
-
- self.logger.info(f"✅ 持续搅拌已启动! 🌪️ {stir_speed} RPM × ♾️ 🚀")
- return True
-
- async def stop_stir(self, vessel: str) -> bool:
- """Stop stir action - 停止搅拌 🛑"""
-
- # 🔧 类型转换
- try:
- vessel = str(vessel)
- except (ValueError, TypeError) as e:
- error_msg = f"参数类型转换错误: {str(e)}"
- self.logger.error(f"❌ {error_msg}")
- return False
-
- current_speed = self.data.get("current_speed", 0.0)
-
- self.logger.info(f"🛑 停止搅拌: {vessel}")
- if current_speed > 0:
- self.logger.info(f"🌪️ 之前搅拌速度: {current_speed} RPM")
-
- self.data.update({
- "status": f"🛑 已停止: {vessel} 搅拌停止 | 之前速度: {current_speed} RPM",
- "operation_mode": "Stopped",
- "current_vessel": "",
- "current_speed": 0.0,
- "is_stirring": False,
- "remaining_time": 0.0,
- })
-
- self.logger.info(f"✅ 搅拌器已停止 {vessel} 的搅拌操作 🏁")
- return True
-
- # 状态属性
- @property
- def status(self) -> str:
- return self.data.get("status", "🏠 待机中")
-
- @property
- def operation_mode(self) -> str:
- return self.data.get("operation_mode", "Idle")
-
- @property
- def current_vessel(self) -> str:
- return self.data.get("current_vessel", "")
-
- @property
- def current_speed(self) -> float:
- return self.data.get("current_speed", 0.0)
-
- @property
- def is_stirring(self) -> bool:
- return self.data.get("is_stirring", False)
-
- @property
- def remaining_time(self) -> float:
- return self.data.get("remaining_time", 0.0)
-
- @property
- def max_speed(self) -> float:
- return self._max_speed
-
- @property
- def min_speed(self) -> float:
- return self._min_speed
-
- def get_device_info(self) -> Dict[str, Any]:
- """获取设备状态信息 📊"""
- info = {
- "device_id": self.device_id,
- "status": self.status,
- "operation_mode": self.operation_mode,
- "current_vessel": self.current_vessel,
- "current_speed": self.current_speed,
- "is_stirring": self.is_stirring,
- "remaining_time": self.remaining_time,
- "max_speed": self._max_speed,
- "min_speed": self._min_speed
- }
-
- # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
- return info
-
- def __str__(self):
- status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
- return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_transferpump.py b/unilabos/devices/virtual/virtual_transferpump.py
deleted file mode 100644
index 7b8eea86..00000000
--- a/unilabos/devices/virtual/virtual_transferpump.py
+++ /dev/null
@@ -1,422 +0,0 @@
-import asyncio
-import time
-from enum import Enum
-from typing import Union, Optional
-import logging
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-
-
-class VirtualPumpMode(Enum):
- Normal = 0
- AccuratePos = 1
- AccuratePosVel = 2
-
-
-class VirtualTransferPump:
- """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
-
- _ros_node: BaseROS2DeviceNode
-
- def __init__(self, device_id: str = None, config: dict = None, **kwargs):
- """
- 初始化虚拟转移泵
-
- Args:
- device_id: 设备ID
- config: 配置字典，包含max_volume, port等参数
- **kwargs: 其他参数，确保兼容性
- """
- self.device_id = device_id or "virtual_transfer_pump"
-
- # 从config或kwargs中获取参数，确保类型正确
- if config:
- self.max_volume = float(config.get('max_volume', 25.0))
- self.port = config.get('port', 'VIRTUAL')
- else:
- self.max_volume = float(kwargs.get('max_volume', 25.0))
- self.port = kwargs.get('port', 'VIRTUAL')
-
- self._transfer_rate = float(kwargs.get('transfer_rate', 0))
- self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
-
- # 状态变量 - 确保都是正确类型
- self._status = "Idle"
- self._position = 0.0 # float
- self._max_velocity = 5.0 # float
- self._current_volume = 0.0 # float
-
- # 🚀 新增：快速模式设置 - 大幅缩短执行时间
- self._fast_mode = True # 是否启用快速模式
- self._fast_move_time = 1.0 # 快速移动时间（秒）
- self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
-
- self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-
- print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
- print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
- print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
-
- def post_init(self, ros_node: BaseROS2DeviceNode):
- self._ros_node = ros_node
-
- async def initialize(self) -> bool:
- """初始化虚拟泵 🚀"""
- self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
- self._status = "Idle"
- self._position = 0.0
- self._current_volume = 0.0
- self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
- return True
-
- async def cleanup(self) -> bool:
- """清理虚拟泵 🧹"""
- self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
- self._status = "Idle"
- self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
- return True
-
- # 基本属性
- @property
- def status(self) -> str:
- return self._status
-
- @property
- def position(self) -> float:
- """当前柱塞位置 (ml) 📍"""
- return self._position
-
- @property
- def current_volume(self) -> float:
- """当前注射器中的体积 (ml) 💧"""
- return self._current_volume
-
- @property
- def max_velocity(self) -> float:
- return self._max_velocity
-
- @property
- def transfer_rate(self) -> float:
- return self._transfer_rate
-
- def set_max_velocity(self, velocity: float):
- """设置最大速度 (ml/s) 🌊"""
- self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
- self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
-
- def get_status(self) -> str:
- """获取泵状态 📋"""
- return self._status
-
- async def _simulate_operation(self, duration: float):
- """模拟操作延时 ⏱️"""
- self._status = "Busy"
- await self._ros_node.sleep(duration)
- self._status = "Idle"
-
- def _calculate_duration(self, volume: float, velocity: float = None) -> float:
- """
- 计算操作持续时间 ⏰
- 🚀 快速模式：保留计算逻辑用于日志显示，但实际使用固定的快速时间
- """
- if velocity is None:
- velocity = self._max_velocity
-
- # 📊 计算理论时间（用于日志显示）
- theoretical_duration = abs(volume) / velocity
-
- # 🚀 如果启用快速模式，使用固定的快速时间
- if self._fast_mode:
- # 根据操作类型选择快速时间
- if abs(volume) > 0.1: # 大于0.1mL的操作
- actual_duration = self._fast_move_time
- else: # 很小的操作
- actual_duration = 0.5
-
- self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
- return actual_duration
- else:
- # 正常模式使用理论时间
- return theoretical_duration
-
- def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
- """
- 计算显示用的持续时间（用于日志） 📊
- 这个函数返回理论计算时间，用于日志显示
- """
- if velocity is None:
- velocity = self._max_velocity
- return abs(volume) / velocity
-
- # 新的set_position方法 - 专门用于SetPumpPosition动作
- async def set_position(self, position: float, max_velocity: float = None):
- """
- 移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
-
- Args:
- position (float): 目标位置 (ml)
- max_velocity (float): 移动速度 (ml/s)
-
- Returns:
- dict: 符合SetPumpPosition.action定义的结果
- """
- try:
- # 验证并转换参数
- target_position = float(position)
- velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
-
- # 限制位置在有效范围内
- target_position = max(0.0, min(float(self.max_volume), target_position))
-
- # 计算移动距离
- volume_to_move = abs(target_position - self._position)
-
- # 📊 计算显示用的时间（用于日志）
- display_duration = self._calculate_display_duration(volume_to_move, velocity)
-
- # ⚡ 计算实际执行时间（快速模式）
- actual_duration = self._calculate_duration(volume_to_move, velocity)
-
- # 🎯 确定操作类型和emoji
- if target_position > self._position:
- operation_type = "吸液"
- operation_emoji = "📥"
- elif target_position < self._position:
- operation_type = "排液"
- operation_emoji = "📤"
- else:
- operation_type = "保持"
- operation_emoji = "📍"
-
- self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
- self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
- self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
- self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
-
- if self._fast_mode:
- self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
- # 🚀 模拟移动过程
- if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
- start_position = self._position
- steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
- step_duration = actual_duration / steps
-
- self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
-
- for i in range(steps + 1):
- # 计算当前位置和进度
- progress = (i / steps) * 100 if steps > 0 else 100
- current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
-
- # 更新状态
- if i < steps:
- self._status = f"{operation_type}中"
- status_emoji = "🔄"
- else:
- self._status = "Idle"
- status_emoji = "✅"
-
- self._position = current_pos
- self._current_volume = current_pos
-
- # 显示进度（每25%或最后一步）
- if i == 0:
- self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
- elif progress >= 50 and i == steps // 2:
- self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
- elif i == steps:
- self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
-
- # 等待一小步时间
- if i < steps and step_duration > 0:
- await self._ros_node.sleep(step_duration)
- else:
- # 移动距离很小，直接完成
- self._position = target_position
- self._current_volume = target_position
- self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
-
- # 确保最终位置准确
- self._position = target_position
- self._current_volume = target_position
- self._status = "Idle"
-
- # 📊 最终状态日志
- if volume_to_move > 0.01:
- self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
-
- # 返回符合action定义的结果
- return {
- "success": True,
- "message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
- "final_position": self._position,
- "final_volume": self._current_volume,
- "operation_type": operation_type
- }
-
- except Exception as e:
- error_msg = f"❌ 设置位置失败: {str(e)}"
- self.logger.error(error_msg)
- return {
- "success": False,
- "message": error_msg,
- "final_position": self._position,
- "final_volume": self._current_volume
- }
-
- # 其他泵操作方法
- async def pull_plunger(self, volume: float, velocity: float = None):
- """
- 拉取柱塞（吸液） 📥
-
- Args:
- volume (float): 要拉取的体积 (ml)
- velocity (float): 拉取速度 (ml/s)
- """
- new_position = min(self.max_volume, self._position + volume)
- actual_volume = new_position - self._position
-
- if actual_volume <= 0:
- self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
- return
-
- display_duration = self._calculate_display_duration(actual_volume, velocity)
- actual_duration = self._calculate_duration(actual_volume, velocity)
-
- self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
- self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
- self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
-
- if self._fast_mode:
- self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
- await self._simulate_operation(actual_duration)
-
- self._position = new_position
- self._current_volume = new_position
-
- self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
-
- async def push_plunger(self, volume: float, velocity: float = None):
- """
- 推出柱塞（排液） 📤
-
- Args:
- volume (float): 要推出的体积 (ml)
- velocity (float): 推出速度 (ml/s)
- """
- new_position = max(0, self._position - volume)
- actual_volume = self._position - new_position
-
- if actual_volume <= 0:
- self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
- return
-
- display_duration = self._calculate_display_duration(actual_volume, velocity)
- actual_duration = self._calculate_duration(actual_volume, velocity)
-
- self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
- self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
- self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
-
- if self._fast_mode:
- self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
- await self._simulate_operation(actual_duration)
-
- self._position = new_position
- self._current_volume = new_position
-
- self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
-
- # 便捷操作方法
- async def aspirate(self, volume: float, velocity: float = None):
- """吸液操作 📥"""
- await self.pull_plunger(volume, velocity)
-
- async def dispense(self, volume: float, velocity: float = None):
- """排液操作 📤"""
- await self.push_plunger(volume, velocity)
-
- async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
- """转移操作（先吸后排） 🔄"""
- self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
-
- # 吸液
- await self.aspirate(volume, aspirate_velocity)
-
- # 短暂停顿
- self.logger.debug("⏸️ 短暂停顿...")
- await self._ros_node.sleep(0.1)
-
- # 排液
- await self.dispense(volume, dispense_velocity)
-
- async def empty_syringe(self, velocity: float = None):
- """清空注射器"""
- await self.set_position(0, velocity)
-
- async def fill_syringe(self, velocity: float = None):
- """充满注射器"""
- await self.set_position(self.max_volume, velocity)
-
- async def stop_operation(self):
- """停止当前操作"""
- self._status = "Idle"
- self.logger.info("Operation stopped")
-
- # 状态查询方法
- def get_position(self) -> float:
- """获取当前位置"""
- return self._position
-
- def get_current_volume(self) -> float:
- """获取当前体积"""
- return self._current_volume
-
- def get_remaining_capacity(self) -> float:
- """获取剩余容量"""
- return self.max_volume - self._current_volume
-
- def is_empty(self) -> bool:
- """检查是否为空"""
- return self._current_volume <= 0.01 # 允许小量误差
-
- def is_full(self) -> bool:
- """检查是否已满"""
- return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
-
- def __str__(self):
- return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-
- def __repr__(self):
- return self.__str__()
-
-
-# 使用示例
-async def demo():
- """虚拟泵使用示例"""
- pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-
- await pump.initialize()
-
- print(f"Initial state: {pump}")
-
- # 测试set_position方法
- result = await pump.set_position(10.0, max_velocity=2.0)
- print(f"Set position result: {result}")
- print(f"After setting position to 10ml: {pump}")
-
- # 吸液测试
- await pump.aspirate(5.0, velocity=2.0)
- print(f"After aspirating 5ml: {pump}")
-
- # 清空测试
- result = await pump.set_position(0.0)
- print(f"Empty result: {result}")
- print(f"After emptying: {pump}")
-
-
-if __name__ == "__main__":
- asyncio.run(demo())
diff --git a/unilabos/devices/virtual/virtual_vacuum_pump.py b/unilabos/devices/virtual/virtual_vacuum_pump.py
deleted file mode 100644
index ec355b68..00000000
--- a/unilabos/devices/virtual/virtual_vacuum_pump.py
+++ /dev/null
@@ -1,47 +0,0 @@
-import asyncio
-import time
-from typing import Dict, Any, Optional
-
-
-class VirtualVacuumPump:
- """Virtual vacuum pump for testing"""
-
- def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
- self.device_id = device_id or "unknown_vacuum_pump"
- self.config = config or {}
- self.data = {}
- self._status = "OPEN"
-
- async def initialize(self) -> bool:
- """Initialize virtual vacuum pump"""
- self.data.update({
- "status": self._status
- })
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual vacuum pump"""
- return True
-
- @property
- def status(self) -> str:
- return self._status
-
- def get_status(self) -> str:
- return self._status
-
- def set_status(self, string):
- self._status = string
- time.sleep(5)
-
- def open(self):
- self._status = "OPEN"
-
- def close(self):
- self._status = "CLOSED"
-
- def is_open(self):
- return self._status
-
- def is_closed(self):
- return not self._status
\ No newline at end of file
diff --git a/unilabos/devices/virtual/virtual_valve.py b/unilabos/devices/virtual/virtual_valve.py
deleted file mode 100644
index a665e005..00000000
--- a/unilabos/devices/virtual/virtual_valve.py
+++ /dev/null
@@ -1,105 +0,0 @@
-import asyncio
-import logging
-from typing import Dict, Any
-
-class VirtualValve:
- """Virtual valve device for AddProtocol testing"""
-
- def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
- # 处理可能的不同调用方式
- if device_id is None and 'id' in kwargs:
- device_id = kwargs.pop('id')
- if config is None and 'config' in kwargs:
- config = kwargs.pop('config')
-
- # 设置默认值
- self.device_id = device_id or "unknown_valve"
- self.config = config or {}
-
- self.logger = logging.getLogger(f"VirtualValve.{self.device_id}")
- self.data = {}
-
- print(f"=== VirtualValve {self.device_id} is being created! ===")
- print(f"=== Config: {self.config} ===")
- print(f"=== Kwargs: {kwargs} ===")
-
- # 处理所有配置参数，包括port
- self.port = self.config.get('port', 'VIRTUAL')
- self.positions = self.config.get('positions', 6)
- self.current_position = 0
-
- # 忽略其他可能的kwargs参数
- for key, value in kwargs.items():
- if not hasattr(self, key):
- setattr(self, key, value)
-
- async def initialize(self) -> bool:
- """Initialize virtual valve"""
- print(f"=== VirtualValve {self.device_id} initialize() called! ===")
- self.logger.info(f"Initializing virtual valve {self.device_id}")
- self.data.update({
- "status": "Idle",
- "valve_state": "Closed",
- "current_position": 0,
- "target_position": 0,
- "max_positions": self.positions
- })
- return True
-
- async def cleanup(self) -> bool:
- """Cleanup virtual valve"""
- self.logger.info(f"Cleaning up virtual valve {self.device_id}")
- return True
-
- async def set_position(self, position: int) -> bool:
- """Set valve position - matches SendCmd action"""
- if 0 <= position <= self.positions:
- self.logger.info(f"Setting valve position to {position}")
- self.data.update({
- "target_position": position,
- "current_position": position,
- "valve_state": "Open" if position > 0 else "Closed"
- })
- return True
- else:
- self.logger.error(f"Invalid position {position}. Must be 0-{self.positions}")
- return False
-
- async def open(self) -> bool:
- """Open valve - matches EmptyIn action"""
- self.logger.info("Opening valve")
- self.data.update({
- "valve_state": "Open",
- "current_position": 1
- })
- return True
-
- async def close(self) -> bool:
- """Close valve - matches EmptyIn action"""
- self.logger.info("Closing valve")
- self.data.update({
- "valve_state": "Closed",
- "current_position": 0
- })
- return True
-
- # 状态属性
- @property
- def status(self) -> str:
- return self.data.get("status", "Unknown")
-
- @property
- def valve_state(self) -> str:
- return self.data.get("valve_state", "Unknown")
-
- @property
- def current_position(self) -> int:
- return self.data.get("current_position", 0)
-
- @property
- def target_position(self) -> int:
- return self.data.get("target_position", 0)
-
- @property
- def max_positions(self) -> int:
- return self.data.get("max_positions", 6)
\ No newline at end of file
diff --git a/unilabos/devices/workstation/post_process/post_process.py "b/unilabos/devices/workstation/AI4M/AI4M - \345\211\257\346\234\254.py"
similarity index 72%
rename from unilabos/devices/workstation/post_process/post_process.py
rename to "unilabos/devices/workstation/AI4M/AI4M - \345\211\257\346\234\254.py"
index b45cded2..2e551d7c 100644
--- a/unilabos/devices/workstation/post_process/post_process.py
+++ "b/unilabos/devices/workstation/AI4M/AI4M - \345\211\257\346\234\254.py"
@@ -12,7 +12,7 @@
from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, NodeType, DataType
from unilabos.device_comms.universal_driver import UniversalDriver
from unilabos.utils.log import logger
-from unilabos.devices.workstation.post_process.decks import post_process_deck
+from unilabos.devices.workstation.AI4M.decks import AI4M_deck
class OpcUaNode(BaseModel):
name: str
@@ -61,51 +61,9 @@ class NodeFunctionJson(BaseModel):
value: Any = None
-class InitFunctionJson(NodeFunctionJson):
- pass
-
-
-class StartFunctionJson(NodeFunctionJson):
- write_functions: List[str]
- condition_functions: List[str]
- stop_condition_expression: str
-
-
-class StopFunctionJson(NodeFunctionJson):
- pass
-
-
-class CleanupFunctionJson(NodeFunctionJson):
- pass
-
-
-class ActionJson(BaseModel):
- node_function_to_create: List[NodeFunctionJson]
- create_init_function: Optional[InitFunctionJson] = None
- create_start_function: Optional[StartFunctionJson] = None
- create_stop_function: Optional[StopFunctionJson] = None
- create_cleanup_function: Optional[CleanupFunctionJson] = None
-
-
-class SimplifiedActionJson(BaseModel):
- """简化的动作JSON格式，直接定义节点列表和函数"""
- nodes: Optional[Dict[str, Dict[str, Any]]] = None # 节点定义，格式为 {func_name: {node_name, mode, value}}
- init_function: Optional[Dict[str, Any]] = None
- start_function: Optional[Dict[str, Any]] = None
- stop_function: Optional[Dict[str, Any]] = None
- cleanup_function: Optional[Dict[str, Any]] = None
-
-
-class WorkflowCreateJson(BaseModel):
- name: str
- action: List[Union[ActionJson, SimplifiedActionJson, 'WorkflowCreateJson', str]]
- parameters: Optional[List[str]] = None
- description: Optional[str] = None
-
-
class ExecuteProcedureJson(BaseModel):
register_node_list_from_csv_path: Optional[Dict[str, Any]] = None
- create_flow: List[WorkflowCreateJson]
+# create_flow: List[WorkflowCreateJson]
execute_flow: List[str]
@@ -152,21 +110,52 @@ def _connect(self) -> None:
raise ValueError('client is not initialized')
def _find_nodes(self) -> None:
- """查找服务器中的节点"""
+ """查找服务器中的节点（通过NodeID直接获取）"""
if not self.client:
raise ValueError('client is not connected')
logger.info(f'开始查找 {len(self._variables_to_find)} 个节点...')
try:
- # 获取根节点
- root = self.client.get_root_node()
- objects = root.get_child(["0:Objects"])
-
# 记录查找前的状态
before_count = len(self._node_registry)
- # 查找节点
- self._find_nodes_recursive(objects)
+ # 通过NodeID直接查找节点
+ for var_name, var_info in self._variables_to_find.items():
+ if var_name in self._node_registry:
+ continue # 已经找到的节点跳过
+
+ node_id = var_info.get("node_id")
+ if not node_id:
+ logger.warning(f"节点 '{var_name}' 缺少NodeID，跳过")
+ continue
+
+ try:
+ # 通过NodeID直接获取节点
+ node = self.client.get_node(node_id)
+
+ # 验证节点是否存在（通过读取浏览名称）
+ browse_name = node.get_browse_name()
+
+ node_type = var_info.get("node_type")
+ data_type = var_info.get("data_type")
+ node_id_str = str(node.nodeid)
+
+ # 根据节点类型创建相应的对象
+ if node_type == NodeType.VARIABLE:
+ self._node_registry[var_name] = Variable(self.client, var_name, node_id_str, data_type)
+ logger.debug(f"✓ 找到变量节点: '{var_name}', NodeId: {node_id_str}, DataType: {data_type}")
+ # 缓存真实的 ua.Node 对象用于订阅
+ self._found_node_objects[var_name] = node
+ elif node_type == NodeType.METHOD:
+ # 对于方法节点，需要获取父节点ID
+ parent_node = node.get_parent()
+ parent_node_id = str(parent_node.nodeid)
+ self._node_registry[var_name] = Method(self.client, var_name, node_id_str, parent_node_id, data_type)
+ logger.debug(f"✓ 找到方法节点: '{var_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}")
+
+ except Exception as e:
+ logger.warning(f"无法获取节点 '{var_name}' (NodeId: {node_id}): {e}")
+ continue
# 记录查找后的状态
after_count = len(self._node_registry)
@@ -182,10 +171,7 @@ def _find_nodes(self) -> None:
if not_found:
logger.warning(f"⚠ 以下 {len(not_found)} 个节点未找到: {', '.join(not_found[:10])}{'...' if len(not_found) > 10 else ''}")
- logger.warning(f"提示：请检查这些节点名称是否与服务器的 BrowseName 完全匹配（包括大小写、空格等）")
- # 提供一个示例来帮助调试
- if not_found:
- logger.info(f"尝试在服务器中查找第一个未找到的节点 '{not_found[0]}' 的相似节点...")
+ logger.warning(f"提示：请检查这些节点的NodeID是否正确")
else:
logger.info(f"✓ 所有 {len(self._variables_to_find)} 个节点均已找到并注册")
@@ -193,55 +179,23 @@ def _find_nodes(self) -> None:
logger.error(f"查找节点失败: {e}")
traceback.print_exc()
- def _find_nodes_recursive(self, node) -> None:
- """递归查找节点"""
- try:
- # 获取当前节点的浏览名称
- browse_name = node.get_browse_name()
- node_name = browse_name.Name
-
- # 检查是否是我们要找的变量
- if node_name in self._variables_to_find and node_name not in self._node_registry:
- var_info = self._variables_to_find[node_name]
- node_type = var_info.get("node_type")
- data_type = var_info.get("data_type")
- node_id_str = str(node.nodeid)
-
- # 根据节点类型创建相应的对象
- if node_type == NodeType.VARIABLE:
- self._node_registry[node_name] = Variable(self.client, node_name, node_id_str, data_type)
- logger.info(f"✓ 找到变量节点: '{node_name}', NodeId: {node_id_str}, DataType: {data_type}")
- # 缓存真实的 ua.Node 对象用于订阅
- self._found_node_objects[node_name] = node
- elif node_type == NodeType.METHOD:
- # 对于方法节点，需要获取父节点ID
- parent_node = node.get_parent()
- parent_node_id = str(parent_node.nodeid)
- self._node_registry[node_name] = Method(self.client, node_name, node_id_str, parent_node_id, data_type)
- logger.info(f"✓ 找到方法节点: '{node_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}")
-
- # 递归处理子节点
- for child in node.get_children():
- self._find_nodes_recursive(child)
-
- except Exception as e:
- # 忽略处理单个节点时的错误，继续处理其他节点
- pass
+
@classmethod
def load_csv(cls, file_path: str) -> List[OpcUaNode]:
"""
从CSV文件加载节点定义
CSV文件需包含Name,NodeType,DataType列
- 可选包含EnglishName和NodeLanguage列
+ 可选包含EnglishName,NodeLanguage和NodeId列
"""
df = pd.read_csv(file_path)
df = df.drop_duplicates(subset='Name', keep='first') # 重复的数据应该报错
nodes = []
- # 检查是否包含英文名称列和节点语言列
+ # 检查是否包含英文名称列、节点语言列和NodeId列
has_english_name = 'EnglishName' in df.columns
has_node_language = 'NodeLanguage' in df.columns
+ has_node_id = 'NodeId' in df.columns
# 如果存在英文名称列，创建名称映射字典
name_mapping = {}
@@ -252,9 +206,10 @@ def load_csv(cls, file_path: str) -> List[OpcUaNode]:
node_type_str = row.get('NodeType')
data_type_str = row.get('DataType')
- # 获取英文名称和节点语言（如果有）
+ # 获取英文名称、节点语言和NodeId（如果有）
english_name = row.get('EnglishName') if has_english_name else None
node_language = row.get('NodeLanguage') if has_node_language else 'English' # 默认为英文
+ node_id = row.get('NodeId') if has_node_id else None
# 如果有英文名称，添加到映射字典
if english_name and not pd.isna(english_name) and node_language == 'Chinese':
@@ -296,10 +251,16 @@ def load_csv(cls, file_path: str) -> List[OpcUaNode]:
except KeyError:
logger.warning(f"无效的数据类型: {data_type_str}，将使用默认值")
- # 创建节点对象，节点ID留空，将通过自动查找功能获取
+ # 处理NodeId（如果有的话）
+ node_id_value = ""
+ if node_id and not pd.isna(node_id):
+ node_id_value = str(node_id).strip()
+
+ # 创建节点对象，如果有NodeId则使用，否则留空
nodes.append(OpcUaNode(
name=name,
node_type=node_type,
+ node_id=node_id_value,
data_type=data_type
))
@@ -376,13 +337,14 @@ def register_node_list(self, node_list: List[OpcUaNode]) -> "BaseClient":
raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致')
continue
- # 将节点添加到待查找列表
+ # 将节点添加到待查找列表，包括node_id
self._variables_to_find[node.name] = {
"node_type": node.node_type,
- "data_type": node.data_type
+ "data_type": node.data_type,
+ "node_id": node.node_id
}
new_nodes_count += 1
- logger.debug(f'添加节点 "{node.name}" ({node.node_type}) 到待查找列表')
+ logger.debug(f'添加节点 "{node.name}" ({node.node_type}, NodeId: {node.node_id}) 到待查找列表')
logger.info(f'节点注册完成：新增 {new_nodes_count} 个待查找节点，总计 {len(self._variables_to_find)} 个')
@@ -1177,8 +1139,8 @@ class OpcUaClient(BaseClient):
def __init__(
self,
url: str,
- deck: Optional[Union[post_process_deck, Dict[str, Any]]] = None,
- config_path: str = None,
+ deck: Optional[Union[AI4M_deck, Dict[str, Any]]] = None,
+ csv_path: str = None,
username: str = None,
password: str = None,
use_subscription: bool = True,
@@ -1191,17 +1153,15 @@ def __init__(
import logging
logging.getLogger("opcua").setLevel(logging.WARNING)
- super().__init__()
-
# ===== 关键修改：参照 BioyondWorkstation 处理 deck =====
super().__init__()
# 处理 deck 参数
if deck is None:
- self.deck = post_process_deck(setup=True)
+ self.deck = AI4M_deck(setup=True)
elif isinstance(deck, dict):
- self.deck = post_process_deck(setup=True)
+ self.deck = AI4M_deck(setup=True)
elif hasattr(deck, 'children'):
self.deck = deck
else:
@@ -1248,9 +1208,9 @@ def __init__(
# 连接到服务器
self._connect()
- # 如果提供了配置文件路径，则加载配置并注册工作流
- if config_path:
- self.load_config(config_path)
+ # 如果提供了 CSV 路径，则直接加载节点
+ if csv_path:
+ self.load_nodes_from_csv(csv_path)
# 启动连接监控
self._start_connection_monitor()
@@ -1611,33 +1571,27 @@ def print_cache_stats(self):
print(f"缓存超时时间: {stats['cache_timeout']}秒")
print("="*80 + "\n")
- def load_config(self, config_path: str) -> None:
- """从JSON配置文件加载并注册工作流"""
+ def load_nodes_from_csv(self, csv_path: str) -> None:
+ """直接从CSV文件加载并注册节点"""
try:
- with open(config_path, 'r', encoding='utf-8') as f:
- config_data = json.load(f)
+ logger.info(f"开始从CSV文件加载节点: {csv_path}")
- # 处理节点注册
- if "register_node_list_from_csv_path" in config_data:
- config_dir = os.path.dirname(os.path.abspath(config_path))
-
- if "path" in config_data["register_node_list_from_csv_path"]:
- csv_path = config_data["register_node_list_from_csv_path"]["path"]
- if not os.path.isabs(csv_path):
- csv_path = os.path.join(config_dir, csv_path)
- config_data["register_node_list_from_csv_path"]["path"] = csv_path
-
- self.register_node_list_from_csv_path(**config_data["register_node_list_from_csv_path"])
-
- if self.client and self._variables_to_find:
- logger.info("CSV加载完成，开始查找服务器节点...")
- self._find_nodes()
+ # 检查文件是否存在
+ if not os.path.exists(csv_path):
+ logger.error(f"CSV文件不存在: {csv_path}")
+ return
+
+ # 注册节点
+ logger.info(f"注册CSV文件中的节点: {csv_path}")
+ self.register_node_list_from_csv_path(path=csv_path)
+
+ # 查找节点
+ if self.client and self._variables_to_find:
+ logger.info(f"CSV加载完成，待查找 {len(self._variables_to_find)} 个节点...")
+ self._find_nodes()
+ else:
+ logger.warning(f"⚠ 跳过节点查找 - client: {self.client is not None}, 待查找节点: {len(self._variables_to_find)}")
- # 处理工作流创建
- if "create_flow" in config_data:
- self.create_workflow_from_json(config_data["create_flow"])
- self.register_workflows_as_methods()
-
# 将所有节点注册为属性
self._register_nodes_as_attributes()
@@ -1649,13 +1603,13 @@ def load_config(self, config_path: str) -> None:
else:
logger.info(f"✓ 节点查找完成：所有 {found_count} 个节点均已找到")
- # 如果使用订阅模式，重新设置订阅（确保新节点被订阅）
+ # 如果使用订阅模式，设置订阅（确保新节点被订阅）
if self._use_subscription and found_count > 0:
self._setup_subscriptions()
- logger.info(f"成功从 {config_path} 加载配置")
+ logger.info(f"✓ 成功从 CSV 加载 {found_count} 个节点")
except Exception as e:
- logger.error(f"加载配置文件 {config_path} 失败: {e}")
+ logger.error(f"从CSV文件加载节点失败 {csv_path}: {e}")
traceback.print_exc()
def disconnect(self):
@@ -1724,52 +1678,547 @@ def post_init(self, ros_node):
logger.info("Deck 已上传到云端")
except Exception as e:
logger.error(f"上传失败: {e}")
+
+ def start_manual_mode(
+ self
+ ) -> bool:
+ """
+ 指令作业模式函数：
+ - 将模式切换、手自动切换写false
+ - 等待自动模式为false
+ - 将模式切换写true
+
+ 返回: 是否成功完成自动作业
+ """
+ self.success = False
+
+ print("启动指令作业模式...")
+
+ # 将模式切换、手自动切换写true
+ print("设置模式切换和手自动切换为true...")
+ self.set_node_value("mode_switch", True)
+ self.set_node_value("manual_auto_switch", False)
+
+ # 等待自动模式为false
+ print("等待自动模式为False...")
+ auto_mode = self.get_node_value("auto_mode")
+ while auto_mode:
+ print("等待自动模式变为False...")
+ time.sleep(1.0)
+ auto_mode = self.get_node_value("auto_mode")
+ else:
+ print("模式切换完成")
+ self.success = True
+
+ return self.success
+
+ def trigger_robot_pick_beaker(
+ self,
+ pick_beaker_id: int,
+ place_station_id: int,
+ ) -> bool:
+ """
+ 机器人取烧杯并放到检测位：
+ - 先写入取烧杯编号，等待取烧杯完成
+ - 取完成后再写入放检测编号，等待对应的放检测完成信号
+
+ 参数:
+ pick_beaker_id: 取烧杯编号（1-5）
+ place_station_id: 放检测编号（1-3）
+ timeout: 超时时间（秒），保留用于向后兼容，实际不使用
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成操作
+ """
+ self.success = False
+
+ # 校验输入范围
+ if pick_beaker_id not in (1, 2, 3, 4, 5):
+ logger.error("取烧杯编号必须在 1-5 范围内")
+ return False
+ if place_station_id not in (1, 2, 3):
+ logger.error("放检测编号必须在 1-3 范围内")
+ return False
+
+ # 获取仓库资源
+ rack_warehouse = self.deck.warehouses["水凝胶烧杯堆栈"]
+ station_warehouse = self.deck.warehouses[f"反应工站{place_station_id}"]
+ rack_site_key = f"A{pick_beaker_id}"
+
+ pick_complete_node = f"robot_rack_pick_beaker_{pick_beaker_id}_complete"
+ place_complete_node = f"robot_place_station_{place_station_id}_complete"
+
+ # 阶段1：下发取烧杯编号并等待完成
+ print("下发取烧杯编号，等待完成...")
+ self.set_node_value("robot_pick_beaker_id", pick_beaker_id)
+
+ # 等待取烧杯完成
+ pick_complete = self.get_node_value(pick_complete_node)
+ while not pick_complete:
+ print("取烧杯中...")
+ time.sleep(2.0)
+ pick_complete = self.get_node_value(pick_complete_node)
+
+ # 获取载具（carrier）
+ carrier = rack_warehouse[rack_site_key]
+ if carrier is None:
+ logger.error(f"堆栈位置 {rack_site_key} 没有载具")
+ return False
+
+ # 阶段1.5：机器人取烧杯完成后，从堆栈解绑载具
+ try:
+ rack_warehouse.unassign_child_resource(carrier)
+ print(f"✓ 已从堆栈解绑载具 {carrier.name}")
+ except Exception as e:
+ logger.error(f"从堆栈解绑载具失败: {e}")
+ return False
+
+ # 阶段2：取完成后再下发放检测编号并等待完成
+ print("取完成，开始下发放检测编号...")
+ self.set_node_value("robot_place_station_id", place_station_id)
+
+ # 等待放检测完成
+ place_complete = self.get_node_value(place_complete_node)
+ while not place_complete:
+ print("放检测中...")
+ time.sleep(2.0)
+ place_complete = self.get_node_value(place_complete_node)
+
+ # 阶段2.5：机器人放到检测站完成后，绑定载具到检测站
+ # 注意：每个检测站都有独立的 warehouse，且是 1x1x1，所以索引始终是 0
+ try:
+ # 每个检测站 warehouse 只有 1 个 site，索引固定为 0
+ station_site_idx = 0
+ station_site_key = list(station_warehouse._ordering.keys())[station_site_idx]
+ station_location = station_warehouse.child_locations[station_site_key]
+
+ # 绑定到检测站 warehouse
+ station_warehouse.assign_child_resource(carrier, location=station_location, spot=station_site_idx)
+ print(f"✓ 已绑定载具 {carrier.name} 到检测站{place_station_id}")
+ except Exception as e:
+ logger.error(f"绑定载具到检测站失败: {e}")
+ # 即使绑定失败，物理上机器人已经完成了操作
+
+ print("放检测完成")
+ self.success = True
+
+ # 更新资源树到前端
+ if hasattr(self, '_ros_node') and self._ros_node:
+ try:
+ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+ ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=[self.deck])
+ print(f"✓ 已同步资源更新到前端")
+ except Exception as e:
+ logger.warning(f"前端资源更新失败: {e}")
+
+ return self.success
+ def trigger_robot_place_beaker(
+ self,
+ place_beaker_id: int,
+ pick_station_id: int,
+ ) -> bool:
+ """
+ 机器人从检测位取烧杯并放回：
+ - 先写入取检测编号，等待取检测完成
+ - 取完成后再写入放烧杯编号，等待对应的放烧杯完成信号
+
+ 参数:
+ place_beaker_id: 放烧杯编号（1-5）
+ pick_station_id: 取检测编号（1-3）
+
+ 返回: 是否成功完成操作
+ """
+ self.success = False
+
+ # 校验输入范围
+ if place_beaker_id not in (1, 2, 3, 4, 5):
+ logger.error("放烧杯编号必须在 1-5 范围内")
+ return False
+ if pick_station_id not in (1, 2, 3):
+ logger.error("取检测编号必须在 1-3 范围内")
+ return False
+
+ # 获取仓库资源
+ rack_warehouse = self.deck.warehouses["水凝胶烧杯堆栈"]
+ station_warehouse = self.deck.warehouses[f"反应工站{pick_station_id}"]
+
+ # 获取检测站的载具
+ # 注意：每个检测站都有独立的 warehouse，且是 1x1x1，所以索引始终是 0
+ # 当检测站有 carrier 时，sites[0] 直接返回 BottleCarrier（和堆栈一样）
+ # 当检测站为空时，sites[0] 返回 ResourceHolder（占位符）
+ station_site_idx = 0 # 每个检测站 warehouse 只有 1 个 site
+
+ if not station_warehouse.sites or len(station_warehouse.sites) == 0:
+ logger.error(f"检测站{pick_station_id} 的 warehouse sites 列表为空")
+ return False
+
+ carrier = station_warehouse.sites[station_site_idx]
+
+ # 检查是否是 ResourceHolder（说明检测站为空）
+ if carrier is None or type(carrier).__name__ == 'ResourceHolder':
+ logger.error(f"检测站{pick_station_id} 没有载具（可能是空的 ResourceHolder）")
+ return False
+
+ # 确定堆栈目标位置（place_beaker_id 1-5 对应 C1-C5）
+ rack_site_key = f"C{place_beaker_id}"
+
+ pick_complete_node = f"robot_pick_station_{pick_station_id}_complete"
+ place_complete_node = f"robot_rack_place_beaker_{place_beaker_id}_complete"
+
+ # 阶段1：下发取检测编号并等待完成
+ print("下发取检测编号，等待完成...")
+ self.set_node_value("robot_pick_station_id", pick_station_id)
+
+ # 等待取检测完成
+ pick_complete = self.get_node_value(pick_complete_node)
+ while not pick_complete:
+ print("取检测中...")
+ time.sleep(2.0)
+ pick_complete = self.get_node_value(pick_complete_node)
+
+ # 阶段1.5：机器人取检测完成后，从检测站解绑载具
+ try:
+ station_warehouse.unassign_child_resource(carrier)
+ print(f"✓ 已从检测站{pick_station_id}解绑载具 {carrier.name}")
+ except Exception as e:
+ logger.error(f"从检测站解绑载具失败: {e}")
+ return False
+
+ # 阶段2：取完成后再下发放烧杯编号并等待完成
+ print("取完成，开始下发放烧杯编号...")
+ self.set_node_value("robot_place_beaker_id", place_beaker_id)
+
+ # 等待放烧杯完成
+ place_complete = self.get_node_value(place_complete_node)
+ while not place_complete:
+ print("放烧杯中...")
+ time.sleep(2.0)
+ place_complete = self.get_node_value(place_complete_node)
+
+ # 阶段2.5：机器人放烧杯完成后，绑定载具回堆栈
+ try:
+ # 获取堆栈的位置信息（rack_site_key 已在前面定义为 C{place_beaker_id}）
+ rack_site_idx = list(rack_warehouse._ordering.keys()).index(rack_site_key)
+ rack_location = rack_warehouse.child_locations[rack_site_key]
+
+ # 绑定回堆栈 warehouse
+ rack_warehouse.assign_child_resource(carrier, location=rack_location, spot=rack_site_idx)
+ print(f"✓ 已绑定载具 {carrier.name} 回堆栈 {rack_site_key}")
+ except Exception as e:
+ logger.error(f"绑定载具回堆栈失败: {e}")
+ # 即使绑定失败，物理上机器人已经完成了操作
+
+ print("放烧杯完成")
+ self.success = True
+
+ # 更新资源树到前端
+ if hasattr(self, '_ros_node') and self._ros_node:
+ try:
+ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+ ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=[self.deck])
+ print(f"✓ 已同步资源更新到前端")
+ except Exception as e:
+ logger.warning(f"前端资源更新失败: {e}")
+
+ return self.success
+
+ def trigger_station_process(
+ self,
+ station_id: int,
+ mag_stir_stir_speed: int,
+ mag_stir_heat_temp: int,
+ mag_stir_time_set: int,
+ syringe_pump_abs_position_set: int,
+ ) -> bool:
+ """
+ 执行检测工艺流程：
+ 1. 等待检测站请求参数
+ 2. 下发对应编号的搅拌仪和注射泵参数
+ 3. 等待参数已执行
+ 4. 给出检测开始信号
+ 5. 等待检测工艺完成
+
+ 参数:
+ station_id: 检测编号（1-3）
+ mag_stir_stir_speed: 磁力搅拌仪搅拌速度
+ mag_stir_heat_temp: 磁力搅拌仪加热温度
+ mag_stir_time_set: 磁力搅拌仪时间设置
+ syringe_pump_abs_position_set: 注射泵绝对位置设置
+
+ 返回: 是否成功完成工艺
+ """
+ self.success = False
+
+ # 校验输入范围
+ if station_id not in (1, 2, 3):
+ logger.error("检测编号必须在 1-3 范围内")
+ return False
+
+ # 检测站索引（0-2）
+ station_idx = station_id - 1
+
+ # 节点名称
+ request_node = f"station_{station_id}_request_params"
+ params_received_node = f"station_{station_id}_params_received"
+ start_node = f"station_{station_id}_start"
+ complete_node = f"station_{station_id}_process_complete"
+
+ self.set_node_value(complete_node, False)
+ self.set_node_value(start_node, False)
+ self.set_node_value(params_received_node, False)
+
+ # 阶段1：等待检测站请求参数
+ print(f"等待检测{station_id}请求参数...")
+ request_params = self.get_node_value(request_node)
+ while not request_params:
+ print(f"等待检测{station_id}请求参数中...")
+ time.sleep(2.0)
+ request_params = self.get_node_value(request_node)
+
+ print(f"检测{station_id}已请求参数，开始下发...")
+
+ # 阶段2：下发对应编号的搅拌仪参数
+ self.set_node_value(f"mag_stirrer_c{station_idx}_stir_speed", mag_stir_stir_speed)
+ self.set_node_value(f"mag_stirrer_c{station_idx}_heat_temp", mag_stir_heat_temp)
+ self.set_node_value(f"mag_stirrer_c{station_idx}_time_set", mag_stir_time_set)
+ print(f"已下发检测{station_id}磁力搅拌仪参数：速度={mag_stir_stir_speed}, 温度={mag_stir_heat_temp}, 时间={mag_stir_time_set}")
+
+ # 下发对应编号的注射泵参数
+ self.set_node_value(f"syringe_pump_{station_idx}_abs_position_set", syringe_pump_abs_position_set)
+ print(f"已下发检测{station_id}注射泵绝对位置设置：{syringe_pump_abs_position_set}")
+
+
+ # 阶段3：等待参数已执行
+ self.set_node_value(start_node, True)
+ print(f"等待检测{station_id}参数已执行...")
+ params_received = self.get_node_value(params_received_node)
+ while not params_received:
+ print(f"检测{station_id}参数执行中...")
+ time.sleep(2.0)
+ params_received = self.get_node_value(params_received_node)
+
+ print(f"检测{station_id}参数已执行")
+
+ # 阶段4：等待检测工艺完成
+ print(f"等待检测{station_id}工艺完成...")
+ process_complete = self.get_node_value(complete_node)
+ while not process_complete:
+ print(f"检测{station_id}工艺执行中...")
+ time.sleep(2.0)
+ process_complete = self.get_node_value(complete_node)
+ else:
+ print(f"检测{station_id}工艺完成")
+ self.set_node_value(start_node, False)
+ self.success = True
+
+ return self.success
+
+ def trigger_init(
+ self
+ ) -> bool:
+ """
+ 初始化函数：
+ - 将手自动切换写false
+ - 等待自动模式为false
+ - 将初始化PC写true
+ - 等待初始化完成PC为true
+ - 将初始化PC写false
+ - 返回成功
+
+ 参数:
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成初始化
+ """
+ self.success = False
+
+ print("开始初始化...")
+
+ # 将手自动切换写false
+ print("设置手自动切换为false...")
+ self.set_node_value("manual_auto_switch", False)
+ self.set_node_value("initialize", False)
+ time.sleep(1.0)
+ # 等待自动模式为false
+ print("等待自动模式为false...")
+ auto_mode = self.get_node_value("auto_mode")
+ while auto_mode:
+ print("等待自动模式变为false...")
+ time.sleep(2.0)
+ auto_mode = self.get_node_value("auto_mode")
+
+ # 将初始化PC写true
+ print("自动模式已为false，设置初始化PC为true...")
+ self.set_node_value("initialize", True)
+ time.sleep(2.0)
+ # 等待初始化完成PC为true
+ print("等待初始化完成...")
+ init_finished = self.get_node_value("init finished")
+ while not init_finished:
+ print("初始化中...")
+ time.sleep(2.0)
+ init_finished = self.get_node_value("init finished")
+ else:
+ # 将初始化PC写false
+ print("初始化完成，设置初始化PC为false...")
+ self.set_node_value("initialize", False)
+ self.success = True
+
+ return self.success
+
+ def download_auto_params(
+ self,
+ mag_stir_stir_speed: int,
+ mag_stir_heat_temp: int,
+ mag_stir_time_set: int,
+ syringe_pump_abs_position_set: int,
+ auto_job_stop_delay: int
+ ) -> bool:
+ """
+ 自动模式参数下发函数：
+ - 将搅拌仪的搅拌速度、加热温度、时间设置、泵的绝对位置设置和自动作业停止等待时间作为传入参数
+ - 一起下发给3个搅拌仪和3个泵
+ - 下发后将自动作业参数已下发写true
+ - 等待自动作业参数已执行为true
+ - 将已下发写false
+ - 返回成功
+
+ 参数:
+ mag_stir_stir_speed: 磁力搅拌仪搅拌速度
+ mag_stir_heat_temp: 磁力搅拌仪加热温度
+ mag_stir_time_set: 磁力搅拌仪时间设置
+ syringe_pump_abs_position_set: 注射泵绝对位置设置
+ auto_job_stop_delay: 自动作业等待停止时间
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成参数下发
+ """
+ self.success = False
+
+ print("开始下发自动模式参数...")
+ self.set_node_value("auto_param_applied", False)
+ self.set_node_value("auto_param_downloaded", False)
+ self.set_node_value("mode_switch", False)
+ # 下发3个磁力搅拌仪的参数
+ for c in (0, 1, 2):
+ self.set_node_value(f"mag_stirrer_c{c}_stir_speed", mag_stir_stir_speed)
+ self.set_node_value(f"mag_stirrer_c{c}_heat_temp", mag_stir_heat_temp)
+ self.set_node_value(f"mag_stirrer_c{c}_time_set", mag_stir_time_set)
+ print(f"已下发3个磁力搅拌仪参数：速度={mag_stir_stir_speed}, 温度={mag_stir_heat_temp}, 时间={mag_stir_time_set}")
+
+ # 下发3个注射泵的绝对位置设置
+ for p in (0, 1, 2):
+ self.set_node_value(f"syringe_pump_{p}_abs_position_set", syringe_pump_abs_position_set)
+ print(f"已下发3个注射泵绝对位置设置：{syringe_pump_abs_position_set}")
+
+ # 下发自动作业等待停止时间
+ self.set_node_value("auto_job_stop_delay", auto_job_stop_delay)
+ print(f"已下发自动作业等待停止时间：{auto_job_stop_delay}")
+
+ # 将自动作业参数已下发写true
+ print("设置自动作业参数已下发为true...")
+ self.set_node_value("auto_param_downloaded", True)
+
+ # 等待自动作业参数已执行为true
+ print("等待自动作业参数已执行...")
+ param_applied = self.get_node_value("auto_param_applied")
+ while not param_applied:
+ print("参数执行中...")
+ time.sleep(2.0)
+ param_applied = self.get_node_value("auto_param_applied")
+ else:
+ print("自动作业参数已执行")
+ # 将已下发写false
+ self.set_node_value("auto_param_downloaded", False)
+ self.success = True
+
+ return self.success
+
+ def start_auto_mode(
+ self
+ ) -> bool:
+ """
+ 自动作业模式函数：
+ - 将模式切换、手自动切换写true
+ - 等待自动模式为true
+ - 将自动作业开始触发写true
+ - 等待自动作业完成为true
+ - 返回成功
+
+ 参数:
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成自动作业
+ """
+ self.success = False
+
+ print("启动自动作业模式...")
+
+ # 将模式切换、手自动切换写true
+ print("设置模式切换和手自动切换为true...")
+ self.set_node_value("mode_switch", False)
+ self.set_node_value("manual_auto_switch", False)
+ self.set_node_value("auto_run_start_trigger", False)
+ self.set_node_value("auto_run_complete", False)
+ time.sleep(1.0)
+ self.set_node_value("manual_auto_switch", True)
+
+ # 等待自动模式为true
+ print("等待自动模式为true...")
+ auto_mode = self.get_node_value("auto_mode")
+ while not auto_mode:
+ print("等待自动模式变为true...")
+ time.sleep(5.0)
+ auto_mode = self.get_node_value("auto_mode")
+
+ # 将自动作业开始触发写true
+ print("自动模式已为true，设置自动作业开始触发为true...")
+ self.set_node_value("auto_run_start_trigger", True)
+
+ # 等待自动作业完成为true
+ print("等待自动作业完成...")
+ auto_run_complete = self.get_node_value("auto_run_complete")
+ while not auto_run_complete:
+ print("自动作业执行中...")
+ time.sleep(5.0)
+ auto_run_complete = self.get_node_value("auto_run_complete")
+ else:
+ print("自动作业完成")
+ self.set_node_value("manual_auto_switch", False)
+ self.success = True
+
+ return self.success
+
+
if __name__ == '__main__':
# 示例用法
- # 使用配置文件创建客户端并自动注册工作流
- import os
- current_dir = os.path.dirname(os.path.abspath(__file__))
- config_path = os.path.join(current_dir, "opcua_huairou.json")
-
+
# 创建OPC UA客户端并加载配置
try:
client = OpcUaClient(
- url="opc.tcp://192.168.1.88:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址
- config_path="D:\\Uni-Lab-OS\\unilabos\\device_comms\\opcua_client\\opcua_huairou.json" # 传入配置文件路径
+ url="opc.tcp://127.0.0.1:49320", # 替换为实际的OPC UA服务器地址
+ csv_path="C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\AI4M\\opcua_nodes_AI4M.csv" # 使用AI4M的CSV路径
)
- # 列出所有已注册的工作流
- print("\n已注册的工作流：")
- for workflow_name in client.workflow_name:
- print(f" - {workflow_name}")
-
- # 测试trigger_grab_action工作流 - 使用英文参数名
- print("\n测试trigger_grab_action工作流 - 使用英文参数名:")
- client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=2)
- # client.set_node_value("reaction_tank_number", 2)
-
-
- # 读取节点值 - 使用英文节点名
- grab_complete = client.get_node_value("grab_complete")
- reaction_tank = client.get_node_value("reaction_tank_number")
- raw_tank = client.get_node_value("raw_tank_number")
-
- print(f"\n执行后状态检查 (使用英文节点名):")
- print(f" - 抓取完成状态: {grab_complete}")
- print(f" - 当前反应罐号码: {reaction_tank}")
- print(f" - 当前原料罐号码: {raw_tank}")
+ # 测试1: 初始化函数
+ print("\n" + "="*80)
+ print("测试: 物料载具转移函数")
+ print("="*80)
- # 测试节点值写入 - 使用英文节点名
- print("\n测试节点值写入 (使用英文节点名):")
- success = client.set_node_value("atomization_fast_speed", 150.5)
- print(f" - 写入搅拌浆雾化快速 = 150.5, 结果: {success}")
+ # 测试将物料载具从水凝胶堆栈转移到反应工站1
+ result = client.transfer_carrier_to_station(
+ carrier_name="Hydrogel_Clean_1BottleCarrier",
+ source_warehouse_name="水凝胶烧杯堆栈",
+ target_station_name="反应工站1"
+ )
+ print(f"物料载具转移结果: {'成功' if result else '失败'}")
- # 读取写入的值
- atomization_speed = client.get_node_value("atomization_fast_speed")
- print(f" - 读取搅拌浆雾化快速: {atomization_speed}")
+ print("\n" + "="*80)
+ print("测试完成")
+ print("="*80)
# 断开连接
client.disconnect()
diff --git a/unilabos/devices/workstation/AI4M/AI4M.json b/unilabos/devices/workstation/AI4M/AI4M.json
new file mode 100644
index 00000000..ee09e4c2
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/AI4M.json
@@ -0,0 +1,56 @@
+{
+ "nodes": [
+ {
+ "id": "AI4M_station",
+ "name": "AI4M_station",
+ "children": [
+ "AI4M_deck"
+ ],
+ "parent": null,
+ "type": "device",
+ "class": "AI4M_station",
+ "position": {
+ "x": 250,
+ "y": 0,
+ "z": 0
+ },
+ "pose": {
+ "size": {
+ "width": 1217,
+ "height": 1580,
+ "depth": 2670
+ }
+ },
+ "config": {
+ "url": "opc.tcp://127.0.0.1:49320",
+ "csv_path": "opcua_nodes_AI4M_sim.csv",
+ "deck": {
+ "data": {
+ "_resource_child_name": "AI4M_deck",
+ "_resource_type": "unilabos.devices.workstation.AI4M.decks:AI4M_deck"
+ }
+ }
+ },
+ "data": {
+ }
+ },
+ {
+ "id": "AI4M_deck",
+ "name": "AI4M_deck",
+ "sample_id": null,
+ "children": [],
+ "parent": "AI4M_station",
+ "type": "deck",
+ "class": "AI4M_deck",
+ "position": {
+ "x": 250,
+ "y": 0,
+ "z": 0
+ },
+ "config": {
+ "type": "AI4M_deck"
+ },
+ "data": {}
+ }
+ ]
+}
\ No newline at end of file
diff --git a/unilabos/devices/workstation/AI4M/AI4M.py b/unilabos/devices/workstation/AI4M/AI4M.py
new file mode 100644
index 00000000..7fa37f07
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/AI4M.py
@@ -0,0 +1,2252 @@
+import json
+import time
+import traceback
+from typing import Any, Union, List, Dict, Callable, Optional, Tuple
+from pydantic import BaseModel
+
+from opcua import Client, ua
+import pandas as pd
+import os
+
+from unilabos.device_comms.opcua_client.node.uniopcua import Base as OpcUaNodeBase
+from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, NodeType, DataType
+from unilabos.device_comms.universal_driver import UniversalDriver
+from unilabos.resources.resource_tracker import ResourceTreeSet
+from unilabos.utils.log import logger
+from unilabos.devices.workstation.AI4M.decks import AI4M_deck
+
+class OpcUaNode(BaseModel):
+ name: str
+ node_type: NodeType
+ node_id: str = ""
+ data_type: Optional[DataType] = None
+ parent_node_id: Optional[str] = None
+
+
+class OpcUaWorkflow(BaseModel):
+ name: str
+ actions: List[
+ Union[
+ "OpcUaWorkflow",
+ Callable[
+ [Callable[[str], OpcUaNodeBase]],
+ None
+ ]]
+ ]
+
+
+class Action(BaseModel):
+ name: str
+ rw: bool # read是0 write是1
+
+
+class WorkflowAction(BaseModel):
+ init: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None
+ start: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None
+ stop: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None
+ cleanup: Optional[Callable[[Callable[[str], OpcUaNodeBase]], None]] = None
+
+
+class OpcUaWorkflowModel(BaseModel):
+ name: str
+ actions: List[Union["OpcUaWorkflowModel", WorkflowAction]]
+ parameters: Optional[List[str]] = None
+ description: Optional[str] = None
+
+
+""" 前后端Json解析用 """
+class NodeFunctionJson(BaseModel):
+ func_name: str
+ node_name: str
+ mode: str # read, write, call
+ value: Any = None
+
+
+class ExecuteProcedureJson(BaseModel):
+ register_node_list_from_csv_path: Optional[Dict[str, Any]] = None
+# create_flow: List[WorkflowCreateJson]
+ execute_flow: List[str]
+
+
+class BaseClient(UniversalDriver):
+ client: Optional[Client] = None
+ _node_registry: Dict[str, OpcUaNodeBase] = {}
+ DEFAULT_ADDRESS_PATH = ""
+ _variables_to_find: Dict[str, Dict[str, Any]] = {}
+ _name_mapping: Dict[str, str] = {} # 英文名到中文名的映射
+ _reverse_mapping: Dict[str, str] = {} # 中文名到英文名的映射
+ # 直接缓存已找到的 ua.Node 对象，避免因字符串 NodeId 格式导致订阅失败
+ _found_node_objects: Dict[str, Any] = {}
+
+ def __init__(self):
+ super().__init__()
+ # 自动查找节点功能默认开启
+ self._auto_find_nodes = True
+ # 初始化名称映射字典
+ self._name_mapping = {}
+ self._reverse_mapping = {}
+ # 初始化线程锁（在子类中会被重新创建，这里提供默认实现）
+ import threading
+ self._client_lock = threading.RLock()
+
+ def _set_client(self, client: Optional[Client]) -> None:
+ if client is None:
+ raise ValueError('client is not valid')
+ self.client = client
+
+ def _connect(self) -> None:
+ logger.info('try to connect client...')
+ if self.client:
+ try:
+ self.client.connect()
+ logger.info('client connected!')
+
+ # 连接后开始查找节点
+ if self._variables_to_find:
+ self._find_nodes()
+ except Exception as e:
+ logger.error(f'client connect failed: {e}')
+ raise
+ else:
+ raise ValueError('client is not initialized')
+
+ def _find_nodes(self) -> None:
+ """查找服务器中的节点（通过NodeID直接获取）"""
+ if not self.client:
+ raise ValueError('client is not connected')
+
+ logger.info(f'开始查找 {len(self._variables_to_find)} 个节点...')
+ try:
+ # 记录查找前的状态
+ before_count = len(self._node_registry)
+
+ # 通过NodeID直接查找节点
+ for var_name, var_info in self._variables_to_find.items():
+ if var_name in self._node_registry:
+ continue # 已经找到的节点跳过
+
+ node_id = var_info.get("node_id")
+ if not node_id:
+ logger.warning(f"节点 '{var_name}' 缺少NodeID，跳过")
+ continue
+
+ try:
+ # 通过NodeID直接获取节点
+ node = self.client.get_node(node_id)
+
+ # 验证节点是否存在（通过读取浏览名称）
+ browse_name = node.get_browse_name()
+
+ node_type = var_info.get("node_type")
+ data_type = var_info.get("data_type")
+ node_id_str = str(node.nodeid)
+
+ # 根据节点类型创建相应的对象
+ if node_type == NodeType.VARIABLE:
+ self._node_registry[var_name] = Variable(self.client, var_name, node_id_str, data_type)
+ logger.debug(f"✓ 找到变量节点: '{var_name}', NodeId: {node_id_str}, DataType: {data_type}")
+ # 缓存真实的 ua.Node 对象用于订阅
+ self._found_node_objects[var_name] = node
+ elif node_type == NodeType.METHOD:
+ # 对于方法节点，需要获取父节点ID
+ parent_node = node.get_parent()
+ parent_node_id = str(parent_node.nodeid)
+ self._node_registry[var_name] = Method(self.client, var_name, node_id_str, parent_node_id, data_type)
+ logger.debug(f"✓ 找到方法节点: '{var_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}")
+
+ except Exception as e:
+ logger.warning(f"无法获取节点 '{var_name}' (NodeId: {node_id}): {e}")
+ continue
+
+ # 记录查找后的状态
+ after_count = len(self._node_registry)
+ newly_found = after_count - before_count
+
+ logger.info(f"本次查找新增 {newly_found} 个节点，当前共 {after_count} 个")
+
+ # 检查是否所有节点都已找到
+ not_found = []
+ for var_name, var_info in self._variables_to_find.items():
+ if var_name not in self._node_registry:
+ not_found.append(var_name)
+
+ if not_found:
+ logger.warning(f"⚠ 以下 {len(not_found)} 个节点未找到: {', '.join(not_found[:10])}{'...' if len(not_found) > 10 else ''}")
+ logger.warning(f"提示：请检查这些节点的NodeID是否正确")
+ else:
+ logger.info(f"✓ 所有 {len(self._variables_to_find)} 个节点均已找到并注册")
+
+ except Exception as e:
+ logger.error(f"查找节点失败: {e}")
+ traceback.print_exc()
+
+
+
+ @classmethod
+ def load_csv(cls, file_path: str) -> List[OpcUaNode]:
+ """
+ 从CSV文件加载节点定义
+ CSV文件需包含Name,NodeType,DataType列
+ 可选包含EnglishName,NodeLanguage和NodeId列
+ """
+ df = pd.read_csv(file_path)
+ df = df.drop_duplicates(subset='Name', keep='first') # 重复的数据应该报错
+ nodes = []
+
+ # 检查是否包含英文名称列、节点语言列和NodeId列
+ has_english_name = 'EnglishName' in df.columns
+ has_node_language = 'NodeLanguage' in df.columns
+ has_node_id = 'NodeId' in df.columns
+
+ # 如果存在英文名称列，创建名称映射字典
+ name_mapping = {}
+ reverse_mapping = {}
+
+ for _, row in df.iterrows():
+ name = row.get('Name')
+ node_type_str = row.get('NodeType')
+ data_type_str = row.get('DataType')
+
+ # 获取英文名称、节点语言和NodeId（如果有）
+ english_name = row.get('EnglishName') if has_english_name else None
+ node_language = row.get('NodeLanguage') if has_node_language else 'English' # 默认为英文
+ node_id = row.get('NodeId') if has_node_id else None
+
+ # 如果有英文名称，添加到映射字典
+ if english_name and not pd.isna(english_name) and node_language == 'Chinese':
+ name_mapping[english_name] = name
+ reverse_mapping[name] = english_name
+
+ if not name or not node_type_str:
+ logger.warning(f"跳过无效行: 名称或节点类型缺失")
+ continue
+
+ # 只支持VARIABLE和METHOD两种类型
+ if node_type_str not in ['VARIABLE', 'METHOD']:
+ logger.warning(f"不支持的节点类型: {node_type_str}，仅支持VARIABLE和METHOD")
+ continue
+
+ try:
+ node_type = NodeType[node_type_str]
+ except KeyError:
+ logger.warning(f"无效的节点类型: {node_type_str}")
+ continue
+
+ # 对于VARIABLE节点，必须指定数据类型
+ if node_type == NodeType.VARIABLE:
+ if not data_type_str or pd.isna(data_type_str):
+ logger.warning(f"变量节点 {name} 必须指定数据类型")
+ continue
+
+ try:
+ data_type = DataType[data_type_str]
+ except KeyError:
+ logger.warning(f"无效的数据类型: {data_type_str}")
+ continue
+ else:
+ # 对于METHOD节点，数据类型可选
+ data_type = None
+ if data_type_str and not pd.isna(data_type_str):
+ try:
+ data_type = DataType[data_type_str]
+ except KeyError:
+ logger.warning(f"无效的数据类型: {data_type_str}，将使用默认值")
+
+ # 处理NodeId（如果有的话）
+ node_id_value = ""
+ if node_id and not pd.isna(node_id):
+ node_id_value = str(node_id).strip()
+
+ # 创建节点对象，如果有NodeId则使用，否则留空
+ nodes.append(OpcUaNode(
+ name=name,
+ node_type=node_type,
+ node_id=node_id_value,
+ data_type=data_type
+ ))
+
+ # 返回节点列表和名称映射字典
+ return nodes, name_mapping, reverse_mapping
+
+ def use_node(self, name: str) -> OpcUaNodeBase:
+ """
+ 获取已注册的节点
+ 如果节点尚未找到，会尝试再次查找
+ 支持使用英文名称访问中文节点
+ """
+ # 检查是否使用英文名称访问中文节点
+ if name in self._name_mapping:
+ chinese_name = self._name_mapping[name]
+ if chinese_name in self._node_registry:
+ node = self._node_registry[chinese_name]
+ logger.debug(f"使用节点: '{name}' -> '{chinese_name}', NodeId: {node.node_id}")
+ return node
+ elif chinese_name in self._variables_to_find:
+ logger.warning(f"节点 {chinese_name} (英文名: {name}) 尚未找到，尝试重新查找")
+ if self.client:
+ self._find_nodes()
+ if chinese_name in self._node_registry:
+ node = self._node_registry[chinese_name]
+ logger.info(f"重新查找成功: '{chinese_name}', NodeId: {node.node_id}")
+ return node
+ raise ValueError(f'节点 {chinese_name} (英文名: {name}) 未注册或未找到')
+
+ # 直接使用原始名称查找
+ if name not in self._node_registry:
+ if name in self._variables_to_find:
+ logger.warning(f"节点 {name} 尚未找到，尝试重新查找")
+ if self.client:
+ self._find_nodes()
+ if name in self._node_registry:
+ node = self._node_registry[name]
+ logger.info(f"重新查找成功: '{name}', NodeId: {node.node_id}")
+ return node
+ logger.error(f"❌ 节点 '{name}' 未注册或未找到。已注册节点: {list(self._node_registry.keys())[:5]}...")
+ raise ValueError(f'节点 {name} 未注册或未找到')
+ node = self._node_registry[name]
+ logger.debug(f"使用节点: '{name}', NodeId: {node.node_id}")
+ return node
+
+ def get_node_registry(self) -> Dict[str, OpcUaNodeBase]:
+ return self._node_registry
+
+ def register_node_list_from_csv_path(self, path: str = None) -> "BaseClient":
+ """从CSV文件注册节点"""
+ if path is None:
+ path = self.DEFAULT_ADDRESS_PATH
+ nodes, name_mapping, reverse_mapping = self.load_csv(path)
+ self._name_mapping.update(name_mapping)
+ self._reverse_mapping.update(reverse_mapping)
+ return self.register_node_list(nodes)
+
+ def register_node_list(self, node_list: List[OpcUaNode]) -> "BaseClient":
+ """注册节点列表"""
+ if not node_list or len(node_list) == 0:
+ logger.warning('节点列表为空')
+ return self
+
+ logger.info(f'开始注册 {len(node_list)} 个节点...')
+ new_nodes_count = 0
+ for node in node_list:
+ if node is None:
+ continue
+
+ if node.name in self._node_registry:
+ logger.debug(f'节点 "{node.name}" 已存在于注册表')
+ exist = self._node_registry[node.name]
+ if exist.type != node.node_type:
+ raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致')
+ continue
+
+ # 将节点添加到待查找列表，包括node_id
+ self._variables_to_find[node.name] = {
+ "node_type": node.node_type,
+ "data_type": node.data_type,
+ "node_id": node.node_id
+ }
+ new_nodes_count += 1
+ logger.debug(f'添加节点 "{node.name}" ({node.node_type}, NodeId: {node.node_id}) 到待查找列表')
+
+ logger.info(f'节点注册完成：新增 {new_nodes_count} 个待查找节点，总计 {len(self._variables_to_find)} 个')
+
+ # 如果客户端已连接，立即开始查找
+ if self.client:
+ self._find_nodes()
+
+ return self
+
+ def run_opcua_workflow(self, workflow: OpcUaWorkflow) -> None:
+ if not self.client:
+ raise ValueError('client is not connected')
+
+ logger.info(f'start to run workflow {workflow.name}...')
+
+ for action in workflow.actions:
+ if isinstance(action, OpcUaWorkflow):
+ self.run_opcua_workflow(action)
+ elif callable(action):
+ action(self.use_node)
+ else:
+ raise ValueError(f'invalid action {action}')
+
+ def call_lifecycle_fn(
+ self,
+ workflow: OpcUaWorkflowModel,
+ fn: Optional[Callable[[Callable], bool]],
+ ) -> bool:
+ if not fn:
+ raise ValueError('fn is not valid in call_lifecycle_fn')
+ try:
+ result = fn(self.use_node)
+ # 处理函数返回值可能是元组的情况
+ if isinstance(result, tuple) and len(result) == 2:
+ # 第二个元素是错误标志，True表示出错，False表示成功
+ value, error_flag = result
+ return not error_flag # 转换成True表示成功，False表示失败
+ return result
+ except Exception as e:
+ traceback.print_exc()
+ logger.error(f'execute {workflow.name} lifecycle failed, err: {e}')
+ return False
+
+ def run_opcua_workflow_model(self, workflow: OpcUaWorkflowModel) -> bool:
+ if not self.client:
+ raise ValueError('client is not connected')
+
+ logger.info(f'start to run workflow {workflow.name}...')
+
+ for action in workflow.actions:
+ if isinstance(action, OpcUaWorkflowModel):
+ if self.run_opcua_workflow_model(action):
+ logger.info(f"{action.name} workflow done.")
+ continue
+ else:
+ logger.error(f"{action.name} workflow failed")
+ return False
+ elif isinstance(action, WorkflowAction):
+ init = action.init
+ start = action.start
+ stop = action.stop
+ cleanup = action.cleanup
+ if not init and not start and not stop:
+ raise ValueError(f'invalid action {action}')
+
+ is_err = False
+ try:
+ if init and not self.call_lifecycle_fn(workflow, init):
+ raise ValueError(f"{workflow.name} init action failed")
+ if not self.call_lifecycle_fn(workflow, start):
+ raise ValueError(f"{workflow.name} start action failed")
+ if not self.call_lifecycle_fn(workflow, stop):
+ raise ValueError(f"{workflow.name} stop action failed")
+ logger.info(f"{workflow.name} action done.")
+ except Exception as e:
+ is_err = True
+ traceback.print_exc()
+ logger.error(f"{workflow.name} action failed, err: {e}")
+ finally:
+ logger.info(f"{workflow.name} try to run cleanup")
+ if cleanup:
+ self.call_lifecycle_fn(workflow, cleanup)
+ else:
+ logger.info(f"{workflow.name} cleanup is not defined")
+ if is_err:
+ return False
+ return True
+ else:
+ raise ValueError(f'invalid action type {type(action)}')
+
+ return True
+
+ function_name: Dict[str, Callable[[Callable[[str], OpcUaNodeBase]], bool]] = {}
+
+ def create_node_function(self, func_name: str = None, node_name: str = None, mode: str = None, value: Any = None, **kwargs) -> Callable[[Callable[[str], OpcUaNodeBase]], bool]:
+ def execute_node_function(use_node: Callable[[str], OpcUaNodeBase]) -> Union[bool, Tuple[Any, bool]]:
+ target_node = use_node(node_name)
+
+ # 检查是否有对应的参数值可用
+ current_value = value
+ if hasattr(self, '_workflow_params') and func_name in self._workflow_params:
+ current_value = self._workflow_params[func_name]
+ print(f"使用参数值 {func_name} = {current_value}")
+ else:
+ print(f"执行 {node_name}, {type(target_node).__name__}, {target_node.node_id}, {mode}, {current_value}")
+
+ if mode == 'read':
+ result_str = self.read_node(node_name)
+
+ try:
+ # 将字符串转换为字典
+ result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析
+ result_dict = json.loads(result_str)
+
+ # 从字典获取值和错误标志
+ val = result_dict.get("value")
+ err = result_dict.get("error")
+
+ print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}, 错误 = {err}")
+ return val, err
+ except Exception as e:
+ print(f"解析读取结果失败: {e}, 原始结果: {result_str}")
+ return None, True
+ elif mode == 'write':
+ # 构造完整的JSON输入，包含node_name和value
+ input_json = json.dumps({"node_name": node_name, "value": current_value})
+ result_str = self.write_node(input_json)
+
+ try:
+ # 解析返回的字符串为字典
+ result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"写入 {node_name} = {current_value}, 结果 = {success}")
+ return success
+ except Exception as e:
+ print(f"解析写入结果失败: {e}, 原始结果: {result_str}")
+ return False
+ elif mode == 'call' and hasattr(target_node, 'call'):
+ args = current_value if isinstance(current_value, list) else [current_value]
+ result = target_node.call(*args)
+ print(f"调用方法 {node_name} 参数 = {args}, 返回值 = {result}")
+ return result
+ return False
+
+ if func_name is None:
+ func_name = f"{node_name}_{mode}_{str(value)}"
+
+ print(f"创建 node function: {mode}, {func_name}")
+ self.function_name[func_name] = execute_node_function
+
+ return execute_node_function
+
+ def create_init_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None):
+ """
+ 创建初始化函数
+
+ 参数:
+ func_name: 函数名称
+ write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2}
+ 值可以是具体值，也可以是参数名称字符串（将从_workflow_params中查找）
+ """
+ if write_nodes is None:
+ raise ValueError("必须提供write_nodes参数")
+
+ def execute_init_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool:
+ """根据 _workflow_params 为各节点写入真实数值。
+
+ 约定:
+ - write_nodes 为 list 时: 节点名 == 参数名，从 _workflow_params[node_name] 取值；
+ - write_nodes 为 dict 时:
+ * value 为字符串且在 _workflow_params 中: 当作参数名去取值；
+ * 否则 value 视为常量直接写入。
+ """
+
+ params = getattr(self, "_workflow_params", {}) or {}
+
+ if isinstance(write_nodes, list):
+ # 节点列表形式: 节点名与参数名一致
+ for node_name in write_nodes:
+ if node_name not in params:
+ print(f"初始化函数: 参数中未找到 {node_name}, 跳过写入")
+ continue
+
+ current_value = params[node_name]
+ print(f"初始化函数: 写入节点 {node_name} = {current_value}")
+ input_json = json.dumps({"node_name": node_name, "value": current_value})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"初始化函数: 写入结果 = {success}")
+ except Exception as e:
+ print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}")
+ elif isinstance(write_nodes, dict):
+ # 映射形式: 节点名 -> 参数名或常量
+ for node_name, node_value in write_nodes.items():
+ if isinstance(node_value, str) and node_value in params:
+ current_value = params[node_value]
+ print(f"初始化函数: 从参数获取值 {node_value} = {current_value}")
+ else:
+ current_value = node_value
+ print(f"初始化函数: 使用常量值 写入 {node_name} = {current_value}")
+
+ print(f"初始化函数: 写入节点 {node_name} = {current_value}")
+ input_json = json.dumps({"node_name": node_name, "value": current_value})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"初始化函数: 写入结果 = {success}")
+ except Exception as e:
+ print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}")
+ return True
+
+ if func_name is None:
+ func_name = f"init_function_{str(time.time())}"
+
+ print(f"创建初始化函数: {func_name}")
+ self.function_name[func_name] = execute_init_function
+ return execute_init_function
+
+ def create_stop_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None):
+ """
+ 创建停止函数
+
+ 参数:
+ func_name: 函数名称
+ write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2}
+ """
+ if write_nodes is None:
+ raise ValueError("必须提供write_nodes参数")
+
+ def execute_stop_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool:
+ if isinstance(write_nodes, list):
+ # 处理节点列表，默认值都是False
+ for node_name in write_nodes:
+ # 直接写入False
+ print(f"停止函数: 写入节点 {node_name} = False")
+ input_json = json.dumps({"node_name": node_name, "value": False})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"停止函数: 写入结果 = {success}")
+ except Exception as e:
+ print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}")
+ elif isinstance(write_nodes, dict):
+ # 处理节点字典，使用指定的值
+ for node_name, node_value in write_nodes.items():
+ print(f"停止函数: 写入节点 {node_name} = {node_value}")
+ input_json = json.dumps({"node_name": node_name, "value": node_value})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"停止函数: 写入结果 = {success}")
+ except Exception as e:
+ print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}")
+ return True
+
+ if func_name is None:
+ func_name = f"stop_function_{str(time.time())}"
+
+ print(f"创建停止函数: {func_name}")
+ self.function_name[func_name] = execute_stop_function
+ return execute_stop_function
+
+ def create_cleanup_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None):
+ """
+ 创建清理函数
+
+ 参数:
+ func_name: 函数名称
+ write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2}
+ """
+ if write_nodes is None:
+ raise ValueError("必须提供write_nodes参数")
+
+ def execute_cleanup_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool:
+ if isinstance(write_nodes, list):
+ # 处理节点列表，默认值都是False
+ for node_name in write_nodes:
+ # 直接写入False
+ print(f"清理函数: 写入节点 {node_name} = False")
+ input_json = json.dumps({"node_name": node_name, "value": False})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"清理函数: 写入结果 = {success}")
+ except Exception as e:
+ print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}")
+ elif isinstance(write_nodes, dict):
+ # 处理节点字典，使用指定的值
+ for node_name, node_value in write_nodes.items():
+ print(f"清理函数: 写入节点 {node_name} = {node_value}")
+ input_json = json.dumps({"node_name": node_name, "value": node_value})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"清理函数: 写入结果 = {success}")
+ except Exception as e:
+ print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}")
+ return True
+
+ if func_name is None:
+ func_name = f"cleanup_function_{str(time.time())}"
+
+ print(f"创建清理函数: {func_name}")
+ self.function_name[func_name] = execute_cleanup_function
+ return execute_cleanup_function
+
+ def create_start_function(self, func_name: str, stop_condition_expression: str = "True", write_nodes: Union[Dict[str, Any], List[str]] = None, condition_nodes: Union[Dict[str, str], List[str]] = None):
+ """
+ 创建开始函数
+
+ 参数:
+ func_name: 函数名称
+ stop_condition_expression: 停止条件表达式，可直接引用节点名称
+ write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2}
+ condition_nodes: 条件节点列表 [节点名1, 节点名2]
+ """
+ def execute_start_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool:
+ """开始函数: 写入触发节点, 然后轮询条件节点直到满足停止条件。"""
+
+ params = getattr(self, "_workflow_params", {}) or {}
+
+ # 先处理写入节点（触发位等）
+ if write_nodes:
+ if isinstance(write_nodes, list):
+ # 列表形式: 节点名与参数名一致, 若无参数则直接写 True
+ for node_name in write_nodes:
+ if node_name in params:
+ current_value = params[node_name]
+ else:
+ current_value = True
+
+ print(f"直接写入节点 {node_name} = {current_value}")
+ input_json = json.dumps({"node_name": node_name, "value": current_value})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"直接写入 {node_name} = {current_value}, 结果: {success}")
+ except Exception as e:
+ print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}")
+ elif isinstance(write_nodes, dict):
+ # 字典形式: 节点名 -> 常量值(如 True/False)
+ for node_name, node_value in write_nodes.items():
+ if node_name in params:
+ current_value = params[node_name]
+ else:
+ current_value = node_value
+
+ print(f"直接写入节点 {node_name} = {current_value}")
+ input_json = json.dumps({"node_name": node_name, "value": current_value})
+ result_str = self.write_node(input_json)
+ try:
+ result_str = result_str.replace("'", '"')
+ result = json.loads(result_str)
+ success = result.get("success", False)
+ print(f"直接写入 {node_name} = {current_value}, 结果: {success}")
+ except Exception as e:
+ print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}")
+
+ # 如果没有条件节点，立即返回
+ if not condition_nodes:
+ return True
+
+ # 处理条件检查和等待
+ while True:
+ next_loop = False
+ condition_source = {}
+
+ # 直接读取条件节点
+ if isinstance(condition_nodes, list):
+ # 处理节点列表
+ for i, node_name in enumerate(condition_nodes):
+ # 直接读取节点
+ result_str = self.read_node(node_name)
+ try:
+ time.sleep(1)
+ result_str = result_str.replace("'", '"')
+ result_dict = json.loads(result_str)
+ read_res = result_dict.get("value")
+ read_err = result_dict.get("error", False)
+ print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}")
+
+ if read_err:
+ next_loop = True
+ break
+
+ # 将节点值存入条件源字典，使用节点名称作为键
+ condition_source[node_name] = read_res
+ # 为了向后兼容，也保留read_i格式
+ condition_source[f"read_{i}"] = read_res
+ except Exception as e:
+ print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}")
+ read_res, read_err = None, True
+ next_loop = True
+ break
+ elif isinstance(condition_nodes, dict):
+ # 处理节点字典
+ for condition_func, node_name in condition_nodes.items():
+ # 直接读取节点
+ result_str = self.read_node(node_name)
+ try:
+ result_str = result_str.replace("'", '"')
+ result_dict = json.loads(result_str)
+ read_res = result_dict.get("value")
+ read_err = result_dict.get("error", False)
+ print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}")
+
+ if read_err:
+ next_loop = True
+ break
+
+ # 将节点值存入条件源字典
+ condition_source[node_name] = read_res
+ # 也保存使用函数名作为键
+ condition_source[condition_func] = read_res
+ except Exception as e:
+ print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}")
+ next_loop = True
+ break
+
+ if not next_loop:
+ if stop_condition_expression:
+ # 添加调试信息
+ print(f"条件源数据: {condition_source}")
+ condition_source["__RESULT"] = None
+
+ # 确保安全地执行条件表达式
+ try:
+ # 先尝试使用eval更安全的方式计算表达式
+ result = eval(stop_condition_expression, {}, condition_source)
+ condition_source["__RESULT"] = result
+ except Exception as e:
+ print(f"使用eval执行表达式失败: {e}")
+ try:
+ # 回退到exec方式
+ exec(f"__RESULT = {stop_condition_expression}", {}, condition_source)
+ except Exception as e2:
+ print(f"使用exec执行表达式也失败: {e2}")
+ condition_source["__RESULT"] = False
+
+ res = condition_source["__RESULT"]
+ print(f"取得计算结果: {res}, 条件表达式: {stop_condition_expression}")
+
+ if res:
+ print("满足停止条件，结束工作流")
+ break
+ else:
+ # 如果没有停止条件，直接退出
+ break
+ else:
+ time.sleep(0.3)
+
+ return True
+
+ self.function_name[func_name] = execute_start_function
+ return execute_start_function
+
+ create_action_from_json = None
+
+ def create_action_from_json(self, data: Union[Dict, Any]) -> WorkflowAction:
+ """
+ 从JSON配置创建工作流动作
+
+ 参数:
+ data: 动作JSON数据
+
+ 返回:
+ WorkflowAction对象
+ """
+ # 初始化所需变量
+ start_function = None
+ write_nodes = {}
+ condition_nodes = []
+ stop_function = None
+ init_function = None
+ cleanup_function = None
+
+ # 提取start_function相关信息
+ if hasattr(data, "start_function") and data.start_function:
+ start_function = data.start_function
+ if "write_nodes" in start_function:
+ write_nodes = start_function["write_nodes"]
+ if "condition_nodes" in start_function:
+ condition_nodes = start_function["condition_nodes"]
+ elif isinstance(data, dict) and data.get("start_function"):
+ start_function = data.get("start_function")
+ if "write_nodes" in start_function:
+ write_nodes = start_function["write_nodes"]
+ if "condition_nodes" in start_function:
+ condition_nodes = start_function["condition_nodes"]
+
+ # 提取stop_function信息
+ if hasattr(data, "stop_function") and data.stop_function:
+ stop_function = data.stop_function
+ elif isinstance(data, dict) and data.get("stop_function"):
+ stop_function = data.get("stop_function")
+
+ # 提取init_function信息
+ if hasattr(data, "init_function") and data.init_function:
+ init_function = data.init_function
+ elif isinstance(data, dict) and data.get("init_function"):
+ init_function = data.get("init_function")
+
+ # 提取cleanup_function信息
+ if hasattr(data, "cleanup_function") and data.cleanup_function:
+ cleanup_function = data.cleanup_function
+ elif isinstance(data, dict) and data.get("cleanup_function"):
+ cleanup_function = data.get("cleanup_function")
+
+ # 创建工作流动作组件
+ init = None
+ start = None
+ stop = None
+ cleanup = None
+
+ # 处理init function
+ if init_function:
+ init_params = {"func_name": init_function.get("func_name")}
+ if "write_nodes" in init_function:
+ init_params["write_nodes"] = init_function["write_nodes"]
+ else:
+ # 如果没有write_nodes，创建一个空字典
+ init_params["write_nodes"] = {}
+
+ init = self.create_init_function(**init_params)
+
+ # 处理start function
+ if start_function:
+ start_params = {
+ "func_name": start_function.get("func_name"),
+ "stop_condition_expression": start_function.get("stop_condition_expression", "True"),
+ "write_nodes": write_nodes,
+ "condition_nodes": condition_nodes
+ }
+ start = self.create_start_function(**start_params)
+
+ # 处理stop function
+ if stop_function:
+ stop_params = {
+ "func_name": stop_function.get("func_name"),
+ "write_nodes": stop_function.get("write_nodes", {})
+ }
+ stop = self.create_stop_function(**stop_params)
+
+ # 处理cleanup function
+ if cleanup_function:
+ cleanup_params = {
+ "func_name": cleanup_function.get("func_name"),
+ "write_nodes": cleanup_function.get("write_nodes", {})
+ }
+ cleanup = self.create_cleanup_function(**cleanup_params)
+
+ return WorkflowAction(init=init, start=start, stop=stop, cleanup=cleanup)
+
+ workflow_name: Dict[str, OpcUaWorkflowModel] = {}
+
+ def create_workflow_from_json(self, data: List[Dict]) -> None:
+ """
+ 从JSON配置创建工作流程序
+
+ 参数:
+ data: 工作流配置列表
+ """
+ for ind, flow_dict in enumerate(data):
+ print(f"正在创建 workflow {ind}, {flow_dict['name']}")
+ actions = []
+
+ for i in flow_dict["action"]:
+ if isinstance(i, str):
+ print(f"沿用已有 workflow 作为 action: {i}")
+ action = self.workflow_name[i]
+ else:
+ print("创建 action")
+ # 直接将字典转换为SimplifiedActionJson对象或直接使用字典
+ action = self.create_action_from_json(i)
+
+ actions.append(action)
+
+ # 获取参数
+ parameters = flow_dict.get("parameters", [])
+
+ flow_instance = OpcUaWorkflowModel(
+ name=flow_dict["name"],
+ actions=actions,
+ parameters=parameters,
+ description=flow_dict.get("description", "")
+ )
+ print(f"创建完成 workflow: {flow_dict['name']}")
+ self.workflow_name[flow_dict["name"]] = flow_instance
+
+ def execute_workflow_from_json(self, data: List[str]) -> None:
+ for i in data:
+ print(f"正在执行 workflow: {i}")
+ self.run_opcua_workflow_model(self.workflow_name[i])
+
+ def execute_procedure_from_json(self, data: Union[ExecuteProcedureJson, Dict]) -> None:
+ """从JSON配置执行工作流程序"""
+ if isinstance(data, dict):
+ # 处理字典类型
+ register_params = data.get("register_node_list_from_csv_path")
+ create_flow = data.get("create_flow", [])
+ execute_flow = data.get("execute_flow", [])
+ else:
+ # 处理Pydantic模型类型
+ register_params = data.register_node_list_from_csv_path
+ create_flow = data.create_flow
+ execute_flow = data.execute_flow if hasattr(data, "execute_flow") else []
+
+ # 注册节点
+ if register_params:
+ print(f"注册节点 csv: {register_params}")
+ self.register_node_list_from_csv_path(**register_params)
+
+ # 创建工作流
+ print("创建工作流")
+ self.create_workflow_from_json(create_flow)
+
+ # 注册工作流为实例方法
+ self.register_workflows_as_methods()
+
+ # 如果存在execute_flow字段，则执行指定的工作流（向后兼容）
+ if execute_flow:
+ print("执行工作流")
+ self.execute_workflow_from_json(execute_flow)
+
+ def register_workflows_as_methods(self) -> None:
+ """将工作流注册为实例方法"""
+ for workflow_name, workflow in self.workflow_name.items():
+ # 获取工作流的参数信息（如果存在）
+ workflow_params = getattr(workflow, 'parameters', []) or []
+ workflow_desc = getattr(workflow, 'description', None) or f"执行工作流: {workflow_name}"
+
+ # 创建执行工作流的方法
+ def create_workflow_method(wf_name=workflow_name, wf=workflow, params=workflow_params):
+ def workflow_method(*args, **kwargs):
+ logger.info(f"执行工作流: {wf_name}, 参数: {args}, {kwargs}")
+
+ # 处理传入的参数
+ if params and (args or kwargs):
+ # 将位置参数转换为关键字参数
+ params_dict = {}
+ for i, param_name in enumerate(params):
+ if i < len(args):
+ params_dict[param_name] = args[i]
+
+ # 合并关键字参数
+ params_dict.update(kwargs)
+
+ # 保存参数，供节点函数使用
+ self._workflow_params = params_dict
+ else:
+ self._workflow_params = {}
+
+ # 执行工作流
+ result = self.run_opcua_workflow_model(wf)
+
+ # 清理参数
+ self._workflow_params = {}
+
+ return result
+
+ # 设置方法的文档字符串
+ workflow_method.__doc__ = workflow_desc
+ if params:
+ param_doc = ", ".join(params)
+ workflow_method.__doc__ += f"\n参数: {param_doc}"
+
+ return workflow_method
+
+ # 注册为实例方法
+ method = create_workflow_method()
+ setattr(self, workflow_name, method)
+ logger.info(f"已将工作流 '{workflow_name}' 注册为实例方法")
+
+ def read_node(self, node_name: str) -> Dict[str, Any]:
+ """
+ 读取节点值的便捷方法
+ 返回包含result字段的字典
+ """
+ # 使用锁保护客户端访问
+ with self._client_lock:
+ try:
+ node = self.use_node(node_name)
+ value, error = node.read()
+
+ # 创建结果字典
+ result = {
+ "value": value,
+ "error": error,
+ "node_name": node_name,
+ "timestamp": time.time()
+ }
+
+ # 返回JSON字符串
+ return json.dumps(result)
+ except Exception as e:
+ logger.error(f"读取节点 {node_name} 失败: {e}")
+ # 创建错误结果字典
+ result = {
+ "value": None,
+ "error": True,
+ "node_name": node_name,
+ "error_message": str(e),
+ "timestamp": time.time()
+ }
+ return json.dumps(result)
+
+ def write_node(self, json_input: str) -> str:
+ """
+ 写入节点值的便捷方法
+ 接受单个JSON格式的字符串作为输入，包含节点名称和值
+ eg:'{\"node_name\":\"反应罐号码\",\"value\":\"2\"}'
+ 返回JSON格式的字符串，包含操作结果
+ """
+ # 使用锁保护客户端访问
+ with self._client_lock:
+ try:
+ # 解析JSON格式的输入
+ if not isinstance(json_input, str):
+ json_input = str(json_input)
+
+ try:
+ input_data = json.loads(json_input)
+ if not isinstance(input_data, dict):
+ return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False})
+
+ # 从JSON中提取节点名称和值
+ node_name = input_data.get("node_name")
+ value = input_data.get("value")
+
+ if node_name is None:
+ return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False})
+ except json.JSONDecodeError as e:
+ return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False})
+
+ node = self.use_node(node_name)
+ error = node.write(value)
+
+ # 创建结果字典
+ result = {
+ "value": value,
+ "error": error,
+ "node_name": node_name,
+ "timestamp": time.time(),
+ "success": not error
+ }
+
+ return json.dumps(result)
+ except Exception as e:
+ logger.error(f"写入节点失败: {e}")
+ result = {
+ "error": True,
+ "error_message": str(e),
+ "timestamp": time.time(),
+ "success": False
+ }
+ return json.dumps(result)
+
+ def call_method(self, node_name: str, *args) -> Tuple[Any, bool]:
+ """
+ 调用方法节点的便捷方法
+ 返回 (返回值, 是否出错)
+ """
+ try:
+ node = self.use_node(node_name)
+ if hasattr(node, 'call'):
+ return node.call(*args)
+ else:
+ logger.error(f"节点 {node_name} 不是方法节点")
+ return None, True
+ except Exception as e:
+ logger.error(f"调用方法 {node_name} 失败: {e}")
+ return None, True
+
+
+class OpcUaClient(BaseClient):
+ def __init__(
+ self,
+ url: str,
+ deck: Optional[AI4M_deck] = None,
+ csv_path: str = None,
+ username: str = None,
+ password: str = None,
+ use_subscription: bool = True,
+ cache_timeout: float = 5.0,
+ subscription_interval: int = 500,
+ *args,
+ **kwargs,
+ ):
+ # 降低OPCUA库的日志级别
+ import logging
+ logging.getLogger("opcua").setLevel(logging.WARNING)
+
+ # ===== 关键修改：参照 BioyondWorkstation 处理 deck =====
+
+ super().__init__()
+
+ # 处理 deck 参数
+ if deck is None or isinstance(deck["data"], dict) or len(deck["data"].children) == 0:
+ self.deck = AI4M_deck(setup=True)
+ else:
+ # self.resource = ResourceTreeSet.from_nested_instance_list([deck["data"]])
+ # self.deck = self.resource.to_plr_resources()
+ self.deck = deck["data"]
+ # elif isinstance(deck, dict):
+ # # 从 dict 中提取参数创建 deck
+ # deck_config = deck.get('config', {})
+ # deck_size_x = deck_config.get('size_x', 1217.0)
+ # deck_size_y = deck_config.get('size_y', 1580.0)
+ # deck_size_z = deck_config.get('size_z', 2670.0)
+ # self.deck = AI4M_deck(
+ # size_x=deck_size_x,
+ # size_y=deck_size_y,
+ # size_z=deck_size_z,
+ # setup=True
+ # )
+ # logger.info(f"Deck 尺寸设置: {deck_size_x}x{deck_size_y}x{deck_size_z} mm")
+ # elif hasattr(deck, 'children'):
+ # self.deck = deck
+ # else:
+ # raise ValueError(f"deck 参数类型不支持: {type(deck)}")
+
+ if self.deck is None:
+ raise ValueError("Deck 配置不能为空")
+
+ # 统计仓库信息
+ warehouse_count = 0
+ if hasattr(self.deck, 'children'):
+ warehouse_count = len(self.deck.children)
+ logger.info(f"Deck 初始化完成，加载 {warehouse_count} 个资源")
+
+
+ # OPC UA 客户端初始化
+ client = Client(url)
+
+ if username and password:
+ client.set_user(username)
+ client.set_password(password)
+
+ self._set_client(client)
+
+ # 订阅相关属性
+ self._use_subscription = use_subscription
+ self._subscription = None
+ self._subscription_handles = {}
+ self._subscription_interval = subscription_interval
+
+ # 缓存相关属性
+ self._node_values = {} # 修改为支持时间戳的缓存结构
+ self._cache_timeout = cache_timeout
+
+ # 连接状态监控
+ self._connection_check_interval = 30.0 # 连接检查间隔(秒)
+ self._connection_monitor_running = False
+ self._connection_monitor_thread = None
+
+ # # 添加线程锁，保护OPC UA客户端的并发访问
+ import threading
+ self._client_lock = threading.RLock()
+
+ # 连接到服务器
+ self._connect()
+
+ # 如果提供了 CSV 路径，则直接加载节点
+ if csv_path:
+ self.load_nodes_from_csv(csv_path)
+
+ # 启动连接监控
+ self._start_connection_monitor()
+
+
+ def _connect(self) -> None:
+ """连接到OPC UA服务器"""
+ logger.info('尝试连接到 OPC UA 服务器...')
+ if self.client:
+ try:
+ self.client.connect()
+ logger.info('✓ 客户端已连接!')
+
+ # 连接后开始查找节点
+ if self._variables_to_find:
+ self._find_nodes()
+
+ # 如果启用订阅模式，设置订阅
+ if self._use_subscription:
+ self._setup_subscriptions()
+ else:
+ logger.info("订阅模式已禁用，将使用按需读取模式")
+
+ except Exception as e:
+ logger.error(f'客户端连接失败: {e}')
+ raise
+ else:
+ raise ValueError('客户端未初始化')
+
+ class SubscriptionHandler:
+ """freeopcua订阅处理器：必须实现 datachange_notification 方法"""
+ def __init__(self, outer):
+ self.outer = outer
+
+ def datachange_notification(self, node, val, data):
+ # 委托给外层类的处理函数
+ try:
+ self.outer._on_subscription_datachange(node, val, data)
+ except Exception as e:
+ logger.error(f"订阅数据回调处理失败: {e}")
+
+ # 可选：事件通知占位，避免库调用时报缺失
+ def event_notification(self, event):
+ pass
+
+ def _setup_subscriptions(self):
+ """设置 OPC UA 订阅"""
+ if not self.client or not self._use_subscription:
+ return
+
+ with self._client_lock:
+ try:
+ logger.info(f"开始设置订阅 (发布间隔: {self._subscription_interval}ms)...")
+
+ # 创建订阅
+ handler = OpcUaClient.SubscriptionHandler(self)
+ self._subscription = self.client.create_subscription(
+ self._subscription_interval,
+ handler
+ )
+
+ # 为所有变量节点创建监控项
+ subscribed_count = 0
+ skipped_count = 0
+
+ for node_name, node in self._node_registry.items():
+ # 只为变量节点创建订阅
+ if node.type == NodeType.VARIABLE and node.node_id:
+ try:
+ # 优先使用在查找阶段缓存的真实 ua.Node 对象
+ ua_node = self._found_node_objects.get(node_name)
+ if ua_node is None:
+ ua_node = self.client.get_node(node.node_id)
+ handle = self._subscription.subscribe_data_change(ua_node)
+ self._subscription_handles[node_name] = handle
+ subscribed_count += 1
+ logger.debug(f"✓ 已订阅节点: {node_name}")
+ except Exception as e:
+ skipped_count += 1
+ logger.warning(f"✗ 订阅节点 {node_name} 失败: {e}")
+ else:
+ skipped_count += 1
+
+ logger.info(f"订阅设置完成: 成功 {subscribed_count} 个, 跳过 {skipped_count} 个")
+
+ except Exception as e:
+ logger.error(f"设置订阅失败: {e}")
+ traceback.print_exc()
+ # 订阅失败时回退到按需读取模式
+ self._use_subscription = False
+ logger.warning("订阅模式设置失败，已自动切换到按需读取模式")
+
+ def _on_subscription_datachange(self, node, val, data):
+ """订阅数据变化处理器（供内部 SubscriptionHandler 调用）"""
+ try:
+ node_id = str(node.nodeid)
+ current_time = time.time()
+ # 查找对应的节点名称
+ for node_name, node_obj in self._node_registry.items():
+ if node_obj.node_id == node_id:
+ self._node_values[node_name] = {
+ 'value': val,
+ 'timestamp': current_time,
+ 'source': 'subscription'
+ }
+ logger.debug(f"订阅更新: {node_name} = {val}")
+ break
+ except Exception as e:
+ logger.error(f"处理订阅数据失败: {e}")
+
+ def get_node_value(self, name, use_cache=True, force_read=False):
+ """
+ 获取节点值（智能缓存版本）
+
+ 参数:
+ name: 节点名称（支持中文名或英文名）
+ use_cache: 是否使用缓存
+ force_read: 是否强制从服务器读取（忽略缓存）
+ """
+ # 处理名称映射
+ if name in self._name_mapping:
+ chinese_name = self._name_mapping[name]
+ elif name in self._node_registry:
+ chinese_name = name
+ else:
+ raise ValueError(f"未找到名称为 '{name}' 的节点")
+
+ # 如果强制读取，直接从服务器读取
+ if force_read:
+ with self._client_lock:
+ value, _ = self.use_node(chinese_name).read()
+ # 更新缓存
+ self._node_values[chinese_name] = {
+ 'value': value,
+ 'timestamp': time.time(),
+ 'source': 'forced_read'
+ }
+ return value
+
+ # 检查缓存
+ if use_cache and chinese_name in self._node_values:
+ cache_entry = self._node_values[chinese_name]
+ cache_age = time.time() - cache_entry['timestamp']
+
+ # 如果是订阅模式，缓存永久有效（由订阅更新）
+ # 如果是按需读取模式，检查缓存超时
+ if cache_entry.get('source') == 'subscription' or cache_age < self._cache_timeout:
+ logger.debug(f"从缓存读取: {chinese_name} = {cache_entry['value']} (age: {cache_age:.2f}s, source: {cache_entry.get('source', 'unknown')})")
+ return cache_entry['value']
+
+ # 缓存过期或不存在，从服务器读取
+ with self._client_lock:
+ try:
+ value, error = self.use_node(chinese_name).read()
+ if not error:
+ # 更新缓存
+ self._node_values[chinese_name] = {
+ 'value': value,
+ 'timestamp': time.time(),
+ 'source': 'on_demand_read'
+ }
+ return value
+ else:
+ logger.warning(f"读取节点 {chinese_name} 失败")
+ return None
+ except Exception as e:
+ logger.error(f"读取节点 {chinese_name} 出错: {e}")
+ return None
+
+ def set_node_value(self, name, value):
+ """
+ 设置节点值
+ 写入成功后会立即更新本地缓存
+ """
+ # 处理名称映射
+ if name in self._name_mapping:
+ chinese_name = self._name_mapping[name]
+ elif name in self._node_registry:
+ chinese_name = name
+ else:
+ raise ValueError(f"未找到名称为 '{name}' 的节点")
+
+ with self._client_lock:
+ try:
+ node = self.use_node(chinese_name)
+ error = node.write(value)
+
+ if not error:
+ # 写入成功，立即更新缓存
+ self._node_values[chinese_name] = {
+ 'value': value,
+ 'timestamp': time.time(),
+ 'source': 'write'
+ }
+ logger.debug(f"写入成功: {chinese_name} = {value}")
+ return True
+ else:
+ logger.warning(f"写入节点 {chinese_name} 失败")
+ return False
+ except Exception as e:
+ logger.error(f"写入节点 {chinese_name} 出错: {e}")
+ return False
+
+ def _check_connection(self) -> bool:
+ """检查连接状态"""
+ try:
+ with self._client_lock:
+ if self.client:
+ # 尝试获取命名空间数组来验证连接
+ self.client.get_namespace_array()
+ return True
+ except Exception as e:
+ logger.warning(f"连接检查失败: {e}")
+ return False
+ return False
+
+ def _connection_monitor_worker(self):
+ """连接监控线程工作函数"""
+ self._connection_monitor_running = True
+ logger.info(f"连接监控线程已启动 (检查间隔: {self._connection_check_interval}秒)")
+
+ reconnect_attempts = 0
+ max_reconnect_attempts = 5
+
+ while self._connection_monitor_running:
+ try:
+ # 检查连接状态
+ if not self._check_connection():
+ logger.warning("检测到连接断开，尝试重新连接...")
+ reconnect_attempts += 1
+
+ if reconnect_attempts <= max_reconnect_attempts:
+ try:
+ # 尝试重新连接
+ with self._client_lock:
+ if self.client:
+ try:
+ self.client.disconnect()
+ except:
+ pass
+
+ self.client.connect()
+ logger.info("✓ 重新连接成功")
+
+ # 重新设置订阅
+ if self._use_subscription:
+ self._setup_subscriptions()
+
+ reconnect_attempts = 0
+ except Exception as e:
+ logger.error(f"重新连接失败 (尝试 {reconnect_attempts}/{max_reconnect_attempts}): {e}")
+ time.sleep(5) # 重连失败后等待5秒
+ else:
+ logger.error(f"达到最大重连次数 ({max_reconnect_attempts})，停止重连")
+ self._connection_monitor_running = False
+ else:
+ # 连接正常，重置重连计数
+ reconnect_attempts = 0
+
+ except Exception as e:
+ logger.error(f"连接监控出错: {e}")
+
+ # 等待下次检查
+ time.sleep(self._connection_check_interval)
+
+ def _start_connection_monitor(self):
+ """启动连接监控线程"""
+ if self._connection_monitor_thread is not None and self._connection_monitor_thread.is_alive():
+ logger.warning("连接监控线程已在运行")
+ return
+
+ import threading
+ self._connection_monitor_thread = threading.Thread(
+ target=self._connection_monitor_worker,
+ daemon=True,
+ name="OpcUaConnectionMonitor"
+ )
+ self._connection_monitor_thread.start()
+
+ def _stop_connection_monitor(self):
+ """停止连接监控线程"""
+ self._connection_monitor_running = False
+ if self._connection_monitor_thread and self._connection_monitor_thread.is_alive():
+ self._connection_monitor_thread.join(timeout=2.0)
+ logger.info("连接监控线程已停止")
+
+ def read_node(self, node_name: str) -> str:
+ """
+ 读取节点值的便捷方法（使用缓存）
+ 返回JSON格式字符串
+ """
+ try:
+ # 使用get_node_value方法，自动处理缓存
+ value = self.get_node_value(node_name, use_cache=True)
+
+ # 获取缓存信息
+ chinese_name = self._name_mapping.get(node_name, node_name)
+ cache_info = self._node_values.get(chinese_name, {})
+
+ result = {
+ "value": value,
+ "error": False,
+ "node_name": node_name,
+ "timestamp": time.time(),
+ "cache_age": time.time() - cache_info.get('timestamp', time.time()),
+ "source": cache_info.get('source', 'unknown')
+ }
+
+ return json.dumps(result)
+ except Exception as e:
+ logger.error(f"读取节点 {node_name} 失败: {e}")
+ result = {
+ "value": None,
+ "error": True,
+ "node_name": node_name,
+ "error_message": str(e),
+ "timestamp": time.time()
+ }
+ return json.dumps(result)
+
+ def get_cache_stats(self) -> Dict[str, Any]:
+ """获取缓存统计信息"""
+ current_time = time.time()
+ stats = {
+ 'total_cached_nodes': len(self._node_values),
+ 'subscription_nodes': 0,
+ 'on_demand_nodes': 0,
+ 'expired_nodes': 0,
+ 'cache_timeout': self._cache_timeout,
+ 'using_subscription': self._use_subscription
+ }
+
+ for node_name, cache_entry in self._node_values.items():
+ source = cache_entry.get('source', 'unknown')
+ cache_age = current_time - cache_entry['timestamp']
+
+ if source == 'subscription':
+ stats['subscription_nodes'] += 1
+ elif source in ['on_demand_read', 'forced_read', 'write']:
+ stats['on_demand_nodes'] += 1
+
+ if cache_age > self._cache_timeout:
+ stats['expired_nodes'] += 1
+
+ return stats
+
+ def print_cache_stats(self):
+ """打印缓存统计信息"""
+ stats = self.get_cache_stats()
+ print("\n" + "="*80)
+ print("缓存统计信息")
+ print("="*80)
+ print(f"总缓存节点数: {stats['total_cached_nodes']}")
+ print(f"订阅模式: {'启用' if stats['using_subscription'] else '禁用'}")
+ print(f" - 订阅更新节点: {stats['subscription_nodes']}")
+ print(f" - 按需读取节点: {stats['on_demand_nodes']}")
+ print(f" - 已过期节点: {stats['expired_nodes']}")
+ print(f"缓存超时时间: {stats['cache_timeout']}秒")
+ print("="*80 + "\n")
+
+ def load_nodes_from_csv(self, csv_path: str) -> None:
+ """直接从CSV文件加载并注册节点"""
+ try:
+ logger.info(f"开始从CSV文件加载节点: {csv_path}")
+
+ # 如果是相对路径，转换为相对于 AI4M.py 文件所在目录的绝对路径
+ if not os.path.isabs(csv_path):
+ current_dir = os.path.dirname(os.path.abspath(__file__))
+ csv_path = os.path.join(current_dir, csv_path)
+ logger.info(f"相对路径已转换为绝对路径: {csv_path}")
+
+ # 检查文件是否存在
+ if not os.path.exists(csv_path):
+ logger.error(f"CSV文件不存在: {csv_path}")
+ return
+
+ # 注册节点
+ logger.info(f"注册CSV文件中的节点: {csv_path}")
+ self.register_node_list_from_csv_path(path=csv_path)
+
+ # 查找节点
+ if self.client and self._variables_to_find:
+ logger.info(f"CSV加载完成，待查找 {len(self._variables_to_find)} 个节点...")
+ self._find_nodes()
+ else:
+ logger.warning(f"⚠ 跳过节点查找 - client: {self.client is not None}, 待查找节点: {len(self._variables_to_find)}")
+
+ # 将所有节点注册为属性
+ self._register_nodes_as_attributes()
+
+ # 打印统计信息
+ found_count = len(self._node_registry)
+ total_count = len(self._variables_to_find)
+ if found_count < total_count:
+ logger.warning(f"节点查找完成：找到 {found_count}/{total_count} 个节点")
+ else:
+ logger.info(f"✓ 节点查找完成：所有 {found_count} 个节点均已找到")
+
+ # 如果使用订阅模式，设置订阅（确保新节点被订阅）
+ if self._use_subscription and found_count > 0:
+ self._setup_subscriptions()
+
+ logger.info(f"✓ 成功从 CSV 加载 {found_count} 个节点")
+ except Exception as e:
+ logger.error(f"从CSV文件加载节点失败 {csv_path}: {e}")
+ traceback.print_exc()
+
+ def disconnect(self):
+ """断开连接并清理资源"""
+ logger.info("正在断开连接...")
+
+ # 停止连接监控
+ self._stop_connection_monitor()
+
+ # 删除订阅
+ if self._subscription:
+ try:
+ with self._client_lock:
+ self._subscription.delete()
+ logger.info("订阅已删除")
+ except Exception as e:
+ logger.warning(f"删除订阅失败: {e}")
+
+ # 断开客户端连接
+ if self.client:
+ try:
+ with self._client_lock:
+ self.client.disconnect()
+ logger.info("✓ OPC UA 客户端已断开连接")
+ except Exception as e:
+ logger.error(f"断开连接失败: {e}")
+
+ def _register_nodes_as_attributes(self):
+ """将所有节点注册为实例属性"""
+ for node_name, node in self._node_registry.items():
+ if not node.node_id or node.node_id == "":
+ logger.warning(f"⚠ 节点 '{node_name}' 的 node_id 为空，跳过注册为属性")
+ continue
+
+ eng_name = self._reverse_mapping.get(node_name)
+ attr_name = eng_name if eng_name else node_name.replace(' ', '_').replace('-', '_')
+
+ def create_property_getter(node_key):
+ def getter(self):
+ return self.get_node_value(node_key, use_cache=True)
+ return getter
+
+ setattr(OpcUaClient, attr_name, property(create_property_getter(node_name)))
+ logger.debug(f"已注册节点 '{node_name}' 为属性 '{attr_name}'")
+
+ def post_init(self, ros_node):
+ """ROS2 节点就绪后的初始化"""
+ if not (hasattr(self, 'deck') and self.deck):
+ return
+
+ if not (hasattr(ros_node, 'resource_tracker') and ros_node.resource_tracker):
+ logger.warning("resource_tracker 不存在，无法注册 deck")
+ return
+
+ # 1. 本地注册（必需）
+ ros_node.resource_tracker.add_resource(self.deck)
+
+ # 2. 上传云端
+ try:
+ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+ ROS2DeviceNode.run_async_func(
+ ros_node.update_resource,
+ True,
+ resources=[self.deck]
+ )
+ logger.info("Deck 已上传到云端")
+ except Exception as e:
+ logger.error(f"上传失败: {e}")
+
+ def start_manual_mode(
+ self
+ ) -> bool:
+ """
+ 指令作业模式函数：
+ - 将模式切换、手自动切换写false
+ - 等待自动模式为false
+ - 将模式切换写true
+
+ 返回: 是否成功完成自动作业
+ """
+ self.success = False
+
+ print("启动指令作业模式...")
+
+ # 将模式切换、手自动切换写true
+ print("设置模式切换和手自动切换为true...")
+ self.set_node_value("mode_switch", True)
+ self.set_node_value("manual_auto_switch", False)
+
+ # 等待自动模式为false
+ print("等待自动模式为False...")
+ auto_mode = self.get_node_value("auto_mode")
+ while auto_mode:
+ print("等待自动模式变为False...")
+ time.sleep(1.0)
+ auto_mode = self.get_node_value("auto_mode")
+ else:
+ print("模式切换完成")
+ self.success = True
+
+ return self.success
+
+ def trigger_robot_pick_beaker(
+ self,
+ pick_beaker_id: int,
+ place_station_id: int,
+ ) -> bool:
+ """
+ 机器人取烧杯并放到检测位：
+ - 先写入取烧杯编号，等待取烧杯完成
+ - 取完成后再写入放检测编号，等待对应的放检测完成信号
+
+ 参数:
+ pick_beaker_id: 取烧杯编号（1-5）
+ place_station_id: 放检测编号（1-3）
+ timeout: 超时时间（秒），保留用于向后兼容，实际不使用
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成操作
+ """
+ self.success = False
+
+ # 校验输入范围
+ if pick_beaker_id not in (1, 2, 3, 4, 5):
+ logger.error("取烧杯编号必须在 1-5 范围内")
+ return False
+ if place_station_id not in (1, 2, 3):
+ logger.error("放检测编号必须在 1-3 范围内")
+ return False
+
+ # 获取仓库资源
+ rack_warehouse = self.deck.warehouses["水凝胶烧杯堆栈"]
+ station_warehouse = self.deck.warehouses[f"反应工站{place_station_id}"]
+ rack_site_key = f"A{pick_beaker_id}"
+
+ pick_complete_node = f"robot_rack_pick_beaker_{pick_beaker_id}_complete"
+ place_complete_node = f"robot_place_station_{place_station_id}_complete"
+
+ # 阶段1：下发取烧杯编号并等待完成
+ print("下发取烧杯编号，等待完成...")
+ self.set_node_value("robot_pick_beaker_id", pick_beaker_id)
+
+ # 等待取烧杯完成
+ pick_complete = self.get_node_value(pick_complete_node)
+ while not pick_complete:
+ print("取烧杯中...")
+ time.sleep(2.0)
+ pick_complete = self.get_node_value(pick_complete_node)
+
+ # 获取载具（carrier）
+ carrier = rack_warehouse[rack_site_key]
+ if carrier is None:
+ logger.error(f"堆栈位置 {rack_site_key} 没有载具")
+ return False
+
+ # 阶段1.5：机器人取烧杯完成后，从堆栈解绑载具
+ try:
+ rack_warehouse.unassign_child_resource(carrier)
+ print(f"✓ 已从堆栈解绑载具 {carrier.name}")
+ except Exception as e:
+ logger.error(f"从堆栈解绑载具失败: {e}")
+ return False
+
+ # 阶段2：取完成后再下发放检测编号并等待完成
+ print("取完成，开始下发放检测编号...")
+ self.set_node_value("robot_place_station_id", place_station_id)
+
+ # 等待放检测完成
+ place_complete = self.get_node_value(place_complete_node)
+ while not place_complete:
+ print("放检测中...")
+ time.sleep(2.0)
+ place_complete = self.get_node_value(place_complete_node)
+
+ # 阶段2.5：机器人放到检测站完成后，绑定载具到检测站
+ # 注意：每个检测站都有独立的 warehouse，且是 1x1x1，所以索引始终是 0
+ try:
+ # 每个检测站 warehouse 只有 1 个 site，索引固定为 0
+ station_site_idx = 0
+ station_site_key = list(station_warehouse._ordering.keys())[station_site_idx]
+ station_location = station_warehouse.child_locations[station_site_key]
+
+ # 绑定到检测站 warehouse
+ station_warehouse.assign_child_resource(carrier, location=station_location, spot=station_site_idx)
+ print(f"✓ 已绑定载具 {carrier.name} 到检测站{place_station_id}")
+ except Exception as e:
+ logger.error(f"绑定载具到检测站失败: {e}")
+ # 即使绑定失败，物理上机器人已经完成了操作
+
+ print("放检测完成")
+ self.success = True
+
+ # 更新资源树到前端
+ if hasattr(self, '_ros_node') and self._ros_node:
+ try:
+ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+ ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=[self.deck])
+ print(f"✓ 已同步资源更新到前端")
+ except Exception as e:
+ logger.warning(f"前端资源更新失败: {e}")
+
+ return self.success
+
+ def trigger_robot_place_beaker(
+ self,
+ place_beaker_id: int,
+ pick_station_id: int,
+ ) -> bool:
+ """
+ 机器人从检测位取烧杯并放回：
+ - 先写入取检测编号，等待取检测完成
+ - 取完成后再写入放烧杯编号，等待对应的放烧杯完成信号
+
+ 参数:
+ place_beaker_id: 放烧杯编号（1-5）
+ pick_station_id: 取检测编号（1-3）
+
+ 返回: 是否成功完成操作
+ """
+ self.success = False
+
+ # 校验输入范围
+ if place_beaker_id not in (1, 2, 3, 4, 5):
+ logger.error("放烧杯编号必须在 1-5 范围内")
+ return False
+ if pick_station_id not in (1, 2, 3):
+ logger.error("取检测编号必须在 1-3 范围内")
+ return False
+
+ # 获取仓库资源
+ rack_warehouse = self.deck.warehouses["水凝胶烧杯堆栈"]
+ station_warehouse = self.deck.warehouses[f"反应工站{pick_station_id}"]
+
+ # 获取检测站的载具
+ # 注意：每个检测站都有独立的 warehouse，且是 1x1x1，所以索引始终是 0
+ # 当检测站有 carrier 时，sites[0] 直接返回 BottleCarrier（和堆栈一样）
+ # 当检测站为空时，sites[0] 返回 ResourceHolder（占位符）
+ station_site_idx = 0 # 每个检测站 warehouse 只有 1 个 site
+
+ if not station_warehouse.sites or len(station_warehouse.sites) == 0:
+ logger.error(f"检测站{pick_station_id} 的 warehouse sites 列表为空")
+ return False
+
+ carrier = station_warehouse.sites[station_site_idx]
+
+ # 检查是否是 ResourceHolder（说明检测站为空）
+ if carrier is None or type(carrier).__name__ == 'ResourceHolder':
+ logger.error(f"检测站{pick_station_id} 没有载具（可能是空的 ResourceHolder）")
+ return False
+
+ # 确定堆栈目标位置（place_beaker_id 1-5 对应 C1-C5）
+ rack_site_key = f"C{place_beaker_id}"
+
+ pick_complete_node = f"robot_pick_station_{pick_station_id}_complete"
+ place_complete_node = f"robot_rack_place_beaker_{place_beaker_id}_complete"
+
+ # 阶段1：下发取检测编号并等待完成
+ print("下发取检测编号，等待完成...")
+ self.set_node_value("robot_pick_station_id", pick_station_id)
+
+ # 等待取检测完成
+ pick_complete = self.get_node_value(pick_complete_node)
+ while not pick_complete:
+ print("取检测中...")
+ time.sleep(2.0)
+ pick_complete = self.get_node_value(pick_complete_node)
+
+ # 阶段1.5：机器人取检测完成后，从检测站解绑载具
+ try:
+ station_warehouse.unassign_child_resource(carrier)
+ print(f"✓ 已从检测站{pick_station_id}解绑载具 {carrier.name}")
+ except Exception as e:
+ logger.error(f"从检测站解绑载具失败: {e}")
+ return False
+
+ # 阶段2：取完成后再下发放烧杯编号并等待完成
+ print("取完成，开始下发放烧杯编号...")
+ self.set_node_value("robot_place_beaker_id", place_beaker_id)
+
+ # 等待放烧杯完成
+ place_complete = self.get_node_value(place_complete_node)
+ while not place_complete:
+ print("放烧杯中...")
+ time.sleep(2.0)
+ place_complete = self.get_node_value(place_complete_node)
+
+ # 阶段2.5：机器人放烧杯完成后，绑定载具回堆栈
+ try:
+ # 获取堆栈的位置信息（rack_site_key 已在前面定义为 C{place_beaker_id}）
+ rack_site_idx = list(rack_warehouse._ordering.keys()).index(rack_site_key)
+ rack_location = rack_warehouse.child_locations[rack_site_key]
+
+ # 绑定回堆栈 warehouse
+ rack_warehouse.assign_child_resource(carrier, location=rack_location, spot=rack_site_idx)
+ print(f"✓ 已绑定载具 {carrier.name} 回堆栈 {rack_site_key}")
+ except Exception as e:
+ logger.error(f"绑定载具回堆栈失败: {e}")
+ # 即使绑定失败，物理上机器人已经完成了操作
+
+ print("放烧杯完成")
+ self.success = True
+
+ # 更新资源树到前端
+ if hasattr(self, '_ros_node') and self._ros_node:
+ try:
+ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+ ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=[self.deck])
+ print(f"✓ 已同步资源更新到前端")
+ except Exception as e:
+ logger.warning(f"前端资源更新失败: {e}")
+
+ return self.success
+
+ def trigger_station_process(
+ self,
+ station_id: int,
+ mag_stir_stir_speed: int,
+ mag_stir_heat_temp: int,
+ mag_stir_time_set: int,
+ syringe_pump_abs_position_set: int,
+ ) -> bool:
+ """
+ 执行检测工艺流程：
+ 1. 等待检测站请求参数
+ 2. 下发对应编号的搅拌仪和注射泵参数
+ 3. 等待参数已执行
+ 4. 给出检测开始信号
+ 5. 等待检测工艺完成
+
+ 参数:
+ station_id: 检测编号（1-3）
+ mag_stir_stir_speed: 磁力搅拌仪搅拌速度
+ mag_stir_heat_temp: 磁力搅拌仪加热温度
+ mag_stir_time_set: 磁力搅拌仪时间设置
+ syringe_pump_abs_position_set: 注射泵绝对位置设置
+
+ 返回: 是否成功完成工艺
+ """
+ self.success = False
+
+ # 校验输入范围
+ if station_id not in (1, 2, 3):
+ logger.error("检测编号必须在 1-3 范围内")
+ return False
+
+ # 检测站索引（0-2）
+ station_idx = station_id - 1
+
+ # 节点名称
+ request_node = f"station_{station_id}_request_params"
+ params_received_node = f"station_{station_id}_params_received"
+ start_node = f"station_{station_id}_start"
+ complete_node = f"station_{station_id}_process_complete"
+
+ self.set_node_value(complete_node, False)
+ self.set_node_value(start_node, False)
+ self.set_node_value(params_received_node, False)
+
+ # 阶段1：等待检测站请求参数
+ print(f"等待检测{station_id}请求参数...")
+ request_params = self.get_node_value(request_node)
+ while not request_params:
+ print(f"等待检测{station_id}请求参数中...")
+ time.sleep(2.0)
+ request_params = self.get_node_value(request_node)
+
+ print(f"检测{station_id}已请求参数，开始下发...")
+
+ # 阶段2：下发对应编号的搅拌仪参数
+ self.set_node_value(f"mag_stirrer_c{station_idx}_stir_speed", mag_stir_stir_speed)
+ self.set_node_value(f"mag_stirrer_c{station_idx}_heat_temp", mag_stir_heat_temp)
+ self.set_node_value(f"mag_stirrer_c{station_idx}_time_set", mag_stir_time_set)
+ print(f"已下发检测{station_id}磁力搅拌仪参数：速度={mag_stir_stir_speed}, 温度={mag_stir_heat_temp}, 时间={mag_stir_time_set}")
+
+ # 下发对应编号的注射泵参数
+ self.set_node_value(f"syringe_pump_{station_idx}_abs_position_set", syringe_pump_abs_position_set)
+ print(f"已下发检测{station_id}注射泵绝对位置设置：{syringe_pump_abs_position_set}")
+
+
+ # 阶段3：等待参数已执行
+ self.set_node_value(start_node, True)
+ print(f"等待检测{station_id}参数已执行...")
+ params_received = self.get_node_value(params_received_node)
+ while not params_received:
+ print(f"检测{station_id}参数执行中...")
+ time.sleep(2.0)
+ params_received = self.get_node_value(params_received_node)
+
+ print(f"检测{station_id}参数已执行")
+
+ # 阶段4：等待检测工艺完成
+ print(f"等待检测{station_id}工艺完成...")
+ process_complete = self.get_node_value(complete_node)
+ while not process_complete:
+ print(f"检测{station_id}工艺执行中...")
+ time.sleep(2.0)
+ process_complete = self.get_node_value(complete_node)
+ else:
+ print(f"检测{station_id}工艺完成")
+ self.set_node_value(start_node, False)
+ self.success = True
+
+ return self.success
+
+ def trigger_init(
+ self
+ ) -> bool:
+ """
+ 初始化函数：
+ - 将手自动切换写false
+ - 等待自动模式为false
+ - 将初始化PC写true
+ - 等待初始化完成PC为true
+ - 将初始化PC写false
+ - 返回成功
+
+ 参数:
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成初始化
+ """
+ self.success = False
+
+ print("开始初始化...")
+
+ # 将手自动切换写false
+ print("设置手自动切换为false...")
+ self.set_node_value("manual_auto_switch", False)
+ self.set_node_value("initialize", False)
+ time.sleep(1.0)
+ # 等待自动模式为false
+ print("等待自动模式为false...")
+ auto_mode = self.get_node_value("auto_mode")
+ while auto_mode:
+ print("等待自动模式变为false...")
+ time.sleep(2.0)
+ auto_mode = self.get_node_value("auto_mode")
+
+ # 将初始化PC写true
+ print("自动模式已为false，设置初始化PC为true...")
+ self.set_node_value("initialize", True)
+ time.sleep(2.0)
+ # 等待初始化完成PC为true
+ print("等待初始化完成...")
+ init_finished = self.get_node_value("init finished")
+ while not init_finished:
+ print("初始化中...")
+ time.sleep(2.0)
+ init_finished = self.get_node_value("init finished")
+ else:
+ # 将初始化PC写false
+ print("初始化完成，设置初始化PC为false...")
+ self.set_node_value("initialize", False)
+ self.success = True
+
+ return self.success
+
+ def download_auto_params(
+ self,
+ mag_stir_stir_speed: int,
+ mag_stir_heat_temp: int,
+ mag_stir_time_set: int,
+ syringe_pump_abs_position_set: int,
+ auto_job_stop_delay: int
+ ) -> bool:
+ """
+ 自动模式参数下发函数：
+ - 将搅拌仪的搅拌速度、加热温度、时间设置、泵的绝对位置设置和自动作业停止等待时间作为传入参数
+ - 一起下发给3个搅拌仪和3个泵
+ - 下发后将自动作业参数已下发写true
+ - 等待自动作业参数已执行为true
+ - 将已下发写false
+ - 返回成功
+
+ 参数:
+ mag_stir_stir_speed: 磁力搅拌仪搅拌速度
+ mag_stir_heat_temp: 磁力搅拌仪加热温度
+ mag_stir_time_set: 磁力搅拌仪时间设置
+ syringe_pump_abs_position_set: 注射泵绝对位置设置
+ auto_job_stop_delay: 自动作业等待停止时间
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成参数下发
+ """
+ self.success = False
+
+ print("开始下发自动模式参数...")
+ self.set_node_value("auto_param_applied", False)
+ self.set_node_value("auto_param_downloaded", False)
+ self.set_node_value("mode_switch", False)
+ # 下发3个磁力搅拌仪的参数
+ for c in (0, 1, 2):
+ self.set_node_value(f"mag_stirrer_c{c}_stir_speed", mag_stir_stir_speed)
+ self.set_node_value(f"mag_stirrer_c{c}_heat_temp", mag_stir_heat_temp)
+ self.set_node_value(f"mag_stirrer_c{c}_time_set", mag_stir_time_set)
+ print(f"已下发3个磁力搅拌仪参数：速度={mag_stir_stir_speed}, 温度={mag_stir_heat_temp}, 时间={mag_stir_time_set}")
+
+ # 下发3个注射泵的绝对位置设置
+ for p in (0, 1, 2):
+ self.set_node_value(f"syringe_pump_{p}_abs_position_set", syringe_pump_abs_position_set)
+ print(f"已下发3个注射泵绝对位置设置：{syringe_pump_abs_position_set}")
+
+ # 下发自动作业等待停止时间
+ self.set_node_value("auto_job_stop_delay", auto_job_stop_delay)
+ print(f"已下发自动作业等待停止时间：{auto_job_stop_delay}")
+
+ # 将自动作业参数已下发写true
+ print("设置自动作业参数已下发为true...")
+ self.set_node_value("auto_param_downloaded", True)
+
+ # 等待自动作业参数已执行为true
+ print("等待自动作业参数已执行...")
+ param_applied = self.get_node_value("auto_param_applied")
+ while not param_applied:
+ print("参数执行中...")
+ time.sleep(2.0)
+ param_applied = self.get_node_value("auto_param_applied")
+ else:
+ print("自动作业参数已执行")
+ # 将已下发写false
+ self.set_node_value("auto_param_downloaded", False)
+ self.success = True
+
+ return self.success
+
+ def start_auto_mode(
+ self
+ ) -> bool:
+ """
+ 自动作业模式函数：
+ - 将模式切换、手自动切换写true
+ - 等待自动模式为true
+ - 将自动作业开始触发写true
+ - 等待自动作业完成为true
+ - 返回成功
+
+ 参数:
+ poll_interval: 轮询间隔（秒）
+
+ 返回: 是否成功完成自动作业
+ """
+ self.success = False
+
+ print("启动自动作业模式...")
+
+ # 将模式切换、手自动切换写true
+ print("设置模式切换和手自动切换为true...")
+ self.set_node_value("mode_switch", False)
+ self.set_node_value("manual_auto_switch", False)
+ self.set_node_value("auto_run_start_trigger", False)
+ self.set_node_value("auto_run_complete", False)
+ time.sleep(1.0)
+ self.set_node_value("manual_auto_switch", True)
+
+ # 等待自动模式为true
+ print("等待自动模式为true...")
+ auto_mode = self.get_node_value("auto_mode")
+ while not auto_mode:
+ print("等待自动模式变为true...")
+ time.sleep(5.0)
+ auto_mode = self.get_node_value("auto_mode")
+
+ # 将自动作业开始触发写true
+ print("自动模式已为true，设置自动作业开始触发为true...")
+ self.set_node_value("auto_run_start_trigger", True)
+
+ # 等待自动作业完成为true
+ print("等待自动作业完成...")
+ auto_run_complete = self.get_node_value("auto_run_complete")
+ while not auto_run_complete:
+ print("自动作业执行中...")
+ time.sleep(5.0)
+ auto_run_complete = self.get_node_value("auto_run_complete")
+ else:
+ print("自动作业完成")
+ self.set_node_value("manual_auto_switch", False)
+ self.success = True
+
+ return self.success
+
+
+
+if __name__ == '__main__':
+ # 示例用法
+
+
+ # 创建OPC UA客户端并加载配置
+ try:
+ client = OpcUaClient(
+ url="opc.tcp://127.0.0.1:49320", # 替换为实际的OPC UA服务器地址
+ csv_path="C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\AI4M\\opcua_nodes_AI4M.csv" # 使用AI4M的CSV路径
+ )
+
+ # 测试1: 初始化函数
+ print("\n" + "="*80)
+ print("测试: 物料载具转移函数")
+ print("="*80)
+
+ # 测试将物料载具从水凝胶堆栈转移到反应工站1
+ result = client.transfer_carrier_to_station(
+ carrier_name="Hydrogel_Clean_1BottleCarrier",
+ source_warehouse_name="水凝胶烧杯堆栈",
+ target_station_name="反应工站1"
+ )
+ print(f"物料载具转移结果: {'成功' if result else '失败'}")
+
+ print("\n" + "="*80)
+ print("测试完成")
+ print("="*80)
+
+ # 断开连接
+ client.disconnect()
+
+ except Exception as e:
+ print(f"错误: {e}")
+ traceback.print_exc()
+
+
diff --git a/unilabos/devices/workstation/post_process/post_process_warehouse.py b/unilabos/devices/workstation/AI4M/AI4M_warehouse.py
similarity index 81%
rename from unilabos/devices/workstation/post_process/post_process_warehouse.py
rename to unilabos/devices/workstation/AI4M/AI4M_warehouse.py
index 62dda166..30c55e87 100644
--- a/unilabos/devices/workstation/post_process/post_process_warehouse.py
+++ b/unilabos/devices/workstation/AI4M/AI4M_warehouse.py
@@ -28,6 +28,7 @@ def warehouse_factory(
model: Optional[str] = None,
col_offset: int = 0, # 列起始偏移量，用于生成5-8等命名
layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
+ custom_keys: Optional[List[Union[str, int]]] = None, # 自定义编号列表
):
# 创建位置坐标
locations = []
@@ -63,25 +64,29 @@ def warehouse_factory(
len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
- # 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9
+ # 🔑 修改：使用字母+数字命名，如A1A2A3A4A5 B1B2B3B4B5
# 命名顺序必须与坐标生成顺序一致：层 → 行 → 列
- keys = []
- for layer in range(num_items_z): # 遍历每一层
- for row in range(num_items_y): # 遍历每一行
- for col in range(num_items_x): # 遍历每一列
- # 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321）
- # row=1 应该对应 global_row=1（第2行：8765）
- # row=2 应该对应 global_row=2（第3行：12,11,10,9）
- # 但前端显示时 row=2 在最上面，所以需要反转
- reversed_row = (num_items_y - 1 - row) # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0
+ if custom_keys:
+ # 使用自定义键名
+ keys = [str(k) for k in custom_keys]
+ if len(keys) != len(_sites):
+ raise ValueError(f"自定义键名数量({len(keys)})与位置数量({len(_sites)})不匹配")
+ else:
+ # 使用默认的字母+数字命名
+ keys = []
+ for layer in range(num_items_z): # 遍历每一层
+ for row in range(num_items_y): # 遍历每一行
+ # 每一行对应一个字母：A, B, C, D...
+ # row=0(第1行)→A, row=1(第2行)→B, row=2(第3行)→C
+ reversed_row = (num_items_y - 1 - row) # 调整为从上到下：row=0→reversed_row=2, row=1→reversed_row=1
global_row = layer * num_items_y + reversed_row
+ letter = LETTERS[global_row]
- # 每行的最大数字 = (global_row + 1) * num_items_x + col_offset
- base_num = (global_row + 1) * num_items_x + col_offset
-
- # 从右到左递减：4,3,2,1
- key = str(base_num - col)
- keys.append(key)
+ for col in range(num_items_x): # 遍历每一列
+ # 从左到右编号：1, 2, 3, 4, 5...
+ number = col + 1
+ key = f"{letter}{number}"
+ keys.append(key)
sites = {i: site for i, site in zip(keys, _sites.values())}
diff --git a/unilabos/devices/UV_test/__init__.py b/unilabos/devices/workstation/AI4M/__init__.py
similarity index 100%
rename from unilabos/devices/UV_test/__init__.py
rename to unilabos/devices/workstation/AI4M/__init__.py
diff --git a/unilabos/devices/workstation/post_process/bottle_carriers.py b/unilabos/devices/workstation/AI4M/bottle_carriers.py
similarity index 59%
rename from unilabos/devices/workstation/post_process/bottle_carriers.py
rename to unilabos/devices/workstation/AI4M/bottle_carriers.py
index 51943c95..1d31559b 100644
--- a/unilabos/devices/workstation/post_process/bottle_carriers.py
+++ b/unilabos/devices/workstation/AI4M/bottle_carriers.py
@@ -1,7 +1,7 @@
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
from unilabos.resources.itemized_carrier import BottleCarrier
-from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle
+from unilabos.devices.workstation.AI4M.bottles import Hydrogel_Powder_Containing_Bottle, Hydrogel_Clean_Bottle, Hydrogel_Waste_Bottle
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
@@ -10,7 +10,7 @@
# 聚合站（PolymerStation）载体定义（统一入口）
# ============================================================================
-def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
+def Hydrogel_Powder_Containing_1BottleCarrier(name: str) -> BottleCarrier:
"""聚合站-单试剂瓶载架
参数:
@@ -42,16 +42,16 @@ def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
resource_size_y=beaker_diameter,
name_prefix=name,
),
- model="POST_PROCESS_Raw_1BottleCarrier",
+ model="Hydrogel_Powder_Containing_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
# 统一后缀采用 "flask_1" 命名（可按需调整）
- carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
+ carrier[0] = Hydrogel_Powder_Containing_Bottle(f"{name}_flask_1")
return carrier
-def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
+def Hydrogel_Clean_1BottleCarrier(name: str) -> BottleCarrier:
"""聚合站-单试剂瓶载架
参数:
@@ -83,11 +83,52 @@ def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
resource_size_y=beaker_diameter,
name_prefix=name,
),
- model="POST_PROCESS_Reaction_1BottleCarrier",
+ model="Hydrogel_Clean_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
# 统一后缀采用 "flask_1" 命名（可按需调整）
- carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
+ carrier[0] = Hydrogel_Clean_Bottle(f"{name}_flask_1")
return carrier
+
+def Hydrogel_Waste_1BottleCarrier(name: str) -> BottleCarrier:
+ """聚合站-单试剂瓶载架
+
+ 参数:
+ - name: 载架名称前缀
+ """
+
+ # 载架尺寸 (mm)
+ carrier_size_x = 127.8
+ carrier_size_y = 85.5
+ carrier_size_z = 20.0
+
+ # 烧杯/试剂瓶占位尺寸（使用圆形占位）
+ 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="Hydrogel_Waste_1BottleCarrier",
+ )
+ carrier.num_items_x = 1
+ carrier.num_items_y = 1
+ carrier.num_items_z = 1
+ # 统一后缀采用 "flask_1" 命名（可按需调整）
+ carrier[0] = Hydrogel_Waste_Bottle(f"{name}_flask_1")
+ return carrier
\ No newline at end of file
diff --git a/unilabos/devices/workstation/AI4M/bottles.py b/unilabos/devices/workstation/AI4M/bottles.py
new file mode 100644
index 00000000..14451a4b
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/bottles.py
@@ -0,0 +1,53 @@
+from unilabos.resources.itemized_carrier import Bottle
+
+
+def Hydrogel_Powder_Containing_Bottle(
+ name: str,
+ diameter: float = 70.0,
+ height: float = 120.0,
+ max_volume: float = 500000.0, # 500mL
+ barcode: str = None,
+) -> Bottle:
+ """创建试剂瓶"""
+ return Bottle(
+ name=name,
+ diameter=diameter,
+ height=height,
+ max_volume=max_volume,
+ barcode=barcode,
+ model="Hydrogel_Powder_Containing_Bottle",
+ )
+
+def Hydrogel_Clean_Bottle(
+ name: str,
+ diameter: float = 70.0,
+ height: float = 120.0,
+ max_volume: float = 500000.0, # 500mL
+ barcode: str = None,
+) -> Bottle:
+ """创建试剂瓶"""
+ return Bottle(
+ name=name,
+ diameter=diameter,
+ height=height,
+ max_volume=max_volume,
+ barcode=barcode,
+ model="Hydrogel_Clean_Bottle",
+ )
+
+def Hydrogel_Waste_Bottle(
+ name: str,
+ diameter: float = 70.0,
+ height: float = 120.0,
+ max_volume: float = 500000.0, # 500mL
+ barcode: str = None,
+) -> Bottle:
+ """创建试剂瓶"""
+ return Bottle(
+ name=name,
+ diameter=diameter,
+ height=height,
+ max_volume=max_volume,
+ barcode=barcode,
+ model="Hydrogel_Waste_Bottle",
+ )
diff --git a/unilabos/devices/workstation/AI4M/decks.py b/unilabos/devices/workstation/AI4M/decks.py
new file mode 100644
index 00000000..8d9e7803
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/decks.py
@@ -0,0 +1,61 @@
+from os import name
+from typing import Optional
+
+from pylabrobot.resources import Deck, Coordinate, Rotation, Resource
+from unilabos.devices.workstation.AI4M.warehouses import (
+ Hydrogel_warehouse_5x3x1,
+ Station_1_warehouse_1x1x1,
+ Station_2_warehouse_1x1x1,
+ Station_3_warehouse_1x1x1,
+)
+
+
+
+class AI4M_deck(Deck):
+ def __init__(
+ self,
+ name: str = "AI4M_deck",
+ size_x: float = 1217.0,
+ size_y: float = 1560.0,
+ size_z: float = 2670.0,
+ origin: Coordinate = Coordinate(0, 35, 0),
+ category: str = "deck",
+ setup: bool = False,
+ ) -> None:
+ super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z, origin=origin)
+ self.warehouses = {}
+ self.warehouse_locations = {}
+ if setup:
+ self.setup()
+
+ def setup(self) -> None:
+ # 添加仓库
+ self.warehouses = {
+ "水凝胶烧杯堆栈": Hydrogel_warehouse_5x3x1("水凝胶烧杯堆栈"),
+ "反应工站1": Station_1_warehouse_1x1x1("反应工站1"),
+ "反应工站2": Station_2_warehouse_1x1x1("反应工站2"),
+ "反应工站3": Station_3_warehouse_1x1x1("反应工站3")
+ }
+ # warehouse 的位置
+ # 根据前端显示位置转换计算（Deck尺寸: 1217x1580mm, 前端显示: 688x895px）
+ # 缩放比例: x=1.769, y=1.766
+ # 前端坐标 -> 实际坐标: x' = x * 1.769, y' = y * 1.766
+ self.warehouse_locations = {
+ "水凝胶烧杯堆栈": Coordinate(15.9, 1100.2, 0.0), # 前端: 9x623
+ "反应工站1": Coordinate(838.5, 245.5, 0.0), # 前端: 474x139
+ "反应工站2": Coordinate(850.9, 706.4, 0.0), # 前端: 481x400
+ "反应工站3": Coordinate(842.0, 1158.7, 0.0) # 前端: 476x656
+ }
+
+ for warehouse_name, warehouse in self.warehouses.items():
+ self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
+
+ def assign_child_resource(
+ self,
+ resource: Resource,
+ location: Optional[Coordinate],
+ reassign: bool = True,
+ ):
+ super().assign_child_resource(resource, location, reassign)
+ self.warehouses[resource.name] = resource
+ self.warehouse_locations[resource.name] = location
diff --git a/unilabos/devices/workstation/AI4M/kepware_simulator_tags_import.csv b/unilabos/devices/workstation/AI4M/kepware_simulator_tags_import.csv
new file mode 100644
index 00000000..67a6a83b
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/kepware_simulator_tags_import.csv
@@ -0,0 +1,135 @@
+Tag Name,Address,Data Type,Scan Rate,Description
+磁力搅拌参数设置_C[0].搅拌速度,K0000,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].搅拌速度
+磁力搅拌参数设置_C[0].加热温度,K0001,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].加热温度
+磁力搅拌参数设置_C[0].时间设置,K0002,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].时间设置
+磁力搅拌参数设置_C[0].返回设定速度,K0003,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回设定速度
+磁力搅拌参数设置_C[0].返回实际速度,K0004,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回实际速度
+磁力搅拌参数设置_C[0].返回设定温度,K0005,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回设定温度
+磁力搅拌参数设置_C[0].返回实际温度,K0006,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回实际温度
+磁力搅拌参数设置_C[0].返回设定时间,K0007,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回设定时间
+磁力搅拌参数设置_C[0].返回实际时间,K0008,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回实际时间
+磁力搅拌参数设置_C[0].工作模式设置,K0009,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].工作模式设置
+磁力搅拌参数设置_C[0].加热模式设置,K0010,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].加热模式设置
+磁力搅拌参数设置_C[0].温度单位,K0011,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].温度单位
+磁力搅拌参数设置_C[0].加热模式,K0012,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].加热模式
+磁力搅拌参数设置_C[0].仪器模式,K0013,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].仪器模式
+磁力搅拌参数设置_C[0].安全温度,K0014,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].安全温度
+磁力搅拌参数设置_C[1].搅拌速度,K0015,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].搅拌速度
+磁力搅拌参数设置_C[1].加热温度,K0016,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].加热温度
+磁力搅拌参数设置_C[1].时间设置,K0017,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].时间设置
+磁力搅拌参数设置_C[1].返回设定速度,K0018,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回设定速度
+磁力搅拌参数设置_C[1].返回实际速度,K0019,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回实际速度
+磁力搅拌参数设置_C[1].返回设定温度,K0020,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回设定温度
+磁力搅拌参数设置_C[1].返回实际温度,K0021,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回实际温度
+磁力搅拌参数设置_C[1].返回设定时间,K0022,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回设定时间
+磁力搅拌参数设置_C[1].返回实际时间,K0023,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回实际时间
+磁力搅拌参数设置_C[1].工作模式设置,K0024,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].工作模式设置
+磁力搅拌参数设置_C[1].加热模式设置,K0025,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].加热模式设置
+磁力搅拌参数设置_C[1].温度单位,K0026,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].温度单位
+磁力搅拌参数设置_C[1].加热模式,K0027,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].加热模式
+磁力搅拌参数设置_C[1].仪器模式,K0028,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].仪器模式
+磁力搅拌参数设置_C[1].安全温度,K0029,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].安全温度
+磁力搅拌参数设置_C[2].搅拌速度,K0030,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].搅拌速度
+磁力搅拌参数设置_C[2].加热温度,K0031,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].加热温度
+磁力搅拌参数设置_C[2].时间设置,K0032,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].时间设置
+磁力搅拌参数设置_C[2].返回设定速度,K0033,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回设定速度
+磁力搅拌参数设置_C[2].返回实际速度,K0034,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回实际速度
+磁力搅拌参数设置_C[2].返回设定温度,K0035,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回设定温度
+磁力搅拌参数设置_C[2].返回实际温度,K0036,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回实际温度
+磁力搅拌参数设置_C[2].返回设定时间,K0037,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回设定时间
+磁力搅拌参数设置_C[2].返回实际时间,K0038,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回实际时间
+磁力搅拌参数设置_C[2].工作模式设置,K0039,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].工作模式设置
+磁力搅拌参数设置_C[2].加热模式设置,K0040,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].加热模式设置
+磁力搅拌参数设置_C[2].温度单位,K0041,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].温度单位
+磁力搅拌参数设置_C[2].加热模式,K0042,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].加热模式
+磁力搅拌参数设置_C[2].仪器模式,K0043,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].仪器模式
+磁力搅拌参数设置_C[2].安全温度,K0044,short,100,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].安全温度
+注射泵参数[0].当前位置显示,K0045,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].当前位置显示
+注射泵参数[0].绝对位置设置,K0046,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].绝对位置设置
+注射泵参数[0].抽液位置设置,K0047,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].抽液位置设置
+注射泵参数[0].排液位置设置,K0048,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].排液位置设置
+注射泵参数[0].启动速度,K0049,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].启动速度
+注射泵参数[0].最高速度,K0050,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].最高速度
+注射泵参数[0].加速度代码,K0051,short,100,ns=2;s=AI4M.设备 1.注射泵参数[0].加速度代码
+注射泵参数[1].当前位置显示,K0052,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].当前位置显示
+注射泵参数[1].绝对位置设置,K0053,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].绝对位置设置
+注射泵参数[1].抽液位置设置,K0054,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].抽液位置设置
+注射泵参数[1].排液位置设置,K0055,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].排液位置设置
+注射泵参数[1].启动速度,K0056,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].启动速度
+注射泵参数[1].最高速度,K0057,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].最高速度
+注射泵参数[1].加速度代码,K0058,short,100,ns=2;s=AI4M.设备 1.注射泵参数[1].加速度代码
+注射泵参数[2].当前位置显示,K0059,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].当前位置显示
+注射泵参数[2].绝对位置设置,K0060,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].绝对位置设置
+注射泵参数[2].抽液位置设置,K0061,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].抽液位置设置
+注射泵参数[2].排液位置设置,K0062,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].排液位置设置
+注射泵参数[2].启动速度,K0063,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].启动速度
+注射泵参数[2].最高速度,K0064,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].最高速度
+注射泵参数[2].加速度代码,K0065,short,100,ns=2;s=AI4M.设备 1.注射泵参数[2].加速度代码
+机器人取烧杯编号,K0166,long,100,ns=2;s=AI4M.设备 1.机器人取烧杯编号
+机器人放烧杯编号,K0168,long,100,ns=2;s=AI4M.设备 1.机器人放烧杯编号
+机器人放检测编号,K0170,long,100,ns=2;s=AI4M.设备 1.机器人放检测编号
+机器人取检测编号,K0172,long,100,ns=2;s=AI4M.设备 1.机器人取检测编号
+机器人初始化,K0174,long,100,ns=2;s=AI4M.设备 1.机器人初始化
+机器人料架取烧杯1完成,K0071,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯1完成
+机器人料架取烧杯2完成,K0072,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯2完成
+机器人料架取烧杯3完成,K0073,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯3完成
+机器人料架取烧杯4完成,K0074,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯4完成
+机器人料架取烧杯5完成,K0075,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯5完成
+机器人料架放烧杯1完成,K0076,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯1完成
+机器人料架放烧杯2完成,K0077,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯2完成
+机器人料架放烧杯3完成,K0078,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯3完成
+机器人料架放烧杯4完成,K0079,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯4完成
+机器人料架放烧杯5完成,K0080,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯5完成
+机器人放检测1完成,K0081,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人放检测1完成
+机器人放检测2完成,K0082,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人放检测2完成
+机器人放检测3完成,K0083,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人放检测3完成
+机器人取检测1完成,K0084,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人取检测1完成
+机器人取检测2完成,K0085,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人取检测2完成
+机器人取检测3完成,K0086,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人取检测3完成
+机器人初始化完成,K0087,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人初始化完成
+机器人料架取烧杯1开始,K0088,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯1开始
+机器人料架取烧杯2开始,K0089,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯2开始
+机器人料架取烧杯3开始,K0090,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯3开始
+机器人料架取烧杯4开始,K0091,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯4开始
+机器人料架取烧杯5开始,K0092,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架取烧杯5开始
+机器人料架放烧杯1开始,K0093,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯1开始
+机器人料架放烧杯2开始,K0094,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯2开始
+机器人料架放烧杯3开始,K0095,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯3开始
+机器人料架放烧杯4开始,K0096,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯4开始
+机器人料架放烧杯5开始,K0097,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人料架放烧杯5开始
+机器人放检测1开始,K0098,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人放检测1开始
+机器人放检测2开始,K0099,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人放检测2开始
+机器人放检测3开始,K0100,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人放检测3开始
+机器人取检测1开始,K0101,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人取检测1开始
+机器人取检测2开始,K0102,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人取检测2开始
+机器人取检测3开始,K0103,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人取检测3开始
+机器人机器人安全点,K0104,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人机器人安全点
+机器人机器人安全区域1,K0105,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人机器人安全区域1
+机器人机器人安全区域2,K0106,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人机器人安全区域2
+机器人机器人安全区域3,K0107,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人机器人安全区域3
+自动作业开始触发,K0108,BOOLEAN,100,ns=2;s=AI4M.设备 1.自动作业开始触发
+自动作业完成,K0109,BOOLEAN,100,ns=2;s=AI4M.设备 1.自动作业完成
+检测1请求参数,K0110,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测1请求参数
+检测2请求参数,K0111,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测2请求参数
+检测3请求参数,K0112,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测3请求参数
+检测1参数已执行,K0113,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测1参数已执行
+检测2参数已执行,K0114,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测2参数已执行
+检测3参数已执行,K0115,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测3参数已执行
+检测1空闲,K0116,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测1空闲
+检测2空闲,K0117,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测2空闲
+检测3空闲,K0118,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测3空闲
+机器人空闲,K0119,BOOLEAN,100,ns=2;s=AI4M.设备 1.机器人空闲
+检测1工艺完成,K0120,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测1工艺完成
+检测2工艺完成,K0121,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测2工艺完成
+检测3工艺完成,K0122,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测3工艺完成
+模式切换,K0123,BOOLEAN,100,ns=2;s=AI4M.设备 1.模式切换
+初始化PC,K0124,BOOLEAN,100,ns=2;s=AI4M.设备 1.初始化PC
+初始化完成PC,K0125,BOOLEAN,100,ns=2;s=AI4M.设备 1.初始化完成PC
+手自动切换,K0126,BOOLEAN,100,ns=2;s=AI4M.设备 1.手自动切换
+自动模式PC,K0127,BOOLEAN,100,ns=2;s=AI4M.设备 1.自动模式PC
+自动作业参数已下发,K0128,BOOLEAN,100,ns=2;s=AI4M.设备 1.自动作业参数已下发
+自动作业参数已执行,K0129,BOOLEAN,100,ns=2;s=AI4M.设备 1.自动作业参数已执行
+自动作业等待停止时间,K0130,short,100,ns=2;s=AI4M.设备 1.自动作业等待停止时间
+检测1开始,K0131,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测1开始
+检测2开始,K0132,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测2开始
+检测3开始,K0133,BOOLEAN,100,ns=2;s=AI4M.设备 1.检测3开始
diff --git a/unilabos/devices/workstation/AI4M/opcua_nodes_AI4M.csv b/unilabos/devices/workstation/AI4M/opcua_nodes_AI4M.csv
new file mode 100644
index 00000000..f245c5e9
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/opcua_nodes_AI4M.csv
@@ -0,0 +1,135 @@
+Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
+磁力搅拌参数设置_C[0].搅拌速度,mag_stirrer_c0_stir_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].搅拌速度
+磁力搅拌参数设置_C[0].加热温度,mag_stirrer_c0_heat_temp,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].加热温度
+磁力搅拌参数设置_C[0].时间设置,mag_stirrer_c0_time_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].时间设置
+磁力搅拌参数设置_C[0].返回设定速度,mag_stirrer_c0_return_speed_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].返回设定速度
+磁力搅拌参数设置_C[0].返回实际速度,mag_stirrer_c0_return_speed_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].返回实际速度
+磁力搅拌参数设置_C[0].返回设定温度,mag_stirrer_c0_return_temp_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].返回设定温度
+磁力搅拌参数设置_C[0].返回实际温度,mag_stirrer_c0_return_temp_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].返回实际温度
+磁力搅拌参数设置_C[0].返回设定时间,mag_stirrer_c0_return_time_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].返回设定时间
+磁力搅拌参数设置_C[0].返回实际时间,mag_stirrer_c0_return_time_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].返回实际时间
+磁力搅拌参数设置_C[0].工作模式设置,mag_stirrer_c0_work_mode_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].工作模式设置
+磁力搅拌参数设置_C[0].加热模式设置,mag_stirrer_c0_heat_mode_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].加热模式设置
+磁力搅拌参数设置_C[0].温度单位,mag_stirrer_c0_temp_unit,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].温度单位
+磁力搅拌参数设置_C[0].加热模式,mag_stirrer_c0_heat_mode,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].加热模式
+磁力搅拌参数设置_C[0].仪器模式,mag_stirrer_c0_instrument_mode,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].仪器模式
+磁力搅拌参数设置_C[0].安全温度,mag_stirrer_c0_safe_temp,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[0].安全温度
+磁力搅拌参数设置_C[1].搅拌速度,mag_stirrer_c1_stir_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].搅拌速度
+磁力搅拌参数设置_C[1].加热温度,mag_stirrer_c1_heat_temp,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].加热温度
+磁力搅拌参数设置_C[1].时间设置,mag_stirrer_c1_time_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].时间设置
+磁力搅拌参数设置_C[1].返回设定速度,mag_stirrer_c1_return_speed_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].返回设定速度
+磁力搅拌参数设置_C[1].返回实际速度,mag_stirrer_c1_return_speed_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].返回实际速度
+磁力搅拌参数设置_C[1].返回设定温度,mag_stirrer_c1_return_temp_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].返回设定温度
+磁力搅拌参数设置_C[1].返回实际温度,mag_stirrer_c1_return_temp_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].返回实际温度
+磁力搅拌参数设置_C[1].返回设定时间,mag_stirrer_c1_return_time_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].返回设定时间
+磁力搅拌参数设置_C[1].返回实际时间,mag_stirrer_c1_return_time_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].返回实际时间
+磁力搅拌参数设置_C[1].工作模式设置,mag_stirrer_c1_work_mode_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].工作模式设置
+磁力搅拌参数设置_C[1].加热模式设置,mag_stirrer_c1_heat_mode_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].加热模式设置
+磁力搅拌参数设置_C[1].温度单位,mag_stirrer_c1_temp_unit,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].温度单位
+磁力搅拌参数设置_C[1].加热模式,mag_stirrer_c1_heat_mode,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].加热模式
+磁力搅拌参数设置_C[1].仪器模式,mag_stirrer_c1_instrument_mode,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].仪器模式
+磁力搅拌参数设置_C[1].安全温度,mag_stirrer_c1_safe_temp,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[1].安全温度
+磁力搅拌参数设置_C[2].搅拌速度,mag_stirrer_c2_stir_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].搅拌速度
+磁力搅拌参数设置_C[2].加热温度,mag_stirrer_c2_heat_temp,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].加热温度
+磁力搅拌参数设置_C[2].时间设置,mag_stirrer_c2_time_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].时间设置
+磁力搅拌参数设置_C[2].返回设定速度,mag_stirrer_c2_return_speed_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].返回设定速度
+磁力搅拌参数设置_C[2].返回实际速度,mag_stirrer_c2_return_speed_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].返回实际速度
+磁力搅拌参数设置_C[2].返回设定温度,mag_stirrer_c2_return_temp_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].返回设定温度
+磁力搅拌参数设置_C[2].返回实际温度,mag_stirrer_c2_return_temp_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].返回实际温度
+磁力搅拌参数设置_C[2].返回设定时间,mag_stirrer_c2_return_time_setpoint,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].返回设定时间
+磁力搅拌参数设置_C[2].返回实际时间,mag_stirrer_c2_return_time_actual,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].返回实际时间
+磁力搅拌参数设置_C[2].工作模式设置,mag_stirrer_c2_work_mode_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].工作模式设置
+磁力搅拌参数设置_C[2].加热模式设置,mag_stirrer_c2_heat_mode_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].加热模式设置
+磁力搅拌参数设置_C[2].温度单位,mag_stirrer_c2_temp_unit,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].温度单位
+磁力搅拌参数设置_C[2].加热模式,mag_stirrer_c2_heat_mode,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].加热模式
+磁力搅拌参数设置_C[2].仪器模式,mag_stirrer_c2_instrument_mode,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].仪器模式
+磁力搅拌参数设置_C[2].安全温度,mag_stirrer_c2_safe_temp,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|磁力搅拌参数设置_C[2].安全温度
+注射泵参数[0].当前位置显示,syringe_pump_0_current_position,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].当前位置显示
+注射泵参数[0].绝对位置设置,syringe_pump_0_abs_position_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].绝对位置设置
+注射泵参数[0].抽液位置设置,syringe_pump_0_aspirate_pos_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].抽液位置设置
+注射泵参数[0].排液位置设置,syringe_pump_0_dispense_pos_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].排液位置设置
+注射泵参数[0].启动速度,syringe_pump_0_start_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].启动速度
+注射泵参数[0].最高速度,syringe_pump_0_max_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].最高速度
+注射泵参数[0].加速度代码,syringe_pump_0_accel_code,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[0].加速度代码
+注射泵参数[1].当前位置显示,syringe_pump_1_current_position,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].当前位置显示
+注射泵参数[1].绝对位置设置,syringe_pump_1_abs_position_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].绝对位置设置
+注射泵参数[1].抽液位置设置,syringe_pump_1_aspirate_pos_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].抽液位置设置
+注射泵参数[1].排液位置设置,syringe_pump_1_dispense_pos_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].排液位置设置
+注射泵参数[1].启动速度,syringe_pump_1_start_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].启动速度
+注射泵参数[1].最高速度,syringe_pump_1_max_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].最高速度
+注射泵参数[1].加速度代码,syringe_pump_1_accel_code,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[1].加速度代码
+注射泵参数[2].当前位置显示,syringe_pump_2_current_position,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].当前位置显示
+注射泵参数[2].绝对位置设置,syringe_pump_2_abs_position_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].绝对位置设置
+注射泵参数[2].抽液位置设置,syringe_pump_2_aspirate_pos_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].抽液位置设置
+注射泵参数[2].排液位置设置,syringe_pump_2_dispense_pos_set,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].排液位置设置
+注射泵参数[2].启动速度,syringe_pump_2_start_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].启动速度
+注射泵参数[2].最高速度,syringe_pump_2_max_speed,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].最高速度
+注射泵参数[2].加速度代码,syringe_pump_2_accel_code,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|注射泵参数[2].加速度代码
+机器人取烧杯编号,robot_pick_beaker_id,VARIABLE,INT32,Chinese,ns=4;s=上位通讯变量|机器人取烧杯编号
+机器人放烧杯编号,robot_place_beaker_id,VARIABLE,INT32,Chinese,ns=4;s=上位通讯变量|机器人放烧杯编号
+机器人放检测编号,robot_place_station_id,VARIABLE,INT32,Chinese,ns=4;s=上位通讯变量|机器人放检测编号
+机器人取检测编号,robot_pick_station_id,VARIABLE,INT32,Chinese,ns=4;s=上位通讯变量|机器人取检测编号
+机器人初始化,robot_init,VARIABLE,INT32,Chinese,ns=4;s=上位通讯变量|机器人初始化
+机器人料架取烧杯1完成,robot_rack_pick_beaker_1_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯1完成
+机器人料架取烧杯2完成,robot_rack_pick_beaker_2_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯2完成
+机器人料架取烧杯3完成,robot_rack_pick_beaker_3_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯3完成
+机器人料架取烧杯4完成,robot_rack_pick_beaker_4_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯4完成
+机器人料架取烧杯5完成,robot_rack_pick_beaker_5_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯5完成
+机器人料架放烧杯1完成,robot_rack_place_beaker_1_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯1完成
+机器人料架放烧杯2完成,robot_rack_place_beaker_2_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯2完成
+机器人料架放烧杯3完成,robot_rack_place_beaker_3_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯3完成
+机器人料架放烧杯4完成,robot_rack_place_beaker_4_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯4完成
+机器人料架放烧杯5完成,robot_rack_place_beaker_5_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯5完成
+机器人放检测1完成,robot_place_station_1_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人放检测1完成
+机器人放检测2完成,robot_place_station_2_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人放检测2完成
+机器人放检测3完成,robot_place_station_3_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人放检测3完成
+机器人取检测1完成,robot_pick_station_1_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人取检测1完成
+机器人取检测2完成,robot_pick_station_2_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人取检测2完成
+机器人取检测3完成,robot_pick_station_3_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人取检测3完成
+机器人初始化完成,robot_init_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人初始化完成
+机器人料架取烧杯1开始,robot_rack_pick_beaker_1_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯1开始
+机器人料架取烧杯2开始,robot_rack_pick_beaker_2_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯2开始
+机器人料架取烧杯3开始,robot_rack_pick_beaker_3_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯3开始
+机器人料架取烧杯4开始,robot_rack_pick_beaker_4_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯4开始
+机器人料架取烧杯5开始,robot_rack_pick_beaker_5_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架取烧杯5开始
+机器人料架放烧杯1开始,robot_rack_place_beaker_1_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯1开始
+机器人料架放烧杯2开始,robot_rack_place_beaker_2_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯2开始
+机器人料架放烧杯3开始,robot_rack_place_beaker_3_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯3开始
+机器人料架放烧杯4开始,robot_rack_place_beaker_4_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯4开始
+机器人料架放烧杯5开始,robot_rack_place_beaker_5_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人料架放烧杯5开始
+机器人放检测1开始,robot_place_station_1_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人放检测1开始
+机器人放检测2开始,robot_place_station_2_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人放检测2开始
+机器人放检测3开始,robot_place_station_3_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人放检测3开始
+机器人取检测1开始,robot_pick_station_1_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人取检测1开始
+机器人取检测2开始,robot_pick_station_2_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人取检测2开始
+机器人取检测3开始,robot_pick_station_3_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人取检测3开始
+机器人机器人安全点,robot_safe_point,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人机器人安全点
+机器人机器人安全区域1,robot_safe_zone_1,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人机器人安全区域1
+机器人机器人安全区域2,robot_safe_zone_2,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人机器人安全区域2
+机器人机器人安全区域3,robot_safe_zone_3,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人机器人安全区域3
+自动作业开始触发,auto_run_start_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|自动作业开始触发
+自动作业完成,auto_run_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|自动作业完成
+检测1请求参数,station_1_request_params,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测1请求参数
+检测2请求参数,station_2_request_params,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测2请求参数
+检测3请求参数,station_3_request_params,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测3请求参数
+检测1参数已执行,station_1_params_received,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测1参数已执行
+检测2参数已执行,station_2_params_received,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测2参数已执行
+检测3参数已执行,station_3_params_received,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测3参数已执行
+检测1空闲,station_1_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测1空闲
+检测2空闲,station_2_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测2空闲
+检测3空闲,station_3_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测3空闲
+机器人空闲,robot_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|机器人空闲
+检测1工艺完成,station_1_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测1工艺完成
+检测2工艺完成,station_2_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测2工艺完成
+检测3工艺完成,station_3_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测3工艺完成
+模式切换,mode_switch,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|模式切换
+初始化PC,initialize,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|初始化PC
+初始化完成PC,init finished,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|初始化完成PC
+手自动切换,manual_auto_switch,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|手自动切换
+自动模式PC,auto_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|自动模式PC
+自动作业参数已下发,auto_param_downloaded,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|自动作业参数已下发
+自动作业参数已执行,auto_param_applied,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|自动作业参数已执行
+自动作业等待停止时间,auto_job_stop_delay,VARIABLE,INT16,Chinese,ns=4;s=上位通讯变量|自动作业等待停止时间
+检测1开始,station_1_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测1开始
+检测2开始,station_2_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测2开始
+检测3开始,station_3_start,VARIABLE,BOOLEAN,Chinese,ns=4;s=上位通讯变量|检测3开始
\ No newline at end of file
diff --git a/unilabos/devices/workstation/AI4M/opcua_nodes_AI4M_sim.csv b/unilabos/devices/workstation/AI4M/opcua_nodes_AI4M_sim.csv
new file mode 100644
index 00000000..9b534464
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/opcua_nodes_AI4M_sim.csv
@@ -0,0 +1,135 @@
+Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
+磁力搅拌参数设置_C[0].搅拌速度,mag_stirrer_c0_stir_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].搅拌速度
+磁力搅拌参数设置_C[0].加热温度,mag_stirrer_c0_heat_temp,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].加热温度
+磁力搅拌参数设置_C[0].时间设置,mag_stirrer_c0_time_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].时间设置
+磁力搅拌参数设置_C[0].返回设定速度,mag_stirrer_c0_return_speed_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回设定速度
+磁力搅拌参数设置_C[0].返回实际速度,mag_stirrer_c0_return_speed_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回实际速度
+磁力搅拌参数设置_C[0].返回设定温度,mag_stirrer_c0_return_temp_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回设定温度
+磁力搅拌参数设置_C[0].返回实际温度,mag_stirrer_c0_return_temp_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回实际温度
+磁力搅拌参数设置_C[0].返回设定时间,mag_stirrer_c0_return_time_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回设定时间
+磁力搅拌参数设置_C[0].返回实际时间,mag_stirrer_c0_return_time_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].返回实际时间
+磁力搅拌参数设置_C[0].工作模式设置,mag_stirrer_c0_work_mode_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].工作模式设置
+磁力搅拌参数设置_C[0].加热模式设置,mag_stirrer_c0_heat_mode_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].加热模式设置
+磁力搅拌参数设置_C[0].温度单位,mag_stirrer_c0_temp_unit,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].温度单位
+磁力搅拌参数设置_C[0].加热模式,mag_stirrer_c0_heat_mode,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].加热模式
+磁力搅拌参数设置_C[0].仪器模式,mag_stirrer_c0_instrument_mode,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].仪器模式
+磁力搅拌参数设置_C[0].安全温度,mag_stirrer_c0_safe_temp,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[0].安全温度
+磁力搅拌参数设置_C[1].搅拌速度,mag_stirrer_c1_stir_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].搅拌速度
+磁力搅拌参数设置_C[1].加热温度,mag_stirrer_c1_heat_temp,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].加热温度
+磁力搅拌参数设置_C[1].时间设置,mag_stirrer_c1_time_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].时间设置
+磁力搅拌参数设置_C[1].返回设定速度,mag_stirrer_c1_return_speed_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回设定速度
+磁力搅拌参数设置_C[1].返回实际速度,mag_stirrer_c1_return_speed_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回实际速度
+磁力搅拌参数设置_C[1].返回设定温度,mag_stirrer_c1_return_temp_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回设定温度
+磁力搅拌参数设置_C[1].返回实际温度,mag_stirrer_c1_return_temp_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回实际温度
+磁力搅拌参数设置_C[1].返回设定时间,mag_stirrer_c1_return_time_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回设定时间
+磁力搅拌参数设置_C[1].返回实际时间,mag_stirrer_c1_return_time_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].返回实际时间
+磁力搅拌参数设置_C[1].工作模式设置,mag_stirrer_c1_work_mode_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].工作模式设置
+磁力搅拌参数设置_C[1].加热模式设置,mag_stirrer_c1_heat_mode_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].加热模式设置
+磁力搅拌参数设置_C[1].温度单位,mag_stirrer_c1_temp_unit,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].温度单位
+磁力搅拌参数设置_C[1].加热模式,mag_stirrer_c1_heat_mode,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].加热模式
+磁力搅拌参数设置_C[1].仪器模式,mag_stirrer_c1_instrument_mode,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].仪器模式
+磁力搅拌参数设置_C[1].安全温度,mag_stirrer_c1_safe_temp,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[1].安全温度
+磁力搅拌参数设置_C[2].搅拌速度,mag_stirrer_c2_stir_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].搅拌速度
+磁力搅拌参数设置_C[2].加热温度,mag_stirrer_c2_heat_temp,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].加热温度
+磁力搅拌参数设置_C[2].时间设置,mag_stirrer_c2_time_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].时间设置
+磁力搅拌参数设置_C[2].返回设定速度,mag_stirrer_c2_return_speed_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回设定速度
+磁力搅拌参数设置_C[2].返回实际速度,mag_stirrer_c2_return_speed_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回实际速度
+磁力搅拌参数设置_C[2].返回设定温度,mag_stirrer_c2_return_temp_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回设定温度
+磁力搅拌参数设置_C[2].返回实际温度,mag_stirrer_c2_return_temp_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回实际温度
+磁力搅拌参数设置_C[2].返回设定时间,mag_stirrer_c2_return_time_setpoint,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回设定时间
+磁力搅拌参数设置_C[2].返回实际时间,mag_stirrer_c2_return_time_actual,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].返回实际时间
+磁力搅拌参数设置_C[2].工作模式设置,mag_stirrer_c2_work_mode_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].工作模式设置
+磁力搅拌参数设置_C[2].加热模式设置,mag_stirrer_c2_heat_mode_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].加热模式设置
+磁力搅拌参数设置_C[2].温度单位,mag_stirrer_c2_temp_unit,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].温度单位
+磁力搅拌参数设置_C[2].加热模式,mag_stirrer_c2_heat_mode,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].加热模式
+磁力搅拌参数设置_C[2].仪器模式,mag_stirrer_c2_instrument_mode,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].仪器模式
+磁力搅拌参数设置_C[2].安全温度,mag_stirrer_c2_safe_temp,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.磁力搅拌参数设置_C[2].安全温度
+注射泵参数[0].当前位置显示,syringe_pump_0_current_position,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].当前位置显示
+注射泵参数[0].绝对位置设置,syringe_pump_0_abs_position_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].绝对位置设置
+注射泵参数[0].抽液位置设置,syringe_pump_0_aspirate_pos_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].抽液位置设置
+注射泵参数[0].排液位置设置,syringe_pump_0_dispense_pos_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].排液位置设置
+注射泵参数[0].启动速度,syringe_pump_0_start_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].启动速度
+注射泵参数[0].最高速度,syringe_pump_0_max_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].最高速度
+注射泵参数[0].加速度代码,syringe_pump_0_accel_code,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[0].加速度代码
+注射泵参数[1].当前位置显示,syringe_pump_1_current_position,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].当前位置显示
+注射泵参数[1].绝对位置设置,syringe_pump_1_abs_position_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].绝对位置设置
+注射泵参数[1].抽液位置设置,syringe_pump_1_aspirate_pos_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].抽液位置设置
+注射泵参数[1].排液位置设置,syringe_pump_1_dispense_pos_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].排液位置设置
+注射泵参数[1].启动速度,syringe_pump_1_start_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].启动速度
+注射泵参数[1].最高速度,syringe_pump_1_max_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].最高速度
+注射泵参数[1].加速度代码,syringe_pump_1_accel_code,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[1].加速度代码
+注射泵参数[2].当前位置显示,syringe_pump_2_current_position,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].当前位置显示
+注射泵参数[2].绝对位置设置,syringe_pump_2_abs_position_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].绝对位置设置
+注射泵参数[2].抽液位置设置,syringe_pump_2_aspirate_pos_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].抽液位置设置
+注射泵参数[2].排液位置设置,syringe_pump_2_dispense_pos_set,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].排液位置设置
+注射泵参数[2].启动速度,syringe_pump_2_start_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].启动速度
+注射泵参数[2].最高速度,syringe_pump_2_max_speed,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].最高速度
+注射泵参数[2].加速度代码,syringe_pump_2_accel_code,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.注射泵参数[2].加速度代码
+机器人取烧杯编号,robot_pick_beaker_id,VARIABLE,INT32,Chinese,ns=2;s=AI4M.设备 1.机器人取烧杯编号
+机器人放烧杯编号,robot_place_beaker_id,VARIABLE,INT32,Chinese,ns=2;s=AI4M.设备 1.机器人放烧杯编号
+机器人放检测编号,robot_place_station_id,VARIABLE,INT32,Chinese,ns=2;s=AI4M.设备 1.机器人放检测编号
+机器人取检测编号,robot_pick_station_id,VARIABLE,INT32,Chinese,ns=2;s=AI4M.设备 1.机器人取检测编号
+机器人初始化,robot_init,VARIABLE,INT32,Chinese,ns=2;s=AI4M.设备 1.机器人初始化
+机器人料架取烧杯1完成,robot_rack_pick_beaker_1_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯1完成
+机器人料架取烧杯2完成,robot_rack_pick_beaker_2_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯2完成
+机器人料架取烧杯3完成,robot_rack_pick_beaker_3_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯3完成
+机器人料架取烧杯4完成,robot_rack_pick_beaker_4_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯4完成
+机器人料架取烧杯5完成,robot_rack_pick_beaker_5_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯5完成
+机器人料架放烧杯1完成,robot_rack_place_beaker_1_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯1完成
+机器人料架放烧杯2完成,robot_rack_place_beaker_2_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯2完成
+机器人料架放烧杯3完成,robot_rack_place_beaker_3_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯3完成
+机器人料架放烧杯4完成,robot_rack_place_beaker_4_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯4完成
+机器人料架放烧杯5完成,robot_rack_place_beaker_5_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯5完成
+机器人放检测1完成,robot_place_station_1_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人放检测1完成
+机器人放检测2完成,robot_place_station_2_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人放检测2完成
+机器人放检测3完成,robot_place_station_3_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人放检测3完成
+机器人取检测1完成,robot_pick_station_1_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人取检测1完成
+机器人取检测2完成,robot_pick_station_2_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人取检测2完成
+机器人取检测3完成,robot_pick_station_3_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人取检测3完成
+机器人初始化完成,robot_init_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人初始化完成
+机器人料架取烧杯1开始,robot_rack_pick_beaker_1_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯1开始
+机器人料架取烧杯2开始,robot_rack_pick_beaker_2_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯2开始
+机器人料架取烧杯3开始,robot_rack_pick_beaker_3_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯3开始
+机器人料架取烧杯4开始,robot_rack_pick_beaker_4_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯4开始
+机器人料架取烧杯5开始,robot_rack_pick_beaker_5_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架取烧杯5开始
+机器人料架放烧杯1开始,robot_rack_place_beaker_1_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯1开始
+机器人料架放烧杯2开始,robot_rack_place_beaker_2_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯2开始
+机器人料架放烧杯3开始,robot_rack_place_beaker_3_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯3开始
+机器人料架放烧杯4开始,robot_rack_place_beaker_4_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯4开始
+机器人料架放烧杯5开始,robot_rack_place_beaker_5_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人料架放烧杯5开始
+机器人放检测1开始,robot_place_station_1_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人放检测1开始
+机器人放检测2开始,robot_place_station_2_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人放检测2开始
+机器人放检测3开始,robot_place_station_3_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人放检测3开始
+机器人取检测1开始,robot_pick_station_1_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人取检测1开始
+机器人取检测2开始,robot_pick_station_2_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人取检测2开始
+机器人取检测3开始,robot_pick_station_3_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人取检测3开始
+机器人机器人安全点,robot_safe_point,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人机器人安全点
+机器人机器人安全区域1,robot_safe_zone_1,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人机器人安全区域1
+机器人机器人安全区域2,robot_safe_zone_2,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人机器人安全区域2
+机器人机器人安全区域3,robot_safe_zone_3,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人机器人安全区域3
+自动作业开始触发,auto_run_start_trigger,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.自动作业开始触发
+自动作业完成,auto_run_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.自动作业完成
+检测1请求参数,station_1_request_params,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测1请求参数
+检测2请求参数,station_2_request_params,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测2请求参数
+检测3请求参数,station_3_request_params,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测3请求参数
+检测1参数已执行,station_1_params_received,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测1参数已执行
+检测2参数已执行,station_2_params_received,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测2参数已执行
+检测3参数已执行,station_3_params_received,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测3参数已执行
+检测1空闲,station_1_ready,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测1空闲
+检测2空闲,station_2_ready,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测2空闲
+检测3空闲,station_3_ready,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测3空闲
+机器人空闲,robot_ready,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.机器人空闲
+检测1工艺完成,station_1_process_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测1工艺完成
+检测2工艺完成,station_2_process_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测2工艺完成
+检测3工艺完成,station_3_process_complete,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测3工艺完成
+模式切换,mode_switch,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.模式切换
+初始化PC,initialize,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.初始化PC
+初始化完成PC,init finished,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.初始化完成PC
+手自动切换,manual_auto_switch,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.手自动切换
+自动模式PC,auto_mode,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.自动模式PC
+自动作业参数已下发,auto_param_downloaded,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.自动作业参数已下发
+自动作业参数已执行,auto_param_applied,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.自动作业参数已执行
+自动作业等待停止时间,auto_job_stop_delay,VARIABLE,INT16,Chinese,ns=2;s=AI4M.设备 1.自动作业等待停止时间
+检测1开始,station_1_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测1开始
+检测2开始,station_2_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测2开始
+检测3开始,station_3_start,VARIABLE,BOOLEAN,Chinese,ns=2;s=AI4M.设备 1.检测3开始
diff --git a/unilabos/devices/workstation/AI4M/start.md b/unilabos/devices/workstation/AI4M/start.md
new file mode 100644
index 00000000..9a1a99a7
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/start.md
@@ -0,0 +1,6 @@
+深研院正式客户端正式unilab环境启动命令：
+
+python unilabos\app\main.py -g unilabos\devices\workstation\AI4M\AI4M.json --ak a3a92d5e-e0ff-4822-9a4e-1287d88ce127 --sk d8b6b8da-357d-4b6a-a56c-9034c7f2b932 --upload_registry --disable_browser
+
+
+python unilabos\app\main.py -g unilabos\devices\workstation\AI4M\AI4M.json --ak 6c67a368-8002-4a38-8af8-f165db1c1fe3 --sk 85645cbd-2920-48e0-864f-7ed83b05521a --upload_registry --addr test
diff --git a/unilabos/devices/workstation/AI4M/warehouses.py b/unilabos/devices/workstation/AI4M/warehouses.py
new file mode 100644
index 00000000..7f2ebfea
--- /dev/null
+++ b/unilabos/devices/workstation/AI4M/warehouses.py
@@ -0,0 +1,74 @@
+from unilabos.devices.workstation.AI4M.AI4M_warehouse import WareHouse, warehouse_factory
+
+
+
+# =================== Other ===================
+
+
+def Hydrogel_warehouse_5x3x1(name: str) -> WareHouse:
+ """创建水凝胶模块 5x3x1仓库"""
+ return warehouse_factory(
+ name=name,
+ num_items_x=5,
+ num_items_y=3,
+ num_items_z=1,
+ dx=10.0,
+ dy=10.0,
+ dz=10.0,
+ item_dx=137.0,
+ item_dy=96.0,
+ item_dz=120.0,
+ category="warehouse",
+ )
+
+def Station_1_warehouse_1x1x1(name: str) -> WareHouse:
+ """创建检测工站 1x1x1仓库"""
+ return warehouse_factory(
+ name=name,
+ num_items_x=1,
+ num_items_y=1,
+ num_items_z=1,
+ dx=10.0,
+ dy=10.0,
+ dz=10.0,
+ item_dx=137.0,
+ item_dy=96.0,
+ item_dz=120.0,
+ category="warehouse",
+ custom_keys=[1], # 使用数字1作为编号
+ )
+
+def Station_2_warehouse_1x1x1(name: str) -> WareHouse:
+ """创建检测工站 1x1x1仓库"""
+ return warehouse_factory(
+ name=name,
+ num_items_x=1,
+ num_items_y=1,
+ num_items_z=1,
+ dx=10.0,
+ dy=10.0,
+ dz=10.0,
+ item_dx=137.0,
+ item_dy=96.0,
+ item_dz=120.0,
+ category="warehouse",
+ custom_keys=[2], # 使用数字2作为编号
+ )
+
+def Station_3_warehouse_1x1x1(name: str) -> WareHouse:
+ """创建检测工站 1x1x1仓库"""
+ return warehouse_factory(
+ name=name,
+ num_items_x=1,
+ num_items_y=1,
+ num_items_z=1,
+ dx=10.0,
+ dy=10.0,
+ dz=10.0,
+ item_dx=137.0,
+ item_dy=96.0,
+ item_dz=120.0,
+ category="warehouse",
+ custom_keys=[3], # 使用数字3作为编号
+ )
+
diff --git "a/unilabos/devices/workstation/AI4M/\346\260\264\345\207\235\346\250\241\345\235\227\350\257\264\346\230\216\344\271\246.docx" "b/unilabos/devices/workstation/AI4M/\346\260\264\345\207\235\346\250\241\345\235\227\350\257\264\346\230\216\344\271\246.docx"
new file mode 100644
index 00000000..af705087
Binary files /dev/null and "b/unilabos/devices/workstation/AI4M/\346\260\264\345\207\235\346\250\241\345\235\227\350\257\264\346\230\216\344\271\246.docx" differ
diff --git "a/unilabos/devices/workstation/AI4M/\346\267\261\347\240\224\351\231\242\346\226\207\347\250\277\347\264\240\346\235\220.pptx" "b/unilabos/devices/workstation/AI4M/\346\267\261\347\240\224\351\231\242\346\226\207\347\250\277\347\264\240\346\235\220.pptx"
new file mode 100644
index 00000000..a6cd0ec8
Binary files /dev/null and "b/unilabos/devices/workstation/AI4M/\346\267\261\347\240\224\351\231\242\346\226\207\347\250\277\347\264\240\346\235\220.pptx" differ
diff --git a/unilabos/devices/workstation/bioyond_studio/__init__.py b/unilabos/devices/workstation/bioyond_studio/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
deleted file mode 100644
index afd515aa..00000000
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
+++ /dev/null
@@ -1,1156 +0,0 @@
-# bioyond_rpc.py
-"""
-BioyondV1RPC类定义 - 负责HTTP接口通信和通用函数
-仅包含基础的API调用、通用工具函数，不包含特定站点业务逻辑
-"""
-
-from enum import Enum
-from datetime import datetime, timezone
-from unilabos.device_comms.rpc import BaseRequest
-from typing import Optional, List, Dict, Any
-import json
-from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
-
-
-class SimpleLogger:
- """简单的日志记录器"""
- def info(self, msg): print(f"[INFO] {msg}")
- def error(self, msg): print(f"[ERROR] {msg}")
- def debug(self, msg): print(f"[DEBUG] {msg}")
- def warning(self, msg): print(f"[WARNING] {msg}")
- def critical(self, msg): print(f"[CRITICAL] {msg}")
-
-
-class MachineState(Enum):
- INITIAL = 0
- STOPPED = 1
- RUNNING = 2
- PAUSED = 3
- ERROR_PAUSED = 4
- ERROR_STOPPED = 5
-
-
-class MaterialType(Enum):
- Consumables = 0
- Sample = 1
- Reagent = 2
- Product = 3
-
-
-class BioyondException(Exception):
- """Bioyond操作异常"""
- pass
-
-
-class BioyondV1RPC(BaseRequest):
- def __init__(self, config):
- super().__init__()
- print("开始初始化 BioyondV1RPC")
- self.config = config
- self.api_key = config["api_key"]
- self.host = config["api_host"]
- self._logger = SimpleLogger()
- self.material_cache = {}
- self._load_material_cache()
-
- # ==================== 基础通用方法 ====================
-
- def get_current_time_iso8601(self) -> str:
- """
- 获取当前时间，并格式化为 ISO 8601 格式（包含毫秒部分）。
-
- :return: 当前时间的 ISO 8601 格式字符串
- """
- current_time = datetime.now(timezone.utc).isoformat(
- timespec='milliseconds'
- )
- # 替换时区部分为 'Z'
- current_time = current_time.replace("+00:00", "Z")
- return current_time
-
- def get_logger(self):
- return self._logger
-
- # ==================== 物料查询相关接口 ====================
-
- def stock_material(self, json_str: str) -> list:
- """
- 描述：返回所有当前在库的，已启用的物料
- json_str 字段介绍，格式为JSON字符串:
- '{"typeMode": 0, "filter": "样品", "includeDetail": true}'
-
- typeMode: 物料类型, 样品1、试剂2、耗材0
- filter: 过滤字段, 物料名称/物料编码
- includeDetail: 是否包含所在库位。true，false
- """
- try:
- params = json.loads(json_str)
- except json.JSONDecodeError:
- return []
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/stock-material',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response or response['code'] != 1:
- return []
- return response.get("data", [])
-
- def query_warehouse_by_material_type(self, type_id: str) -> dict:
- """
- 描述：查询物料类型可以入库的库位
- type_id: 物料类型ID
- """
- params = {
- "typeId": type_id
- }
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/warehouse-info-by-mat-type-id',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response:
- return {}
-
- if response['code'] != 1:
- print(
- f"query warehouse by material type error: {response.get('message', '')}"
- )
- return {}
-
- return response.get("data", {})
-
- def material_id_query(self, json_str: str) -> dict:
- """
- 查询物料id
- json_str 格式为JSON字符串:
- '{"material123"}'
- """
- params = json_str
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/workflow-sample-locations',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response:
- return {}
-
- if response['code'] != 1:
- print(f"material_id_query error: {response.get('message')}")
- return {}
-
- print(f"material_id_query data: {response['data']}")
- return response.get("data", {})
-
- def add_material(self, params: dict) -> dict:
- """
- 描述：添加新的物料
- json_str 格式为JSON字符串
- """
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/material',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response:
- return {}
-
- if response['code'] != 1:
- print(f"add material error: {response.get('message', '')}")
- return {}
-
- print(f"add material data: {response['data']}")
- return response.get("data", {})
-
- def query_matial_type_id(self, data) -> list:
- """查找物料typeid"""
- response = self.post(
- url=f'{self.host}/api/lims/storage/material-types',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": data
- })
-
- if not response or response['code'] != 1:
- return []
- return str(response.get("data", {}))
-
- def material_type_list(self) -> list:
- """查询物料类型列表
-
- 返回值:
- list: 物料类型数组，失败返回空列表
- """
- response = self.post(
- url=f'{self.host}/api/lims/storage/material-type-list',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": {},
- })
- if not response or response['code'] != 1:
- return []
- return response.get("data", [])
-
- def material_inbound(self, material_id: str, location_id: str) -> dict:
- """
- 描述：指定库位入库一个物料
- material_id: 物料ID
- location_name: 库位名称（会自动映射到location_id）
- """
- params = {
- "materialId": material_id,
- "locationId": location_id
- }
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/inbound',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response or response['code'] != 1:
- if response:
- error_msg = response.get('message', '未知错误')
- print(f"[ERROR] 物料入库失败: code={response.get('code')}, message={error_msg}")
- else:
- print(f"[ERROR] 物料入库失败: API 无响应")
- return {}
- # 入库成功时，即使没有 data 字段，也返回成功标识
- return response.get("data") or {"success": True}
-
- def batch_inbound(self, inbound_items: List[Dict[str, Any]]) -> int:
- """批量入库物料
-
- 参数:
- inbound_items: 入库条目列表，每项包含 materialId/locationId/quantity 等
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/storage/batch-inbound',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": inbound_items,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def delete_material(self, material_id: str) -> dict:
- """
- 描述：删除尚未入库的物料
- material_id: 物料ID
- """
- response = self.post(
- url=f'{self.host}/api/lims/storage/delete-material',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": material_id
- })
-
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
- """指定库位出库物料（通过库位名称）"""
- location_id = LOCATION_MAPPING.get(location_name, location_name)
-
- params = {
- "materialId": material_id,
- "locationId": location_id,
- "quantity": quantity
- }
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/outbound',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response or response['code'] != 1:
- return None
- return response
-
- def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict:
- """指定库位出库物料（直接使用location_id）
-
- Args:
- material_id: 物料ID
- location_id: 库位ID（不是库位名称，是UUID）
- quantity: 数量
-
- Returns:
- dict: API响应，失败返回None
- """
- params = {
- "materialId": material_id,
- "locationId": location_id,
- "quantity": quantity
- }
-
- response = self.post(
- url=f'{self.host}/api/lims/storage/outbound',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response or response['code'] != 1:
- return None
- return response
-
- def batch_outbound(self, outbound_items: List[Dict[str, Any]]) -> int:
- """批量出库物料
-
- 参数:
- outbound_items: 出库条目列表，每项包含 materialId/locationId/quantity 等
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/storage/batch-outbound',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": outbound_items,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def material_info(self, material_id: str) -> dict:
- """查询物料详情
-
- 参数:
- material_id: 物料ID
-
- 返回值:
- dict: 物料信息字典，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/storage/material-info',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": material_id,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def reset_location(self, location_id: str) -> int:
- """复位库位
-
- 参数:
- location_id: 库位ID
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/storage/reset-location',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": location_id,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- # ==================== 工作流查询相关接口 ====================
-
- def query_workflow(self, json_str: str) -> dict:
- try:
- params = json.loads(json_str)
- except json.JSONDecodeError:
- print(f"无效的JSON字符串: {json_str}")
- return {}
- except Exception as e:
- print(f"处理JSON时出错: {str(e)}")
- return {}
-
- response = self.post(
- url=f'{self.host}/api/lims/workflow/work-flow-list',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def workflow_step_query(self, workflow_id: str) -> dict:
- """
- 描述：查询某一个子工作流的详细信息，包含所有步骤、参数信息
- json_str 格式为JSON字符串:
- '{"workflow_id": "workflow123"}'
- """
-
- response = self.post(
- url=f'{self.host}/api/lims/workflow/sub-workflow-step-parameters',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": workflow_id,
- })
-
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def split_workflow_list(self, params: Dict[str, Any]) -> dict:
- """查询可拆分工作流列表
-
- 参数:
- params: 查询条件参数
-
- 返回值:
- dict: 返回数据字典，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/workflow/split-workflow-list',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def merge_workflow(self, data: Dict[str, Any]) -> dict:
- """合并工作流（无参数版）
-
- 参数:
- data: 合并请求体，包含待合并的子工作流信息
-
- 返回值:
- dict: 合并结果，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/workflow/merge-workflow',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": data,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def merge_workflow_with_parameters(self, data: Dict[str, Any]) -> dict:
- """合并工作流（携带参数）
-
- 参数:
- data: 合并请求体，包含 name、workflows 以及 stepParameters 等
-
- 返回值:
- dict: 合并结果，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/workflow/merge-workflow-with-parameters',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": data,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def validate_workflow_parameters(self, workflows: List[Dict[str, Any]]) -> Dict[str, Any]:
- """验证工作流参数格式"""
- try:
- validation_errors = []
-
- for i, workflow in enumerate(workflows):
- workflow_errors = []
-
- # 检查基本结构
- if not isinstance(workflow, dict):
- workflow_errors.append("工作流必须是字典类型")
- continue
-
- if "id" not in workflow:
- workflow_errors.append("缺少必要的 'id' 字段")
-
- # 检查 stepParameters（如果存在）
- if "stepParameters" in workflow:
- step_params = workflow["stepParameters"]
-
- if not isinstance(step_params, dict):
- workflow_errors.append("stepParameters 必须是字典类型")
- else:
- # 验证参数结构
- for step_id, modules in step_params.items():
- if not isinstance(modules, dict):
- workflow_errors.append(f"步骤 {step_id} 的模块配置必须是字典类型")
- continue
-
- for module_name, params in modules.items():
- if not isinstance(params, list):
- workflow_errors.append(f"步骤 {step_id} 模块 {module_name} 的参数必须是列表类型")
- continue
-
- for j, param in enumerate(params):
- if not isinstance(param, dict):
- workflow_errors.append(f"步骤 {step_id} 模块 {module_name} 参数 {j} 必须是字典类型")
- elif "Key" not in param or "DisplayValue" not in param:
- workflow_errors.append(f"步骤 {step_id} 模块 {module_name} 参数 {j} 必须包含 Key 和 DisplayValue")
-
- if workflow_errors:
- validation_errors.append({
- "workflow_index": i,
- "workflow_id": workflow.get("id", "unknown"),
- "errors": workflow_errors
- })
-
- if validation_errors:
- return {
- "valid": False,
- "errors": validation_errors,
- "message": f"发现 {len(validation_errors)} 个工作流存在验证错误"
- }
- else:
- return {
- "valid": True,
- "message": f"所有 {len(workflows)} 个工作流验证通过"
- }
-
- except Exception as e:
- return {
- "valid": False,
- "errors": [{"general_error": str(e)}],
- "message": f"验证过程中发生异常: {str(e)}"
- }
-
- def get_workflow_parameter_template(self) -> Dict[str, Any]:
- """获取工作流参数模板"""
- return {
- "template": {
- "name": "拼接后的长工作流的名称",
- "workflows": [
- {
- "id": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
- "stepParameters": {
- "步骤ID (UUID)": {
- "模块名称": [
- {
- "key": "参数键名",
- "value": "参数值或变量引用 {{index-m-n}}"
- }
- ]
- }
- }
- }
- ]
- },
- "parameter_descriptions": {
- "name": "拼接后的长工作流名称",
- "workflows": "待合并的子工作流列表",
- "id": "子工作流 ID，对应工作流列表中 workflows 数组中每个对象的 id 字段",
- "stepParameters": "步骤参数配置，如果子工作流没有参数则不需要填写"
- }
- }
-
- # ==================== 任务订单相关接口 ====================
-
- def create_order(self, json_str: str) -> dict:
- """
- 描述：新建并开始任务，返回需要的物料和入库的库位
- json_str 格式为JSON字符串，包含任务参数
- """
- try:
- params = json.loads(json_str)
- self._logger.info(f"创建任务参数: {params}")
- self._logger.info(f"参数类型: {type(params)}")
-
- response = self.post(
- url=f'{self.host}/api/lims/order/order',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response:
- raise BioyondException("API调用失败：未收到响应")
-
- if response['code'] != 1:
- error_msg = f"创建任务失败: {response.get('message', '未知错误')}"
- self._logger.error(error_msg)
- raise BioyondException(error_msg)
-
- self._logger.info(f"创建任务成功，返回数据: {response['data']}")
- result = str(response.get("data", {}))
- return result
-
- except BioyondException:
- # 重新抛出BioyondException
- raise
- except json.JSONDecodeError as e:
- error_msg = f"JSON解析失败: {str(e)}"
- self._logger.error(error_msg)
- raise BioyondException(error_msg) from e
- except Exception as e:
- # 捕获其他未预期的异常，转换为BioyondException
- error_msg = f"创建任务时发生未预期的错误: {str(e)}"
- self._logger.error(error_msg)
- raise BioyondException(error_msg) from e
-
- def order_query(self, json_str: str) -> dict:
- """
- 描述：查询任务列表
- json_str 格式为JSON字符串
- """
- try:
- params = json.loads(json_str)
- except json.JSONDecodeError:
- return {}
-
- response = self.post(
- url=f'{self.host}/api/lims/order/order-list',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def order_report(self, order_id: str) -> dict:
- """查询订单报告
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- dict: 报告数据，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/order-report',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def order_takeout(self, json_str: str) -> int:
- """取出任务产物
-
- 参数:
- json_str: JSON字符串，包含 order_id 与 preintake_id
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- try:
- data = json.loads(json_str)
- params = {
- "orderId": data.get("order_id", ""),
- "preintakeId": data.get("preintake_id", "")
- }
- except json.JSONDecodeError:
- return 0
-
- response = self.post(
- url=f'{self.host}/api/lims/order/order-takeout',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params,
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
-
- def sample_waste_removal(self, order_id: str) -> dict:
- """样品/废料取出
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- dict: 取出结果，失败返回空字典
- """
- params = {"orderId": order_id}
-
- response = self.post(
- url=f'{self.host}/api/lims/order/take-out',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params
- })
-
- if not response:
- return {}
-
- if response['code'] != 1:
- self._logger.error(f"样品废料取出错误: {response.get('message', '')}")
- return {}
-
- return response.get("data", {})
-
- def cancel_order(self, json_str: str) -> bool:
- """取消指定任务
-
- 参数:
- json_str: JSON字符串，包含 order_id
-
- 返回值:
- bool: 成功返回 True，失败返回 False
- """
- try:
- data = json.loads(json_str)
- order_id = data.get("order_id", "")
- except json.JSONDecodeError:
- return False
-
- response = self.post(
- url=f'{self.host}/api/lims/order/cancel-order',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
-
- if not response or response['code'] != 1:
- return False
- return True
-
- def cancel_experiment(self, order_id: str) -> int:
- """取消指定实验
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/cancel-experiment',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def batch_cancel_experiment(self, order_ids: List[str]) -> int:
- """批量取消实验
-
- 参数:
- order_ids: 订单ID列表
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/batch-cancel-experiment',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_ids,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def gantts_by_order_id(self, order_id: str) -> dict:
- """查询订单甘特图数据
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- dict: 甘特数据，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/gantts-by-order-id',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def simulation_gantt_by_order_id(self, order_id: str) -> dict:
- """查询订单模拟甘特图数据
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- dict: 模拟甘特数据，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/simulation-gantt-by-order-id',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def reset_order_status(self, order_id: str) -> int:
- """复位订单状态
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/reset-order-status',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def gantt_with_simulation_by_order_id(self, order_id: str) -> dict:
- """查询订单甘特与模拟联合数据
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- dict: 联合数据，失败返回空字典
- """
- response = self.post(
- url=f'{self.host}/api/lims/order/gantt-with-simulation-by-order-id',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": order_id,
- })
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- # ==================== 设备管理相关接口 ====================
-
- def device_list(self, json_str: str = "") -> list:
- """
- 描述：获取所有设备列表
- json_str 格式为JSON字符串，可选
- """
- device_no = None
- if json_str:
- try:
- data = json.loads(json_str)
- device_no = data.get("device_no", None)
- except json.JSONDecodeError:
- pass
-
- url = f'{self.host}/api/lims/device/device-list'
- if device_no:
- url += f'/{device_no}'
-
- response = self.post(
- url=url,
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return []
- return response.get("data", [])
-
- def device_operation(self, json_str: str) -> int:
- """设备操作
-
- 参数:
- json_str: JSON字符串，包含 device_no/operationType/operationParams
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- try:
- data = json.loads(json_str)
- params = {
- "deviceNo": data.get("device_no", ""),
- "operationType": data.get("operation_type", 0),
- "operationParams": data.get("operation_params", {})
- }
- except json.JSONDecodeError:
- return 0
-
- response = self.post(
- url=f'{self.host}/api/lims/device/execute-operation',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": params,
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def reset_devices(self) -> int:
- """复位设备集合
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/device/reset-devices',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- # ==================== 调度器相关接口 ====================
-
- def scheduler_status(self) -> dict:
- """查询调度器状态
-
- 返回值:
- dict: 包含 schedulerStatus/hasTask/creationTime 等
- """
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/scheduler-status',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return {}
- return response.get("data", {})
-
- def scheduler_start(self) -> int:
- """启动调度器"""
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/start',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def scheduler_pause(self) -> int:
- """暂停调度器"""
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/pause',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def scheduler_smart_pause(self) -> int:
- """智能暂停调度器"""
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/smart-pause',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def scheduler_continue(self) -> int:
- """继续调度器"""
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/continue',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def scheduler_stop(self) -> int:
- """停止调度器"""
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/stop',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def scheduler_reset(self) -> int:
- """复位调度器"""
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/reset',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- })
-
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- def scheduler_reply_error_handling(self, data: Dict[str, Any]) -> int:
- """调度错误处理回复
-
- 参数:
- data: 错误处理参数
-
- 返回值:
- int: 成功返回1，失败返回0
- """
- response = self.post(
- url=f'{self.host}/api/lims/scheduler/reply-error-handling',
- params={
- "apiKey": self.api_key,
- "requestTime": self.get_current_time_iso8601(),
- "data": data,
- })
- if not response or response['code'] != 1:
- return 0
- return response.get("code", 0)
-
- # ==================== 辅助方法 ====================
-
- def _load_material_cache(self):
- """预加载材料列表到缓存中"""
- try:
- print("正在加载材料列表缓存...")
-
- # 加载所有类型的材料：耗材(0)、样品(1)、试剂(2)
- material_types = [0, 1, 2]
-
- for type_mode in material_types:
- print(f"正在加载类型 {type_mode} 的材料...")
- stock_query = f'{{"typeMode": {type_mode}, "includeDetail": true}}'
- stock_result = self.stock_material(stock_query)
-
- if isinstance(stock_result, str):
- stock_data = json.loads(stock_result)
- else:
- stock_data = stock_result
-
- materials = stock_data
- for material in materials:
- material_name = material.get("name")
- material_id = material.get("id")
- if material_name and material_id:
- self.material_cache[material_name] = material_id
-
- # 处理样品板等容器中的detail材料
- detail_materials = material.get("detail", [])
- for detail_material in detail_materials:
- detail_name = detail_material.get("name")
- detail_id = detail_material.get("detailMaterialId")
- if detail_name and detail_id:
- self.material_cache[detail_name] = detail_id
- print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
-
- print(f"材料列表缓存加载完成，共加载 {len(self.material_cache)} 个材料")
-
- except Exception as e:
- print(f"加载材料列表缓存时出错: {e}")
- self.material_cache = {}
-
- def _get_material_id_by_name(self, material_name_or_id: str) -> str:
- """根据材料名称获取材料ID"""
- if len(material_name_or_id) > 20 and '-' in material_name_or_id:
- return material_name_or_id
-
- if material_name_or_id in self.material_cache:
- material_id = self.material_cache[material_name_or_id]
- print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
- return material_id
-
- print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
- return material_name_or_id
-
- def refresh_material_cache(self):
- """刷新材料列表缓存"""
- print("正在刷新材料列表缓存...")
- self._load_material_cache()
-
- def get_available_materials(self):
- """获取所有可用的材料名称列表"""
- return list(self.material_cache.keys())
-
- def get_scheduler_state(self) -> Optional[MachineState]:
- """将调度状态字符串映射为枚举值
-
- 返回值:
- Optional[MachineState]: 映射后的枚举，失败返回 None
- """
- data = self.scheduler_status()
- if not isinstance(data, dict):
- return None
- status = data.get("schedulerStatus")
- mapping = {
- "Init": MachineState.INITIAL,
- "Stop": MachineState.STOPPED,
- "Running": MachineState.RUNNING,
- "Pause": MachineState.PAUSED,
- "ErrorPause": MachineState.ERROR_PAUSED,
- "ErrorStop": MachineState.ERROR_STOPPED,
- }
- return mapping.get(status)
diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py
deleted file mode 100644
index e06c4135..00000000
--- a/unilabos/devices/workstation/bioyond_studio/config.py
+++ /dev/null
@@ -1,142 +0,0 @@
-# config.py
-"""
-配置文件 - 包含所有配置信息和映射关系
-"""
-
-# API配置
-API_CONFIG = {
- "api_key": "",
- "api_host": ""
-}
-
-# 工作流映射配置
-WORKFLOW_MAPPINGS = {
- "reactor_taken_out": "",
- "reactor_taken_in": "",
- "Solid_feeding_vials": "",
- "Liquid_feeding_vials(non-titration)": "",
- "Liquid_feeding_solvents": "",
- "Liquid_feeding(titration)": "",
- "liquid_feeding_beaker": "",
- "Drip_back": "",
-}
-
-# 工作流名称到DisplaySectionName的映射
-WORKFLOW_TO_SECTION_MAP = {
- 'reactor_taken_in': '反应器放入',
- 'liquid_feeding_beaker': '液体投料-烧杯',
- 'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
- 'Liquid_feeding_solvents': '液体投料-溶剂',
- 'Solid_feeding_vials': '固体投料-小瓶',
- 'Liquid_feeding(titration)': '液体投料-滴定',
- 'reactor_taken_out': '反应器取出'
-}
-
-# 库位映射配置
-WAREHOUSE_MAPPING = {
- "粉末堆栈": {
- "uuid": "",
- "site_uuids": {
- # 样品板
- "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
- "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
- "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
- "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
- "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
- "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
- "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
- "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
- # 分装板
- "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
- "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
- "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
- "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
- "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
- "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
- "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
- "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
- }
- },
- "溶液堆栈": {
- "uuid": "",
- "site_uuids": {
- "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
- "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
- "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
- "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
- "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
- "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
- "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
- "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
- "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
- "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
- "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
- "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
- "D1": "3a14198e-d724-d378-d266-2508a224a19f",
- "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
- "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
- "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
- }
- },
- "试剂堆栈": {
- "uuid": "",
- "site_uuids": {
- "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
- "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
- "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
- "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
- "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
- "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
- "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
- "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
- }
- }
-}
-
-# 物料类型配置
-MATERIAL_TYPE_MAPPINGS = {
- "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
- "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
- "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
- "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
- "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
- "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
- "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
-}
-
-# 步骤参数配置（各工作流的步骤UUID）
-WORKFLOW_STEP_IDS = {
- "reactor_taken_in": {
- "config": ""
- },
- "liquid_feeding_beaker": {
- "liquid": "",
- "observe": ""
- },
- "liquid_feeding_vials_non_titration": {
- "liquid": "",
- "observe": ""
- },
- "liquid_feeding_solvents": {
- "liquid": "",
- "observe": ""
- },
- "solid_feeding_vials": {
- "feeding": "",
- "observe": ""
- },
- "liquid_feeding_titration": {
- "liquid": "",
- "observe": ""
- },
- "drip_back": {
- "liquid": "",
- "observe": ""
- }
-}
-
-LOCATION_MAPPING = {}
-
-ACTION_NAMES = {}
-
-HTTP_SERVICE_CONFIG = {}
\ No newline at end of file
diff --git a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py
deleted file mode 100644
index 6d512720..00000000
--- a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py
+++ /dev/null
@@ -1,1918 +0,0 @@
-from datetime import datetime
-import json
-import time
-from typing import Optional, Dict, Any, List
-from typing_extensions import TypedDict
-import requests
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
-
-from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
-from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
-import json
-import sys
-from pathlib import Path
-import importlib
-
-class ComputeExperimentDesignReturn(TypedDict):
- solutions: list
- titration: dict
- solvents: dict
- feeding_order: list
- return_info: str
-
-
-class BioyondDispensingStation(BioyondWorkstation):
- def __init__(
- self,
- config,
- # 桌子
- deck,
- *args,
- **kwargs,
- ):
- super().__init__(config, deck, *args, **kwargs)
- # self.config = config
- # self.api_key = config["api_key"]
- # self.host = config["api_host"]
- #
- # # 使用简单的Logger替代原来的logger
- # self._logger = SimpleLogger()
- # self.is_running = False
-
- # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
- self.order_completion_status = {}
-
- def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
- """项目接口通用POST调用
-
- 参数:
- endpoint: 接口路径（例如 /api/lims/order/brief-step-paramerers）
- data: 请求体中的 data 字段内容
-
- 返回:
- dict: 服务端响应，失败时返回 {code:0,message,...}
- """
- request_data = {
- "apiKey": API_CONFIG["api_key"],
- "requestTime": self.hardware_interface.get_current_time_iso8601(),
- "data": data
- }
- try:
- response = requests.post(
- f"{self.hardware_interface.host}{endpoint}",
- json=request_data,
- headers={"Content-Type": "application/json"},
- timeout=30
- )
- result = response.json()
- return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
- except json.JSONDecodeError:
- return {"code": 0, "message": "非JSON响应"}
- except requests.exceptions.Timeout:
- return {"code": 0, "message": "请求超时"}
- except requests.exceptions.RequestException as e:
- return {"code": 0, "message": str(e)}
-
- def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
- """项目接口通用DELETE调用
-
- 参数:
- endpoint: 接口路径（例如 /api/lims/order/workflows）
- data: 请求体中的 data 字段内容
-
- 返回:
- dict: 服务端响应，失败时返回 {code:0,message,...}
- """
- request_data = {
- "apiKey": API_CONFIG["api_key"],
- "requestTime": self.hardware_interface.get_current_time_iso8601(),
- "data": data
- }
- try:
- response = requests.delete(
- f"{self.hardware_interface.host}{endpoint}",
- json=request_data,
- headers={"Content-Type": "application/json"},
- timeout=30
- )
- result = response.json()
- return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
- except json.JSONDecodeError:
- return {"code": 0, "message": "非JSON响应"}
- except requests.exceptions.Timeout:
- return {"code": 0, "message": "请求超时"}
- except requests.exceptions.RequestException as e:
- return {"code": 0, "message": str(e)}
-
- def compute_experiment_design(
- self,
- ratio: dict,
- wt_percent: str = "0.25",
- m_tot: str = "70",
- titration_percent: str = "0.03",
- ) -> ComputeExperimentDesignReturn:
- try:
- if isinstance(ratio, str):
- try:
- ratio = json.loads(ratio)
- except Exception:
- ratio = {}
- root = str(Path(__file__).resolve().parents[3])
- if root not in sys.path:
- sys.path.append(root)
- try:
- mod = importlib.import_module("tem.compute")
- except Exception as e:
- raise BioyondException(f"无法导入计算模块: {e}")
- try:
- wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
- mt = float(m_tot) if isinstance(m_tot, str) else m_tot
- tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
- except Exception as e:
- raise BioyondException(f"参数解析失败: {e}")
- res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
- out = {
- "solutions": res.get("solutions", []),
- "titration": res.get("titration", {}),
- "solvents": res.get("solvents", {}),
- "feeding_order": res.get("feeding_order", []),
- "return_info": json.dumps(res, ensure_ascii=False)
- }
- return out
- except BioyondException:
- raise
- except Exception as e:
- raise BioyondException(str(e))
-
- # 90%10%小瓶投料任务创建方法
- def create_90_10_vial_feeding_task(self,
- order_name: str = None,
- speed: str = None,
- temperature: str = None,
- delay_time: str = None,
- percent_90_1_assign_material_name: str = None,
- percent_90_1_target_weigh: str = None,
- percent_90_2_assign_material_name: str = None,
- percent_90_2_target_weigh: str = None,
- percent_90_3_assign_material_name: str = None,
- percent_90_3_target_weigh: str = None,
- percent_10_1_assign_material_name: str = None,
- percent_10_1_target_weigh: str = None,
- percent_10_1_volume: str = None,
- percent_10_1_liquid_material_name: str = None,
- percent_10_2_assign_material_name: str = None,
- percent_10_2_target_weigh: str = None,
- percent_10_2_volume: str = None,
- percent_10_2_liquid_material_name: str = None,
- percent_10_3_assign_material_name: str = None,
- percent_10_3_target_weigh: str = None,
- percent_10_3_volume: str = None,
- percent_10_3_liquid_material_name: str = None,
- hold_m_name: str = None) -> dict:
- """
- 创建90%10%小瓶投料任务
-
- 参数说明:
- - order_name: 任务名称，如果为None则使用默认名称
- - speed: 搅拌速度，如果为None则使用默认值400
- - temperature: 温度，如果为None则使用默认值40
- - delay_time: 延迟时间，如果为None则使用默认值600
- - percent_90_1_assign_material_name: 90%_1物料名称
- - percent_90_1_target_weigh: 90%_1目标重量
- - percent_90_2_assign_material_name: 90%_2物料名称
- - percent_90_2_target_weigh: 90%_2目标重量
- - percent_90_3_assign_material_name: 90%_3物料名称
- - percent_90_3_target_weigh: 90%_3目标重量
- - percent_10_1_assign_material_name: 10%_1固体物料名称
- - percent_10_1_target_weigh: 10%_1固体目标重量
- - percent_10_1_volume: 10%_1液体体积
- - percent_10_1_liquid_material_name: 10%_1液体物料名称
- - percent_10_2_assign_material_name: 10%_2固体物料名称
- - percent_10_2_target_weigh: 10%_2固体目标重量
- - percent_10_2_volume: 10%_2液体体积
- - percent_10_2_liquid_material_name: 10%_2液体物料名称
- - percent_10_3_assign_material_name: 10%_3固体物料名称
- - percent_10_3_target_weigh: 10%_3固体目标重量
- - percent_10_3_volume: 10%_3液体体积
- - percent_10_3_liquid_material_name: 10%_3液体物料名称
- - hold_m_name: 库位名称，如"C01"，用于查找对应的holdMId
-
- 返回: 任务创建结果
-
- 异常:
- - BioyondException: 各种错误情况下的统一异常
- """
- try:
- # 1. 参数验证
- if not hold_m_name:
- raise BioyondException("hold_m_name 是必填参数")
-
- # 检查90%物料参数的完整性
- # 90%_1物料：如果有物料名称或目标重量，就必须有全部参数
- if percent_90_1_assign_material_name or percent_90_1_target_weigh:
- if not percent_90_1_assign_material_name:
- raise BioyondException("90%_1物料：如果提供了目标重量，必须同时提供物料名称")
- if not percent_90_1_target_weigh:
- raise BioyondException("90%_1物料：如果提供了物料名称，必须同时提供目标重量")
-
- # 90%_2物料：如果有物料名称或目标重量，就必须有全部参数
- if percent_90_2_assign_material_name or percent_90_2_target_weigh:
- if not percent_90_2_assign_material_name:
- raise BioyondException("90%_2物料：如果提供了目标重量，必须同时提供物料名称")
- if not percent_90_2_target_weigh:
- raise BioyondException("90%_2物料：如果提供了物料名称，必须同时提供目标重量")
-
- # 90%_3物料：如果有物料名称或目标重量，就必须有全部参数
- if percent_90_3_assign_material_name or percent_90_3_target_weigh:
- if not percent_90_3_assign_material_name:
- raise BioyondException("90%_3物料：如果提供了目标重量，必须同时提供物料名称")
- if not percent_90_3_target_weigh:
- raise BioyondException("90%_3物料：如果提供了物料名称，必须同时提供目标重量")
-
- # 检查10%物料参数的完整性
- # 10%_1物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
- if any([percent_10_1_assign_material_name, percent_10_1_target_weigh, percent_10_1_volume, percent_10_1_liquid_material_name]):
- if not percent_10_1_assign_material_name:
- raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供固体物料名称")
- if not percent_10_1_target_weigh:
- raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供固体目标重量")
- if not percent_10_1_volume:
- raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体体积")
- if not percent_10_1_liquid_material_name:
- raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体物料名称")
-
- # 10%_2物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
- if any([percent_10_2_assign_material_name, percent_10_2_target_weigh, percent_10_2_volume, percent_10_2_liquid_material_name]):
- if not percent_10_2_assign_material_name:
- raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供固体物料名称")
- if not percent_10_2_target_weigh:
- raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供固体目标重量")
- if not percent_10_2_volume:
- raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体体积")
- if not percent_10_2_liquid_material_name:
- raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体物料名称")
-
- # 10%_3物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
- if any([percent_10_3_assign_material_name, percent_10_3_target_weigh, percent_10_3_volume, percent_10_3_liquid_material_name]):
- if not percent_10_3_assign_material_name:
- raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供固体物料名称")
- if not percent_10_3_target_weigh:
- raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供固体目标重量")
- if not percent_10_3_volume:
- raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体体积")
- if not percent_10_3_liquid_material_name:
- raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体物料名称")
-
- # 2. 生成任务编码和设置默认值
- order_code = "task_vial_" + str(int(datetime.now().timestamp()))
- if order_name is None:
- order_name = "90%10%小瓶投料任务"
- if speed is None:
- speed = "400"
- if temperature is None:
- temperature = "40"
- if delay_time is None:
- delay_time = "600"
-
- # 3. 工作流ID
- workflow_id = "3a19310d-16b9-9d81-b109-0748e953694b"
-
- # 4. 查询工作流对应的holdMID
- material_info = self.hardware_interface.material_id_query(workflow_id)
- if not material_info:
- raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
-
- # 获取locations列表
- locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
- if not locations:
- raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
-
- # 查找指定名称的库位
- hold_mid = None
- for location in locations:
- if location.get("holdMName") == hold_m_name:
- hold_mid = location.get("holdMId")
- break
-
- if not hold_mid:
- raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
-
- extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
- self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
-
- # 5. 构建任务参数
- order_data = {
- "orderCode": order_code,
- "orderName": order_name,
- "workflowId": workflow_id,
- "borderNumber": 1,
- "paramValues": {},
- "ExtendProperties": extend_properties
- }
-
- # 添加搅拌参数
- order_data["paramValues"]["e8264e47-c319-d9d9-8676-4dd5cb382b11"] = [
- {"m": 0, "n": 3, "Key": "speed", "Value": speed},
- {"m": 0, "n": 3, "Key": "temperature", "Value": temperature}
- ]
-
- # 添加延迟时间参数
- order_data["paramValues"]["dc5dba79-5e4b-8eae-cbc5-e93482e43b1f"] = [
- {"m": 0, "n": 4, "Key": "DelayTime", "Value": delay_time}
- ]
-
- # 添加90%_1参数
- if percent_90_1_assign_material_name is not None and percent_90_1_target_weigh is not None:
- order_data["paramValues"]["e7d3c0a3-25c2-c42d-c84b-860c4a5ef844"] = [
- {"m": 15, "n": 1, "Key": "targetWeigh", "Value": percent_90_1_target_weigh},
- {"m": 15, "n": 1, "Key": "assignMaterialName", "Value": percent_90_1_assign_material_name}
- ]
-
- # 添加90%_2参数
- if percent_90_2_assign_material_name is not None and percent_90_2_target_weigh is not None:
- order_data["paramValues"]["50b912c4-6c81-0734-1c8b-532428b2a4a5"] = [
- {"m": 18, "n": 1, "Key": "targetWeigh", "Value": percent_90_2_target_weigh},
- {"m": 18, "n": 1, "Key": "assignMaterialName", "Value": percent_90_2_assign_material_name}
- ]
-
- # 添加90%_3参数
- if percent_90_3_assign_material_name is not None and percent_90_3_target_weigh is not None:
- order_data["paramValues"]["9c3674b3-c7cb-946e-fa03-fa2861d8aec4"] = [
- {"m": 21, "n": 1, "Key": "targetWeigh", "Value": percent_90_3_target_weigh},
- {"m": 21, "n": 1, "Key": "assignMaterialName", "Value": percent_90_3_assign_material_name}
- ]
-
- # 添加10%_1固体参数
- if percent_10_1_assign_material_name is not None and percent_10_1_target_weigh is not None:
- order_data["paramValues"]["73a0bfd8-1967-45e9-4bab-c07ccd1a2727"] = [
- {"m": 3, "n": 1, "Key": "targetWeigh", "Value": percent_10_1_target_weigh},
- {"m": 3, "n": 1, "Key": "assignMaterialName", "Value": percent_10_1_assign_material_name}
- ]
-
- # 添加10%_1液体参数
- if percent_10_1_liquid_material_name is not None and percent_10_1_volume is not None:
- order_data["paramValues"]["39634d40-c623-473a-8e5f-bc301aca2522"] = [
- {"m": 3, "n": 3, "Key": "volume", "Value": percent_10_1_volume},
- {"m": 3, "n": 3, "Key": "assignMaterialName", "Value": percent_10_1_liquid_material_name}
- ]
-
- # 添加10%_2固体参数
- if percent_10_2_assign_material_name is not None and percent_10_2_target_weigh is not None:
- order_data["paramValues"]["2d9c16fa-2a19-cd47-a67b-3cadff9e3e3d"] = [
- {"m": 7, "n": 1, "Key": "targetWeigh", "Value": percent_10_2_target_weigh},
- {"m": 7, "n": 1, "Key": "assignMaterialName", "Value": percent_10_2_assign_material_name}
- ]
-
- # 添加10%_2液体参数
- if percent_10_2_liquid_material_name is not None and percent_10_2_volume is not None:
- order_data["paramValues"]["e60541bb-ed68-e839-7305-2b4abe38a13d"] = [
- {"m": 7, "n": 3, "Key": "volume", "Value": percent_10_2_volume},
- {"m": 7, "n": 3, "Key": "assignMaterialName", "Value": percent_10_2_liquid_material_name}
- ]
-
- # 添加10%_3固体参数
- if percent_10_3_assign_material_name is not None and percent_10_3_target_weigh is not None:
- order_data["paramValues"]["27494733-0f71-a916-7cd2-1929a0125f17"] = [
- {"m": 11, "n": 1, "Key": "targetWeigh", "Value": percent_10_3_target_weigh},
- {"m": 11, "n": 1, "Key": "assignMaterialName", "Value": percent_10_3_assign_material_name}
- ]
-
- # 添加10%_3液体参数
- if percent_10_3_liquid_material_name is not None and percent_10_3_volume is not None:
- order_data["paramValues"]["c8798c29-786f-6858-7d7f-5330b890f2a6"] = [
- {"m": 11, "n": 3, "Key": "volume", "Value": percent_10_3_volume},
- {"m": 11, "n": 3, "Key": "assignMaterialName", "Value": percent_10_3_liquid_material_name}
- ]
-
- # 6. 转换为JSON字符串并创建任务
- json_str = json.dumps([order_data], ensure_ascii=False)
- self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务参数: {json_str}")
-
- # 7. 调用create_order方法创建任务
- result = self.hardware_interface.create_order(json_str)
- self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
-
- # 8. 解析结果获取order_id
- order_id = None
- if isinstance(result, str):
- # result 格式: "{'3a1d895c-4d39-d504-1398-18f5a40bac1e': [{'id': '...', ...}]}"
- # 第一个键就是order_id (UUID)
- try:
- # 尝试解析字符串为字典
- import ast
- result_dict = ast.literal_eval(result)
- # 获取第一个键作为order_id
- if result_dict and isinstance(result_dict, dict):
- first_key = list(result_dict.keys())[0]
- order_id = first_key
- self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
- else:
- self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
- except Exception as e:
- self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}, result类型={type(result)}")
- elif isinstance(result, dict):
- # 如果已经是字典
- if result:
- first_key = list(result.keys())[0]
- order_id = first_key
- self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
-
- if not order_id:
- self.hardware_interface._logger.warning(
- f"⚠ 未能提取order_id，result={result[:100] if isinstance(result, str) else result}"
- )
-
- # 返回成功结果和构建的JSON数据
- return json.dumps({
- "suc": True,
- "order_code": order_code,
- "order_id": order_id,
- "result": result,
- "order_params": order_data
- })
-
- except BioyondException:
- # 重新抛出BioyondException
- raise
- except Exception as e:
- # 捕获其他未预期的异常，转换为BioyondException
- error_msg = f"创建90%10%小瓶投料任务时发生未预期的错误: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- raise BioyondException(error_msg)
-
- # 二胺溶液配置任务创建方法
- def create_diamine_solution_task(self,
- order_name: str = None,
- material_name: str = None,
- target_weigh: str = None,
- volume: str = None,
- liquid_material_name: str = "NMP",
- speed: str = None,
- temperature: str = None,
- delay_time: str = None,
- hold_m_name: str = None) -> dict:
- """
- 创建二胺溶液配置任务
-
- 参数说明:
- - order_name: 任务名称，如果为None则使用默认名称
- - material_name: 固体物料名称，必填
- - target_weigh: 固体目标重量，必填
- - volume: 液体体积，必填
- - liquid_material_name: 液体物料名称，默认为NMP
- - speed: 搅拌速度，如果为None则使用默认值400
- - temperature: 温度，如果为None则使用默认值20
- - delay_time: 延迟时间，如果为None则使用默认值600
- - hold_m_name: 库位名称，如"ODA-1"，用于查找对应的holdMId
-
- 返回: 任务创建结果
-
- 异常:
- - BioyondException: 各种错误情况下的统一异常
- """
- try:
- # 1. 参数验证
- if not material_name:
- raise BioyondException("material_name 是必填参数")
- if not target_weigh:
- raise BioyondException("target_weigh 是必填参数")
- if not volume:
- raise BioyondException("volume 是必填参数")
- if not hold_m_name:
- raise BioyondException("hold_m_name 是必填参数")
-
-
- # 2. 生成任务编码和设置默认值
- order_code = "task_oda_" + str(int(datetime.now().timestamp()))
- if order_name is None:
- order_name = f"二胺溶液配置-{material_name}"
- if speed is None:
- speed = "400"
- if temperature is None:
- temperature = "20"
- if delay_time is None:
- delay_time = "600"
-
- # 3. 工作流ID - 二胺溶液配置工作流
- workflow_id = "3a15d4a1-3bbe-76f9-a458-292896a338f5"
-
- # 4. 查询工作流对应的holdMID
- material_info = self.hardware_interface.material_id_query(workflow_id)
- if not material_info:
- raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
-
- # 获取locations列表
- locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
- if not locations:
- raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
-
- # 查找指定名称的库位
- hold_mid = None
- for location in locations:
- if location.get("holdMName") == hold_m_name:
- hold_mid = location.get("holdMId")
- break
-
- if not hold_mid:
- raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
-
- extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
- self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
-
- # 5. 构建任务参数
- order_data = {
- "orderCode": order_code,
- "orderName": order_name,
- "workflowId": workflow_id,
- "borderNumber": 1,
- "paramValues": {
- # 固体物料参数
- "3a15d4a1-3bde-f5bc-053f-1ae0bf1f357e": [
- {"m": 3, "n": 2, "Key": "targetWeigh", "Value": target_weigh},
- {"m": 3, "n": 2, "Key": "assignMaterialName", "Value": material_name}
- ],
- # 液体物料参数
- "3a15d4a1-3bde-d584-b309-e661ae8f1c01": [
- {"m": 3, "n": 3, "Key": "volume", "Value": volume},
- {"m": 3, "n": 3, "Key": "assignMaterialName", "Value": liquid_material_name}
- ],
- # 搅拌参数
- "3a15d4a1-3bde-8ec4-1ced-92efc97ed73d": [
- {"m": 3, "n": 6, "Key": "speed", "Value": speed},
- {"m": 3, "n": 6, "Key": "temperature", "Value": temperature}
- ],
- # 延迟时间参数
- "3a15d4a1-3bde-3b92-83ff-8923a0addbbc": [
- {"m": 3, "n": 7, "Key": "DelayTime", "Value": delay_time}
- ]
- },
- "ExtendProperties": extend_properties
- }
-
- # 6. 转换为JSON字符串并创建任务
- json_str = json.dumps([order_data], ensure_ascii=False)
- self.hardware_interface._logger.info(f"创建二胺溶液配置任务参数: {json_str}")
-
- # 7. 调用create_order方法创建任务
- result = self.hardware_interface.create_order(json_str)
- self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
-
- # 8. 解析结果获取order_id
- order_id = None
- if isinstance(result, str):
- try:
- import ast
- result_dict = ast.literal_eval(result)
- if result_dict and isinstance(result_dict, dict):
- first_key = list(result_dict.keys())[0]
- order_id = first_key
- self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
- else:
- self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
- except Exception as e:
- self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}")
- elif isinstance(result, dict):
- if result:
- first_key = list(result.keys())[0]
- order_id = first_key
- self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
-
- if not order_id:
- self.hardware_interface._logger.warning(f"⚠ 未能提取order_id")
-
- # 返回成功结果和构建的JSON数据
- return json.dumps({
- "suc": True,
- "order_code": order_code,
- "order_id": order_id,
- "result": result,
- "order_params": order_data
- })
-
- except BioyondException:
- # 重新抛出BioyondException
- raise
- except Exception as e:
- # 捕获其他未预期的异常，转换为BioyondException
- error_msg = f"创建二胺溶液配置任务时发生未预期的错误: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- raise BioyondException(error_msg)
-
- # 批量创建二胺溶液配置任务
- def batch_create_diamine_solution_tasks(self,
- solutions,
- liquid_material_name: str = "NMP",
- speed: str = None,
- temperature: str = None,
- delay_time: str = None) -> str:
- """
- 批量创建二胺溶液配置任务
-
- 参数说明:
- - solutions: 溶液列表（数组）或JSON字符串，格式如下:
- [
- {
- "name": "MDA",
- "order": 0,
- "solid_mass": 5.0,
- "solvent_volume": 20,
- ...
- },
- ...
- ]
- - liquid_material_name: 液体物料名称，默认为"NMP"
- - speed: 搅拌速度，如果为None则使用默认值400
- - temperature: 温度，如果为None则使用默认值20
- - delay_time: 延迟时间，如果为None则使用默认值600
-
- 返回: JSON字符串格式的任务创建结果
-
- 异常:
- - BioyondException: 各种错误情况下的统一异常
- """
- try:
- # 参数类型转换：如果是字符串则解析为列表
- if isinstance(solutions, str):
- try:
- solutions = json.loads(solutions)
- except json.JSONDecodeError as e:
- raise BioyondException(f"solutions JSON解析失败: {str(e)}")
-
- # 参数验证
- if not isinstance(solutions, list):
- raise BioyondException("solutions 必须是列表类型或有效的JSON数组字符串")
-
- if not solutions:
- raise BioyondException("solutions 列表不能为空")
-
- # 批量创建任务
- results = []
- success_count = 0
- failed_count = 0
-
- for idx, solution in enumerate(solutions):
- try:
- # 提取参数
- name = solution.get("name")
- solid_mass = solution.get("solid_mass")
- solvent_volume = solution.get("solvent_volume")
- order = solution.get("order")
-
- if not all([name, solid_mass is not None, solvent_volume is not None]):
- self.hardware_interface._logger.warning(
- f"跳过第 {idx + 1} 个溶液：缺少必要参数"
- )
- results.append({
- "index": idx + 1,
- "name": name,
- "success": False,
- "error": "缺少必要参数"
- })
- failed_count += 1
- continue
-
- # 生成库位名称（直接使用物料名称）
- # 如果需要其他命名规则，可以在这里调整
- hold_m_name = name
-
- # 调用单个任务创建方法
- result = self.create_diamine_solution_task(
- order_name=f"二胺溶液配置-{name}",
- material_name=name,
- target_weigh=str(solid_mass),
- volume=str(solvent_volume),
- liquid_material_name=liquid_material_name,
- speed=speed,
- temperature=temperature,
- delay_time=delay_time,
- hold_m_name=hold_m_name
- )
-
- # 解析返回结果以获取order_code和order_id
- result_data = json.loads(result) if isinstance(result, str) else result
- order_code = result_data.get("order_code")
- order_id = result_data.get("order_id")
- order_params = result_data.get("order_params", {})
-
- results.append({
- "index": idx + 1,
- "name": name,
- "success": True,
- "order_code": order_code,
- "order_id": order_id,
- "hold_m_name": hold_m_name,
- "order_params": order_params
- })
- success_count += 1
- self.hardware_interface._logger.info(
- f"成功创建二胺溶液配置任务: {name}, order_code={order_code}, order_id={order_id}"
- )
-
- except BioyondException as e:
- results.append({
- "index": idx + 1,
- "name": solution.get("name", "unknown"),
- "success": False,
- "error": str(e)
- })
- failed_count += 1
- self.hardware_interface._logger.error(
- f"创建第 {idx + 1} 个任务失败: {str(e)}"
- )
- except Exception as e:
- results.append({
- "index": idx + 1,
- "name": solution.get("name", "unknown"),
- "success": False,
- "error": f"未知错误: {str(e)}"
- })
- failed_count += 1
- self.hardware_interface._logger.error(
- f"创建第 {idx + 1} 个任务时发生未知错误: {str(e)}"
- )
-
- # 提取所有成功任务的order_code和order_id
- order_codes = [r["order_code"] for r in results if r["success"]]
- order_ids = [r["order_id"] for r in results if r["success"]]
-
- # 返回汇总结果
- summary = {
- "total": len(solutions),
- "success": success_count,
- "failed": failed_count,
- "order_codes": order_codes,
- "order_ids": order_ids,
- "details": results
- }
-
- self.hardware_interface._logger.info(
- f"批量创建二胺溶液配置任务完成: 总数={len(solutions)}, "
- f"成功={success_count}, 失败={failed_count}"
- )
-
- # 构建返回结果
- summary["return_info"] = {
- "order_codes": order_codes,
- "order_ids": order_ids,
- }
-
- return summary
-
- except BioyondException:
- raise
- except Exception as e:
- error_msg = f"批量创建二胺溶液配置任务时发生未预期的错误: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- raise BioyondException(error_msg)
-
- def brief_step_parameters(self, data: Dict[str, Any]) -> Dict[str, Any]:
- """获取简要步骤参数（站点项目接口）
-
- 参数:
- data: 查询参数字典
-
- 返回值:
- dict: 接口返回数据
- """
- return self._post_project_api("/api/lims/order/brief-step-paramerers", data)
-
- def project_order_report(self, order_id: str) -> Dict[str, Any]:
- """查询项目端订单报告（兼容旧路径）
-
- 参数:
- order_id: 订单ID
-
- 返回值:
- dict: 报告数据
- """
- return self._post_project_api("/api/lims/order/project-order-report", order_id)
-
- def workflow_sample_locations(self, workflow_id: str) -> Dict[str, Any]:
- """查询工作流样品库位（站点项目接口）
-
- 参数:
- workflow_id: 工作流ID
-
- 返回值:
- dict: 位置信息数据
- """
- return self._post_project_api("/api/lims/storage/workflow-sample-locations", workflow_id)
-
-
- # 批量创建90%10%小瓶投料任务
- def batch_create_90_10_vial_feeding_tasks(self,
- titration,
- hold_m_name: str = None,
- speed: str = None,
- temperature: str = None,
- delay_time: str = None,
- liquid_material_name: str = "NMP") -> str:
- """
- 批量创建90%10%小瓶投料任务（仅创建1个任务，但包含所有90%和10%物料）
-
- 参数说明:
- - titration: 滴定信息的字典或JSON字符串，格式如下:
- {
- "name": "BTDA",
- "main_portion": 1.9152351915461294, # 主称固体质量(g) -> 90%物料
- "titration_portion": 0.05923407808905555, # 滴定固体质量(g) -> 10%物料固体
- "titration_solvent": 3.050555021586361 # 滴定溶液体积(mL) -> 10%物料液体
- }
- - hold_m_name: 库位名称，如"C01"。必填参数
- - speed: 搅拌速度，如果为None则使用默认值400
- - temperature: 温度，如果为None则使用默认值40
- - delay_time: 延迟时间，如果为None则使用默认值600
- - liquid_material_name: 10%物料的液体物料名称，默认为"NMP"
-
- 返回: JSON字符串格式的任务创建结果
-
- 异常:
- - BioyondException: 各种错误情况下的统一异常
- """
- try:
- # 参数类型转换：如果是字符串则解析为字典
- if isinstance(titration, str):
- try:
- titration = json.loads(titration)
- except json.JSONDecodeError as e:
- raise BioyondException(f"titration参数JSON解析失败: {str(e)}")
-
- # 参数验证
- if not isinstance(titration, dict):
- raise BioyondException("titration 必须是字典类型或有效的JSON字符串")
-
- if not hold_m_name:
- raise BioyondException("hold_m_name 是必填参数")
-
- if not titration:
- raise BioyondException("titration 参数不能为空")
-
- # 提取滴定数据
- name = titration.get("name")
- main_portion = titration.get("main_portion") # 主称固体质量
- titration_portion = titration.get("titration_portion") # 滴定固体质量
- titration_solvent = titration.get("titration_solvent") # 滴定溶液体积
-
- if not all([name, main_portion is not None, titration_portion is not None, titration_solvent is not None]):
- raise BioyondException("titration 数据缺少必要参数")
-
- # 调用单个任务创建方法
- result = self.create_90_10_vial_feeding_task(
- order_name=f"90%10%小瓶投料-{name}",
- speed=speed,
- temperature=temperature,
- delay_time=delay_time,
- # 90%物料 - 主称固体直接使用main_portion
- percent_90_1_assign_material_name=name,
- percent_90_1_target_weigh=str(round(main_portion, 6)),
- # 10%物料 - 滴定固体 + 滴定溶剂（只使用第1个10%小瓶）
- percent_10_1_assign_material_name=name,
- percent_10_1_target_weigh=str(round(titration_portion, 6)),
- percent_10_1_volume=str(round(titration_solvent, 6)),
- percent_10_1_liquid_material_name=liquid_material_name,
- hold_m_name=hold_m_name
- )
-
- # 解析返回结果以获取order_code和order_id
- result_data = json.loads(result) if isinstance(result, str) else result
- order_code = result_data.get("order_code")
- order_id = result_data.get("order_id")
- order_params = result_data.get("order_params", {})
-
- # 构建详细信息（保持原有结构）
- detail = {
- "index": 1,
- "name": name,
- "success": True,
- "order_code": order_code,
- "order_id": order_id,
- "hold_m_name": hold_m_name,
- "90_vials": {
- "count": 1,
- "weight_per_vial": round(main_portion, 6),
- "total_weight": round(main_portion, 6)
- },
- "10_vials": {
- "count": 1,
- "solid_weight": round(titration_portion, 6),
- "liquid_volume": round(titration_solvent, 6)
- },
- "order_params": order_params
- }
-
- # 构建批量结果格式（与diamine_solution_tasks保持一致）
- summary = {
- "total": 1,
- "success": 1,
- "failed": 0,
- "order_codes": [order_code],
- "order_ids": [order_id],
- "details": [detail]
- }
-
- self.hardware_interface._logger.info(
- f"成功创建90%10%小瓶投料任务: {name}, order_code={order_code}, order_id={order_id}"
- )
-
- # 构建返回结果
- summary["return_info"] = {
- "order_codes": [order_code],
- "order_ids": [order_id],
- }
-
- return summary
-
- except BioyondException:
- raise
- except Exception as e:
- error_msg = f"批量创建90%10%小瓶投料任务时发生未预期的错误: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- raise BioyondException(error_msg)
-
- def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
- data = report.get('data') if isinstance(report, dict) else None
- actual_target_weigh = None
- actual_volume = None
- if data:
- extra = data.get('extraProperties') or {}
- if isinstance(extra, dict):
- for v in extra.values():
- obj = None
- try:
- obj = json.loads(v) if isinstance(v, str) else v
- except Exception:
- obj = None
- if isinstance(obj, dict):
- tw = obj.get('targetWeigh')
- vol = obj.get('volume')
- if tw is not None:
- try:
- actual_target_weigh = float(tw)
- except Exception:
- pass
- if vol is not None:
- try:
- actual_volume = float(vol)
- except Exception:
- pass
- return {
- 'actualTargetWeigh': actual_target_weigh,
- 'actualVolume': actual_volume
- }
-
- # 等待多个任务完成并获取实验报告
- def wait_for_multiple_orders_and_get_reports(self,
- batch_create_result: str = None,
- timeout: int = 7200,
- check_interval: int = 10) -> Dict[str, Any]:
- """
- 同时等待多个任务完成并获取实验报告
-
- 参数说明:
- - batch_create_result: 批量创建任务的返回结果JSON字符串，包含order_codes和order_ids数组
- - timeout: 超时时间（秒），默认7200秒（2小时）
- - check_interval: 检查间隔（秒），默认10秒
-
- 返回: 包含所有任务状态和报告的字典
- {
- "total": 2,
- "completed": 2,
- "timeout": 0,
- "elapsed_time": 120.5,
- "reports": [
- {
- "order_code": "task_vial_1",
- "order_id": "uuid1",
- "status": "completed",
- "completion_status": 30,
- "report": {...}
- },
- ...
- ]
- }
-
- 异常:
- - BioyondException: 所有任务都超时或发生错误
- """
- try:
- # 参数类型转换
- timeout = int(timeout) if timeout else 7200
- check_interval = int(check_interval) if check_interval else 10
-
- # 验证batch_create_result参数
- if not batch_create_result or batch_create_result == "":
- raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
-
- # 解析batch_create_result JSON对象
- try:
- # 清理可能存在的截断标记 [...]
- if isinstance(batch_create_result, str) and '[...]' in batch_create_result:
- batch_create_result = batch_create_result.replace('[...]', '[]')
-
- result_obj = json.loads(batch_create_result) if isinstance(batch_create_result, str) else batch_create_result
-
- # 兼容外层包装格式 {error, suc, return_value}
- if isinstance(result_obj, dict) and "return_value" in result_obj:
- inner = result_obj.get("return_value")
- if isinstance(inner, str):
- result_obj = json.loads(inner)
- elif isinstance(inner, dict):
- result_obj = inner
-
- # 从summary对象中提取order_codes和order_ids
- order_codes = result_obj.get("order_codes", [])
- order_ids = result_obj.get("order_ids", [])
-
- except json.JSONDecodeError as e:
- raise BioyondException(f"解析batch_create_result失败: {e}")
- except Exception as e:
- raise BioyondException(f"处理batch_create_result时出错: {e}")
-
- # 验证提取的数据
- if not order_codes:
- raise BioyondException("batch_create_result中未找到order_codes字段或为空")
- if not order_ids:
- raise BioyondException("batch_create_result中未找到order_ids字段或为空")
-
- # 确保order_codes和order_ids是列表类型
- if not isinstance(order_codes, list):
- order_codes = [order_codes] if order_codes else []
- if not isinstance(order_ids, list):
- order_ids = [order_ids] if order_ids else []
-
- codes_list = order_codes
- ids_list = order_ids
-
- if len(codes_list) != len(ids_list):
- raise BioyondException(
- f"order_codes数量({len(codes_list)})与order_ids数量({len(ids_list)})不匹配"
- )
-
- if not codes_list or not ids_list:
- raise BioyondException("order_codes和order_ids不能为空")
-
- # 初始化跟踪变量
- total = len(codes_list)
- pending_orders = {code: {"order_id": ids_list[i], "completed": False}
- for i, code in enumerate(codes_list)}
- reports = []
-
- start_time = time.time()
- self.hardware_interface._logger.info(
- f"开始等待 {total} 个任务完成: {', '.join(codes_list)}"
- )
-
- # 轮询检查任务状态
- while pending_orders:
- elapsed_time = time.time() - start_time
-
- # 检查超时
- if elapsed_time > timeout:
- # 收集超时任务
- timeout_orders = list(pending_orders.keys())
- self.hardware_interface._logger.error(
- f"等待任务完成超时，剩余未完成任务: {', '.join(timeout_orders)}"
- )
-
- # 为超时任务添加记录
- for order_code in timeout_orders:
- reports.append({
- "order_code": order_code,
- "order_id": pending_orders[order_code]["order_id"],
- "status": "timeout",
- "completion_status": None,
- "report": None,
- "extracted": None,
- "elapsed_time": elapsed_time
- })
-
- break
-
- # 检查每个待完成的任务
- completed_in_this_round = []
- for order_code in list(pending_orders.keys()):
- order_id = pending_orders[order_code]["order_id"]
-
- # 检查任务是否完成
- if order_code in self.order_completion_status:
- completion_info = self.order_completion_status[order_code]
- self.hardware_interface._logger.info(
- f"检测到任务 {order_code} 已完成，状态: {completion_info.get('status')}"
- )
-
- # 获取实验报告
- try:
- report = self.project_order_report(order_id)
-
- if not report:
- self.hardware_interface._logger.warning(
- f"任务 {order_code} 已完成但无法获取报告"
- )
- report = {"error": "无法获取报告"}
- else:
- self.hardware_interface._logger.info(
- f"成功获取任务 {order_code} 的实验报告"
- )
-
- reports.append({
- "order_code": order_code,
- "order_id": order_id,
- "status": "completed",
- "completion_status": completion_info.get('status'),
- "report": report,
- "extracted": self._extract_actuals_from_report(report),
- "elapsed_time": elapsed_time
- })
-
- # 标记为已完成
- completed_in_this_round.append(order_code)
-
- # 清理完成状态记录
- del self.order_completion_status[order_code]
-
- except Exception as e:
- self.hardware_interface._logger.error(
- f"查询任务 {order_code} 报告失败: {str(e)}"
- )
- reports.append({
- "order_code": order_code,
- "order_id": order_id,
- "status": "error",
- "completion_status": completion_info.get('status'),
- "report": None,
- "extracted": None,
- "error": str(e),
- "elapsed_time": elapsed_time
- })
- completed_in_this_round.append(order_code)
-
- # 从待完成列表中移除已完成的任务
- for order_code in completed_in_this_round:
- del pending_orders[order_code]
-
- # 如果还有待完成的任务，等待后继续
- if pending_orders:
- time.sleep(check_interval)
-
- # 每分钟记录一次等待状态
- new_elapsed_time = time.time() - start_time
- if int(new_elapsed_time) % 60 == 0 and new_elapsed_time > 0:
- self.hardware_interface._logger.info(
- f"批量等待任务中... 已完成 {len(reports)}/{total}, "
- f"待完成: {', '.join(pending_orders.keys())}, "
- f"已等待 {int(new_elapsed_time/60)} 分钟"
- )
-
- # 统计结果
- completed_count = sum(1 for r in reports if r['status'] == 'completed')
- timeout_count = sum(1 for r in reports if r['status'] == 'timeout')
- error_count = sum(1 for r in reports if r['status'] == 'error')
-
- final_elapsed_time = time.time() - start_time
-
- summary = {
- "total": total,
- "completed": completed_count,
- "timeout": timeout_count,
- "error": error_count,
- "elapsed_time": round(final_elapsed_time, 2),
- "reports": reports
- }
-
- self.hardware_interface._logger.info(
- f"批量等待任务完成: 总数={total}, 成功={completed_count}, "
- f"超时={timeout_count}, 错误={error_count}, 耗时={final_elapsed_time:.1f}秒"
- )
-
- # 返回字典格式，在顶层包含统计信息
- return {
- "return_info": json.dumps(summary, ensure_ascii=False)
- }
-
- except BioyondException:
- raise
- except Exception as e:
- error_msg = f"批量等待任务完成时发生未预期的错误: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- raise BioyondException(error_msg)
-
- def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
- """
- 重写父类方法，处理任务完成报送并记录到 order_completion_status
-
- Args:
- report_request: WorkstationReportRequest 对象，包含任务完成信息
- used_materials: 物料使用记录列表
-
- Returns:
- Dict[str, Any]: 处理结果
- """
- try:
- # 调用父类方法
- result = super().process_order_finish_report(report_request, used_materials)
-
- # 记录任务完成状态
- data = report_request.data
- order_code = data.get('orderCode')
-
- if order_code:
- self.order_completion_status[order_code] = {
- 'status': data.get('status'),
- 'order_name': data.get('orderName'),
- 'timestamp': datetime.now().isoformat(),
- 'start_time': data.get('startTime'),
- 'end_time': data.get('endTime')
- }
-
- self.hardware_interface._logger.info(
- f"已记录任务完成状态: {order_code}, status={data.get('status')}"
- )
-
- return result
-
- except Exception as e:
- self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}")
- return {"processed": False, "error": str(e)}
-
- def transfer_materials_to_reaction_station(
- self,
- target_device_id: str,
- transfer_groups: list
- ) -> dict:
- """
- 将配液站完成的物料转移到指定反应站的堆栈库位
- 支持多组转移任务,每组包含物料名称、目标堆栈和目标库位
-
- Args:
- target_device_id: 目标反应站设备ID(所有转移组使用同一个设备)
- transfer_groups: 转移任务组列表,每组包含:
- - materials: 物料名称(字符串,将通过RPC查询)
- - target_stack: 目标堆栈名称(如"堆栈1左")
- - target_sites: 目标库位(如"A01")
-
- Returns:
- dict: 转移结果
- {
- "success": bool,
- "total_groups": int,
- "successful_groups": int,
- "failed_groups": int,
- "target_device_id": str,
- "details": [...]
- }
- """
- try:
- # 验证参数
- if not target_device_id:
- raise ValueError("目标设备ID不能为空")
-
- if not transfer_groups:
- raise ValueError("转移任务组列表不能为空")
-
- if not isinstance(transfer_groups, list):
- raise ValueError("transfer_groups必须是列表类型")
-
- # 标准化设备ID格式: 确保以 /devices/ 开头
- if not target_device_id.startswith("/devices/"):
- if target_device_id.startswith("/"):
- target_device_id = f"/devices{target_device_id}"
- else:
- target_device_id = f"/devices/{target_device_id}"
-
- self.hardware_interface._logger.info(
- f"目标设备ID标准化为: {target_device_id}"
- )
-
- self.hardware_interface._logger.info(
- f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
- )
-
- from .config import WAREHOUSE_MAPPING
- results = []
- successful_count = 0
- failed_count = 0
-
- for idx, group in enumerate(transfer_groups, 1):
- try:
- # 提取参数
- material_name = group.get("materials", "")
- target_stack = group.get("target_stack", "")
- target_sites = group.get("target_sites", "")
-
- # 验证必填参数
- if not material_name:
- raise ValueError(f"第{idx}组: 物料名称不能为空")
- if not target_stack:
- raise ValueError(f"第{idx}组: 目标堆栈不能为空")
- if not target_sites:
- raise ValueError(f"第{idx}组: 目标库位不能为空")
-
- self.hardware_interface._logger.info(
- f"处理第{idx}组转移: {material_name} -> "
- f"{target_device_id}/{target_stack}/{target_sites}"
- )
-
- # 通过物料名称从deck获取ResourcePLR对象
- try:
- material_resource = self.deck.get_resource(material_name)
- if not material_resource:
- raise ValueError(f"在deck中未找到物料: {material_name}")
-
- self.hardware_interface._logger.info(
- f"从deck获取到物料 {material_name}: {material_resource}"
- )
- except Exception as e:
- raise ValueError(
- f"获取物料 {material_name} 失败: {str(e)}，请确认物料已正确加载到deck中"
- )
-
- # 验证目标堆栈是否存在
- if target_stack not in WAREHOUSE_MAPPING:
- raise ValueError(
- f"未知的堆栈名称: {target_stack}，"
- f"可选值: {list(WAREHOUSE_MAPPING.keys())}"
- )
-
- # 验证库位是否有效
- stack_sites = WAREHOUSE_MAPPING[target_stack].get("site_uuids", {})
- if target_sites not in stack_sites:
- raise ValueError(
- f"库位 {target_sites} 不存在于堆栈 {target_stack} 中，"
- f"可选库位: {list(stack_sites.keys())}"
- )
-
- # 获取目标库位的UUID
- target_site_uuid = stack_sites[target_sites]
- if not target_site_uuid:
- raise ValueError(
- f"库位 {target_sites} 的 UUID 未配置，请在 WAREHOUSE_MAPPING 中完善"
- )
-
- # 目标位点（包含UUID）
- future = ROS2DeviceNode.run_async_func(
- self._ros_node.get_resource_with_dir,
- True,
- **{
- "resource_id": f"/reaction_station_bioyond/Bioyond_Deck/{target_stack}",
- "with_children": True,
- },
- )
- # 等待异步完成后再获取结果
- if not future:
- raise ValueError(f"获取目标堆栈资源future无效: {target_stack}")
- while not future.done():
- time.sleep(0.1)
- target_site_resource = future.result()
-
- # 调用父类的 transfer_resource_to_another 方法
- # 传入ResourcePLR对象和目标位点资源
- future = self.transfer_resource_to_another(
- resource=[material_resource],
- mount_resource=[target_site_resource],
- sites=[target_sites],
- mount_device_id=target_device_id
- )
-
- # 等待异步任务完成（轮询直到完成，再取结果）
- if future:
- try:
- while not future.done():
- time.sleep(0.1)
- future.result()
- self.hardware_interface._logger.info(
- f"异步转移任务已完成: {material_name}"
- )
- except Exception as e:
- raise ValueError(f"转移任务执行失败: {str(e)}")
-
- self.hardware_interface._logger.info(
- f"第{idx}组转移成功: {material_name} -> "
- f"{target_device_id}/{target_stack}/{target_sites}"
- )
-
- successful_count += 1
- results.append({
- "group_index": idx,
- "success": True,
- "material_name": material_name,
- "target_stack": target_stack,
- "target_site": target_sites,
- "message": "转移成功"
- })
-
- except Exception as e:
- error_msg = f"第{idx}组转移失败: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- failed_count += 1
- results.append({
- "group_index": idx,
- "success": False,
- "material_name": group.get("materials", ""),
- "error": str(e)
- })
-
- # 返回汇总结果
- return {
- "success": failed_count == 0,
- "total_groups": len(transfer_groups),
- "successful_groups": successful_count,
- "failed_groups": failed_count,
- "target_device_id": target_device_id,
- "details": results,
- "message": f"完成 {len(transfer_groups)} 组转移任务到 {target_device_id}: "
- f"{successful_count} 成功, {failed_count} 失败"
- }
-
- except Exception as e:
- error_msg = f"批量转移物料失败: {str(e)}"
- self.hardware_interface._logger.error(error_msg)
- return {
- "success": False,
- "total_groups": len(transfer_groups) if transfer_groups else 0,
- "successful_groups": 0,
- "failed_groups": len(transfer_groups) if transfer_groups else 0,
- "target_device_id": target_device_id if target_device_id else "",
- "error": error_msg
- }
-
- def query_resource_by_name(self, material_name: str):
- """
- 通过物料名称查询资源对象(适用于Bioyond系统)
-
- Args:
- material_name: 物料名称
-
- Returns:
- 物料ID或None
- """
- try:
- # Bioyond系统使用material_cache存储物料信息
- if not hasattr(self.hardware_interface, 'material_cache'):
- self.hardware_interface._logger.error(
- "hardware_interface没有material_cache属性"
- )
- return None
-
- material_cache = self.hardware_interface.material_cache
-
- self.hardware_interface._logger.info(
- f"查询物料 '{material_name}', 缓存中共有 {len(material_cache)} 个物料"
- )
-
- # 调试: 打印前几个物料信息
- if material_cache:
- cache_items = list(material_cache.items())[:5]
- for name, material_id in cache_items:
- self.hardware_interface._logger.debug(
- f"缓存物料: name={name}, id={material_id}"
- )
-
- # 直接从缓存中查找
- if material_name in material_cache:
- material_id = material_cache[material_name]
- self.hardware_interface._logger.info(
- f"找到物料: {material_name} -> ID: {material_id}"
- )
- return material_id
-
- self.hardware_interface._logger.warning(
- f"未找到物料: {material_name} (缓存中无此物料)"
- )
-
- # 打印所有可用物料名称供参考
- available_materials = list(material_cache.keys())
- if available_materials:
- self.hardware_interface._logger.info(
- f"可用物料列表(前10个): {available_materials[:10]}"
- )
-
- return None
-
- except Exception as e:
- self.hardware_interface._logger.error(
- f"查询物料失败 {material_name}: {str(e)}"
- )
- return None
-
-
-if __name__ == "__main__":
- bioyond = BioyondDispensingStation(config={
- "api_key": "DE9BDDA0",
- "api_host": "http://192.168.1.200:44388"
- })
-
- # ============ 原有示例代码 ============
-
- # 示例1：使用material_id_query查询工作流对应的holdMID
- workflow_id_1 = "3a15d4a1-3bbe-76f9-a458-292896a338f5" # 二胺溶液配置工作流ID
- workflow_id_2 = "3a19310d-16b9-9d81-b109-0748e953694b" # 90%10%小瓶投料工作流ID
-
- #示例2：创建二胺溶液配置任务 - ODA，指定库位名称
- # bioyond.create_diamine_solution_task(
- # order_code="task_oda_" + str(int(datetime.now().timestamp())),
- # order_name="二胺溶液配置-ODA",
- # material_name="ODA-1",
- # target_weigh="12.000",
- # volume="60",
- # liquid_material_name= "NMP",
- # speed="400",
- # temperature="20",
- # delay_time="600",
- # hold_m_name="烧杯ODA"
- # )
-
- # bioyond.create_diamine_solution_task(
- # order_code="task_pda_" + str(int(datetime.now().timestamp())),
- # order_name="二胺溶液配置-PDA",
- # material_name="PDA-1",
- # target_weigh="4.178",
- # volume="60",
- # liquid_material_name= "NMP",
- # speed="400",
- # temperature="20",
- # delay_time="600",
- # hold_m_name="烧杯PDA-2"
- # )
-
- # bioyond.create_diamine_solution_task(
- # order_code="task_mpda_" + str(int(datetime.now().timestamp())),
- # order_name="二胺溶液配置-MPDA",
- # material_name="MPDA-1",
- # target_weigh="3.298",
- # volume="50",
- # liquid_material_name= "NMP",
- # speed="400",
- # temperature="20",
- # delay_time="600",
- # hold_m_name="烧杯MPDA"
- # )
-
- bioyond.material_id_query("3a19310d-16b9-9d81-b109-0748e953694b")
- bioyond.material_id_query("3a15d4a1-3bbe-76f9-a458-292896a338f5")
-
-
- #示例4：创建90%10%小瓶投料任务
- # vial_result = bioyond.create_90_10_vial_feeding_task(
- # order_code="task_vial_" + str(int(datetime.now().timestamp())),
- # order_name="90%10%小瓶投料-1",
- # percent_90_1_assign_material_name="BTDA-1",
- # percent_90_1_target_weigh="7.392",
- # percent_90_2_assign_material_name="BTDA-1",
- # percent_90_2_target_weigh="7.392",
- # percent_90_3_assign_material_name="BTDA-2",
- # percent_90_3_target_weigh="7.392",
- # percent_10_1_assign_material_name="BTDA-2",
- # percent_10_1_target_weigh="1.500",
- # percent_10_1_volume="20",
- # percent_10_1_liquid_material_name="NMP",
- # # percent_10_2_assign_material_name="BTDA-c",
- # # percent_10_2_target_weigh="1.2",
- # # percent_10_2_volume="20",
- # # percent_10_2_liquid_material_name="NMP",
- # speed="400",
- # temperature="60",
- # delay_time="1200",
- # hold_m_name="8.4分装板-1"
- # )
-
- # vial_result = bioyond.create_90_10_vial_feeding_task(
- # order_code="task_vial_" + str(int(datetime.now().timestamp())),
- # order_name="90%10%小瓶投料-2",
- # percent_90_1_assign_material_name="BPDA-1",
- # percent_90_1_target_weigh="5.006",
- # percent_90_2_assign_material_name="PMDA-1",
- # percent_90_2_target_weigh="3.810",
- # percent_90_3_assign_material_name="BPDA-1",
- # percent_90_3_target_weigh="8.399",
- # percent_10_1_assign_material_name="BPDA-1",
- # percent_10_1_target_weigh="1.200",
- # percent_10_1_volume="20",
- # percent_10_1_liquid_material_name="NMP",
- # percent_10_2_assign_material_name="BPDA-1",
- # percent_10_2_target_weigh="1.200",
- # percent_10_2_volume="20",
- # percent_10_2_liquid_material_name="NMP",
- # speed="400",
- # temperature="60",
- # delay_time="1200",
- # hold_m_name="8.4分装板-2"
- # )
-
- #启动调度器
- #bioyond.scheduler_start()
-
- #继续调度器
- #bioyond.scheduler_continue()
-
- result0 = bioyond.stock_material('{"typeMode": 0, "includeDetail": true}')
- result1 = bioyond.stock_material('{"typeMode": 1, "includeDetail": true}')
- result2 = bioyond.stock_material('{"typeMode": 2, "includeDetail": true}')
-
- matpos1 = bioyond.query_warehouse_by_material_type("3a14196e-b7a0-a5da-1931-35f3000281e9")
- matpos2 = bioyond.query_warehouse_by_material_type("3a14196e-5dfe-6e21-0c79-fe2036d052c4")
- matpos3 = bioyond.query_warehouse_by_material_type("3a14196b-24f2-ca49-9081-0cab8021bf1a")
-
- #样品板（里面有样品瓶）
- material_data_yp = {
- "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
- #"code": "物料编码001",
- #"barCode": "物料条码001",
- "name": "8.4样品板",
- "unit": "个",
- "quantity": 1,
- "details": [
- {
- "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
- #"code": "物料编码001",
- "name": "BTDA-1",
- "quantity": 20,
- "x": 1,
- "y": 1,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
- #"code": "物料编码001",
- "name": "BPDA-1",
- "quantity": 20,
- "x": 2,
- "y": 1, #x1y2是A02
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
- #"code": "物料编码001",
- "name": "BTDA-2",
- "quantity": 20,
- "x": 1,
- "y": 2, #x1y2是A02
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
- #"code": "物料编码001",
- "name": "PMDA-1",
- "quantity": 20,
- "x": 2,
- "y": 2, #x1y2是A02
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- }
- ],
- "Parameters":"{}"
- }
-
- material_data_yp = {
- "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
- #"code": "物料编码001",
- #"barCode": "物料条码001",
- "name": "8.7样品板",
- "unit": "个",
- "quantity": 1,
- "details": [
- {
- "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
- #"code": "物料编码001",
- "name": "mianfen",
- "quantity": 13,
- "x": 1,
- "y": 1,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
- #"code": "物料编码001",
- "name": "mianfen2",
- "quantity": 13,
- "x": 1,
- "y": 2, #x1y2是A02
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- }
- ],
- "Parameters":"{}"
- }
-
- #分装板
- material_data_fzb_1 = {
- "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
- #"code": "物料编码001",
- #"barCode": "物料条码001",
- "name": "8.7分装板",
- "unit": "个",
- "quantity": 1,
- "details": [
- {
- "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
- #"code": "物料编码001",
- "name": "10%小瓶1",
- "quantity": 1,
- "x": 1,
- "y": 1,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
- #"code": "物料编码001",
- "name": "10%小瓶2",
- "quantity": 1,
- "x": 1,
- "y": 2,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
- #"code": "物料编码001",
- "name": "10%小瓶3",
- "quantity": 1,
- "x": 1,
- "y": 3,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
- #"code": "物料编码001",
- "name": "90%小瓶1",
- "quantity": 1,
- "x": 2,
- "y": 1, #x1y2是A02
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
- #"code": "物料编码001",
- "name": "90%小瓶2",
- "quantity": 1,
- "x": 2,
- "y": 2,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
- #"code": "物料编码001",
- "name": "90%小瓶3",
- "quantity": 1,
- "x": 2,
- "y": 3,
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- }
- ],
- "Parameters":"{}"
- }
-
- material_data_fzb_2 = {
- "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
- #"code": "物料编码001",
- #"barCode": "物料条码001",
- "name": "8.4分装板-2",
- "unit": "个",
- "quantity": 1,
- "details": [
- {
- "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
- #"code": "物料编码001",
- "name": "10%小瓶1",
- "quantity": 1,
- "x": 1,
- "y": 1,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
- #"code": "物料编码001",
- "name": "10%小瓶2",
- "quantity": 1,
- "x": 1,
- "y": 2,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-76be-2279-4e22-7310d69aed68",
- #"code": "物料编码001",
- "name": "10%小瓶3",
- "quantity": 1,
- "x": 1,
- "y": 3,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
- #"code": "物料编码001",
- "name": "90%小瓶1",
- "quantity": 1,
- "x": 2,
- "y": 1, #x1y2是A02
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
- #"code": "物料编码001",
- "name": "90%小瓶2",
- "quantity": 1,
- "x": 2,
- "y": 2,
- #"unit": "单位"
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- },
- {
- "typeId": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
- #"code": "物料编码001",
- "name": "90%小瓶3",
- "quantity": 1,
- "x": 2,
- "y": 3,
- "molecular": 1,
- "Parameters":"{\"molecular\": 1}"
- }
- ],
- "Parameters":"{}"
- }
-
- #烧杯
- material_data_sb_oda = {
- "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
- #"code": "物料编码001",
- #"barCode": "物料条码001",
- "name": "mianfen1",
- "unit": "个",
- "quantity": 1,
- "Parameters":"{}"
- }
-
- material_data_sb_pda_2 = {
- "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
- #"code": "物料编码001",
- #"barCode": "物料条码001",
- "name": "mianfen2",
- "unit": "个",
- "quantity": 1,
- "Parameters":"{}"
- }
-
- # material_data_sb_mpda = {
- # "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
- # #"code": "物料编码001",
- # #"barCode": "物料条码001",
- # "name": "烧杯MPDA",
- # "unit": "个",
- # "quantity": 1,
- # "Parameters":"{}"
- # }
-
-
- #result_1 = bioyond.add_material(json.dumps(material_data_yp, ensure_ascii=False))
- #result_2 = bioyond.add_material(json.dumps(material_data_fzb_1, ensure_ascii=False))
- # result_3 = bioyond.add_material(json.dumps(material_data_fzb_2, ensure_ascii=False))
- # result_4 = bioyond.add_material(json.dumps(material_data_sb_oda, ensure_ascii=False))
- # result_5 = bioyond.add_material(json.dumps(material_data_sb_pda_2, ensure_ascii=False))
- # #result会返回id
- # #样品板1id：3a1b3e7d-339d-0291-dfd3-13e2a78fe521
-
-
- # #将指定物料入库到指定库位
- #bioyond.material_inbound(result_1, "3a14198e-6929-31f0-8a22-0f98f72260df")
- #bioyond.material_inbound(result_2, "3a14198e-6929-46fe-841e-03dd753f1e4a")
- # bioyond.material_inbound(result_3, "3a14198e-6929-72ac-32ce-9b50245682b8")
- # bioyond.material_inbound(result_4, "3a14198e-d724-e036-afdc-2ae39a7f3383")
- # bioyond.material_inbound(result_5, "3a14198e-d724-d818-6d4f-5725191a24b5")
-
- #bioyond.material_outbound(result_1, "3a14198e-6929-31f0-8a22-0f98f72260df")
-
- # bioyond.stock_material('{"typeMode": 2, "includeDetail": true}')
-
- query_order = {"status":"100", "pageCount": "10"}
- bioyond.order_query(json.dumps(query_order, ensure_ascii=False))
-
- # id = "3a1bce3c-4f31-c8f3-5525-f3b273bc34dc"
- # bioyond.sample_waste_removal(id)
diff --git a/unilabos/devices/workstation/bioyond_studio/experiment.py b/unilabos/devices/workstation/bioyond_studio/experiment.py
deleted file mode 100644
index 28ef3323..00000000
--- a/unilabos/devices/workstation/bioyond_studio/experiment.py
+++ /dev/null
@@ -1,400 +0,0 @@
-"""
-实验流程主程序
-"""
-
-import json
-from unilabos.devices.workstation.bioyond_studio.reaction_station import BioyondReactionStation
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, DECK_CONFIG, MATERIAL_TYPE_MAPPINGS
-
-
-def run_experiment():
- """运行实验流程"""
-
- # 初始化Bioyond客户端
- config = {
- **API_CONFIG,
- "workflow_mappings": WORKFLOW_MAPPINGS,
- "material_type_mappings": MATERIAL_TYPE_MAPPINGS
- }
-
- # 创建BioyondReactionStation实例，传入deck配置
- Bioyond = BioyondReactionStation(
- config=config,
- deck=DECK_CONFIG
- )
-
- print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
-
- # 显示可用的材料名称（前20个）
- available_materials = Bioyond.hardware_interface.get_available_materials()
- print(f"可用材料名称（前20个）: {available_materials[:20]}")
- print(f"总共有 {len(available_materials)} 个材料可用\n")
-
- # 1. 反应器放入
- print("1. 添加反应器放入工作流，带参数...")
- Bioyond.reactor_taken_in(
- assign_material_name="BTDA-DD",
- cutoff="10000",
- temperature="-10"
- )
-
- # 2. 液体投料-烧杯 (第一个)
- print("2. 添加液体投料-烧杯，带参数...")
- Bioyond.liquid_feeding_beaker(
- volume="34768.7",
- assign_material_name="ODA",
- time="0",
- torque_variation="1",
- titration_type="1",
- temperature=-10
- )
-
- # 3. 液体投料-烧杯 (第二个)
- print("3. 添加液体投料-烧杯，带参数...")
- Bioyond.liquid_feeding_beaker(
- volume="34080.9",
- assign_material_name="MPDA",
- time="5",
- torque_variation="2",
- titration_type="1",
- temperature=0
- )
-
- # 4. 液体投料-小瓶非滴定
- print("4. 添加液体投料-小瓶非滴定，带参数...")
- Bioyond.liquid_feeding_vials_non_titration(
- volume_formula="639.5",
- assign_material_name="SIDA",
- titration_type="1",
- time="0",
- torque_variation="1",
- temperature=-10
- )
-
- # 5. 液体投料溶剂
- print("5. 添加液体投料溶剂，带参数...")
- Bioyond.liquid_feeding_solvents(
- assign_material_name="NMP",
- volume="19000",
- titration_type="1",
- time="5",
- torque_variation="2",
- temperature=-10
- )
-
- # 6-8. 固体进料小瓶 (三个)
- print("6. 添加固体进料小瓶，带参数...")
- Bioyond.solid_feeding_vials(
- material_id="3",
- time="180",
- torque_variation="2",
- assign_material_name="BTDA1",
- temperature=-10.00
- )
-
- print("7. 添加固体进料小瓶，带参数...")
- Bioyond.solid_feeding_vials(
- material_id="3",
- time="180",
- torque_variation="2",
- assign_material_name="BTDA2",
- temperature=25.00
- )
-
- print("8. 添加固体进料小瓶，带参数...")
- Bioyond.solid_feeding_vials(
- material_id="3",
- time="480",
- torque_variation="2",
- assign_material_name="BTDA3",
- temperature=25.00
- )
-
- # 液体投料滴定（第一个）
- print("9. 添加液体投料滴定，带参数...") # ODPA
- Bioyond.liquid_feeding_titration(
- volume_formula="{{6-0-5}}+{{7-0-5}}+{{8-0-5}}",
- assign_material_name="BTDA-DD",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature="25.00"
- )
-
- # 液体投料滴定（第二个）
- print("10. 添加液体投料滴定，带参数...") # ODPA
- Bioyond.liquid_feeding_titration(
- volume_formula="500",
- assign_material_name="BTDA-DD",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature="25.00"
- )
-
- # 液体投料滴定（第三个）
- print("11. 添加液体投料滴定，带参数...") # ODPA
- Bioyond.liquid_feeding_titration(
- volume_formula="500",
- assign_material_name="BTDA-DD",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature="25.00"
- )
-
- print("12. 添加液体投料滴定，带参数...") # ODPA
- Bioyond.liquid_feeding_titration(
- volume_formula="500",
- assign_material_name="BTDA-DD",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature="25.00"
- )
-
- print("13. 添加液体投料滴定，带参数...") # ODPA
- Bioyond.liquid_feeding_titration(
- volume_formula="500",
- assign_material_name="BTDA-DD",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature="25.00"
- )
-
- print("14. 添加液体投料滴定，带参数...") # ODPA
- Bioyond.liquid_feeding_titration(
- volume_formula="500",
- assign_material_name="BTDA-DD",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature="25.00"
- )
-
- print("15. 添加液体投料溶剂，带参数...")
- Bioyond.liquid_feeding_solvents(
- assign_material_name="PGME",
- volume="16894.6",
- titration_type="1",
- time="360",
- torque_variation="2",
- temperature=25.00
- )
-
- # 16. 反应器取出
- print("16. 添加反应器取出工作流...")
- Bioyond.reactor_taken_out()
-
- # 显示当前工作流序列
- sequence = Bioyond.get_workflow_sequence()
- print("\n当前工作流执行顺序:")
- print(sequence)
-
- # 执行process_and_execute_workflow，合并工作流并创建任务
- print("\n4. 执行process_and_execute_workflow...")
-
- result = Bioyond.process_and_execute_workflow(
- workflow_name="test3",
- task_name="实验3"
- )
-
- # 显示执行结果
- print("\n5. 执行结果:")
- if isinstance(result, str):
- try:
- result_dict = json.loads(result)
- if result_dict.get("success"):
- print("任务创建成功!")
- # print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
- # print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
- # print(f"- 任务结果: {result_dict.get('task')}")
- else:
- print(f"任务创建失败: {result_dict.get('error')}")
- except:
- print(f"结果解析失败: {result}")
- else:
- if result.get("success"):
- print("任务创建成功!")
- print(f"- 工作流: {result.get('workflow', {}).get('name')}")
- print(f"- 工作流ID: {result.get('workflow', {}).get('id')}")
- print(f"- 任务结果: {result.get('task')}")
- else:
- print(f"任务创建失败: {result.get('error')}")
-
- # 可选：启动调度器
- # Bioyond.scheduler_start()
-
- return Bioyond
-
-
-# def prepare_materials(bioyond):
-# """准备实验材料（可选）"""
-
-# # 样品板材料数据定义
-# material_data_yp_1 = {
-# "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-# "name": "样品板-1",
-# "unit": "个",
-# "quantity": 1,
-# "details": [
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BPDA-DD-1",
-# "quantity": 1,
-# "x": 1,
-# "y": 1,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "PEPA",
-# "quantity": 1,
-# "x": 1,
-# "y": 2,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BPDA-DD-2",
-# "quantity": 1,
-# "x": 1,
-# "y": 3,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BPDA-1",
-# "quantity": 1,
-# "x": 2,
-# "y": 1,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "PMDA",
-# "quantity": 1,
-# "x": 2,
-# "y": 2,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BPDA-2",
-# "quantity": 1,
-# "x": 2,
-# "y": 3,
-# "Parameters": "{\"molecular\": 1}"
-# }
-# ],
-# "Parameters": "{}"
-# }
-
-# material_data_yp_2 = {
-# "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-# "name": "样品板-2",
-# "unit": "个",
-# "quantity": 1,
-# "details": [
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BPDA-DD",
-# "quantity": 1,
-# "x": 1,
-# "y": 1,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "SIDA",
-# "quantity": 1,
-# "x": 1,
-# "y": 2,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BTDA-1",
-# "quantity": 1,
-# "x": 2,
-# "y": 1,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BTDA-2",
-# "quantity": 1,
-# "x": 2,
-# "y": 2,
-# "Parameters": "{\"molecular\": 1}"
-# },
-# {
-# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-# "name": "BTDA-3",
-# "quantity": 1,
-# "x": 2,
-# "y": 3,
-# "Parameters": "{\"molecular\": 1}"
-# }
-# ],
-# "Parameters": "{}"
-# }
-
-# # 烧杯材料数据定义
-# beaker_materials = [
-# {
-# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-# "name": "PDA-1",
-# "unit": "微升",
-# "quantity": 1,
-# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-# },
-# {
-# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-# "name": "TFDB",
-# "unit": "微升",
-# "quantity": 1,
-# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-# },
-# {
-# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-# "name": "ODA",
-# "unit": "微升",
-# "quantity": 1,
-# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-# },
-# {
-# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-# "name": "MPDA",
-# "unit": "微升",
-# "quantity": 1,
-# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-# },
-# {
-# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-# "name": "PDA-2",
-# "unit": "微升",
-# "quantity": 1,
-# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-# }
-# ]
-
-# # 如果需要，可以在这里调用add_material方法添加材料
-# # 例如:
-# # result = bioyond.add_material(json.dumps(material_data_yp_1))
-# # print(f"添加材料结果: {result}")
-
-# return {
-# "sample_plates": [material_data_yp_1, material_data_yp_2],
-# "beakers": beaker_materials
-# }
-
-
-if __name__ == "__main__":
- # 运行主实验流程
- bioyond_client = run_experiment()
-
- # 可选：准备材料数据
- # materials = prepare_materials(bioyond_client)
- # print(f"\n准备的材料数据: {materials}")
diff --git a/unilabos/devices/workstation/bioyond_studio/reaction_station.py b/unilabos/devices/workstation/bioyond_studio/reaction_station.py
deleted file mode 100644
index ffb83fd3..00000000
--- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py
+++ /dev/null
@@ -1,1330 +0,0 @@
-import json
-import time
-import requests
-from typing import List, Dict, Any
-from pathlib import Path
-from datetime import datetime
-from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
-from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import MachineState
-from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
-from unilabos.devices.workstation.bioyond_studio.config import (
- WORKFLOW_STEP_IDS,
- WORKFLOW_TO_SECTION_MAP,
- ACTION_NAMES
-)
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
-
-
-class BioyondReactor:
- def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
- self.in_temperature = 0.0
- self.out_temperature = 0.0
- self.pt100_temperature = 0.0
- self.sensor_average_temperature = 0.0
- self.target_temperature = 0.0
- self.setting_temperature = 0.0
- self.viscosity = 0.0
- self.average_viscosity = 0.0
- self.speed = 0.0
- self.force = 0.0
-
- def update_metrics(self, payload: Dict[str, Any]):
- def _f(v):
- try:
- return float(v)
- except Exception:
- return 0.0
- self.target_temperature = _f(payload.get("targetTemperature"))
- self.setting_temperature = _f(payload.get("settingTemperature"))
- self.in_temperature = _f(payload.get("inTemperature"))
- self.out_temperature = _f(payload.get("outTemperature"))
- self.pt100_temperature = _f(payload.get("pt100Temperature"))
- self.sensor_average_temperature = _f(payload.get("sensorAverageTemperature"))
- self.speed = _f(payload.get("speed"))
- self.force = _f(payload.get("force"))
- self.viscosity = _f(payload.get("viscosity"))
- self.average_viscosity = _f(payload.get("averageViscosity"))
-
-
-class BioyondReactionStation(BioyondWorkstation):
- """Bioyond反应站类
-
- 继承自BioyondWorkstation，提供反应站特定的业务方法
- """
-
- def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
- """初始化反应站
-
- Args:
- config: 配置字典，应包含workflow_mappings等配置
- deck: Deck对象
- protocol_type: 协议类型（由ROS系统传递，此处忽略）
- **kwargs: 其他可能的参数
- """
- if deck is None and config:
- deck = config.get('deck')
-
- print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}")
- if config and 'workflow_mappings' in config:
- print(f"workflow_mappings内容: {config['workflow_mappings']}")
-
- super().__init__(bioyond_config=config, deck=deck)
-
- print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
- print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
-
- self.in_temperature = 0.0
- self.out_temperature = 0.0
- self.pt100_temperature = 0.0
- self.sensor_average_temperature = 0.0
- self.target_temperature = 0.0
- self.setting_temperature = 0.0
- self.viscosity = 0.0
- self.average_viscosity = 0.0
- self.speed = 0.0
- self.force = 0.0
-
- self._frame_to_reactor_id = {1: "reactor_1", 2: "reactor_2", 3: "reactor_3", 4: "reactor_4", 5: "reactor_5"}
-
- # ==================== 工作流方法 ====================
-
- def reactor_taken_out(self):
- """反应器取出"""
- self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
- reactor_taken_out_params = {"param_values": {}}
- self.pending_task_params.append(reactor_taken_out_params)
- print(f"成功添加反应器取出工作流")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def reactor_taken_in(
- self,
- assign_material_name: str,
- cutoff: str = "900000",
- temperature: float = -10.00
- ):
- """反应器放入
-
- Args:
- assign_material_name: 物料名称（不能为空）
- cutoff: 粘度上限（需为有效数字字符串，默认 "900000"）
- temperature: 温度设定（°C，范围：-50.00 至 100.00）
-
- Returns:
- str: JSON 字符串，格式为 {"suc": True}
-
- Raises:
- ValueError: 若物料名称无效或 cutoff 格式错误
- """
- if not assign_material_name:
- raise ValueError("物料名称不能为空")
- try:
- float(cutoff)
- except ValueError:
- raise ValueError("cutoff 必须是有效的数字字符串")
-
- self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
- material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
- if material_id is None:
- raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
- reactor_taken_in_params = {
- "param_values": {
- step_id: {
- ACTION_NAMES["reactor_taken_in"]["config"]: [
- {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
- {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
- ],
- ACTION_NAMES["reactor_taken_in"]["stirring"]: [
- {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(reactor_taken_in_params)
- print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def solid_feeding_vials(
- self,
- material_id: str,
- time: str = "0",
- torque_variation: int = 1,
- assign_material_name: str = None,
- temperature: float = 25.00
- ):
- """固体进料小瓶
-
- Args:
- material_id: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
- time: 观察时间(分钟)
- torque_variation: 是否观察(int类型, 1=否, 2=是)
- assign_material_name: 物料名称(用于获取试剂瓶位ID)
- temperature: 温度设定(°C)
- """
- self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
- material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
- observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
-
- solid_feeding_vials_params = {
- "param_values": {
- feeding_step_id: {
- ACTION_NAMES["solid_feeding_vials"]["feeding"]: [
- {"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
- {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {}
- ]
- },
- observe_step_id: {
- ACTION_NAMES["solid_feeding_vials"]["observe"]: [
- {"m": 1, "n": 0, "Key": "time", "Value": time},
- {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
- {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(solid_feeding_vials_params)
- print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def liquid_feeding_vials_non_titration(
- self,
- volume_formula: str,
- assign_material_name: str,
- titration_type: str = "1",
- time: str = "0",
- torque_variation: int = 1,
- temperature: float = 25.00
- ):
- """液体进料小瓶(非滴定)
-
- Args:
- volume_formula: 分液公式(μL)
- assign_material_name: 物料名称
- titration_type: 是否滴定(1=否, 2=是)
- time: 观察时间(分钟)
- torque_variation: 是否观察(int类型, 1=否, 2=是)
- temperature: 温度(°C)
- """
- self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
- material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
- if material_id is None:
- raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
- observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
-
- params = {
- "param_values": {
- liquid_step_id: {
- ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [
- {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
- {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
- {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
- ]
- },
- observe_step_id: {
- ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [
- {"m": 1, "n": 0, "Key": "time", "Value": time},
- {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
- {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(params)
- print(f"成功添加液体进料小瓶(非滴定)参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def liquid_feeding_solvents(
- self,
- assign_material_name: str,
- volume: str = None,
- solvents = None,
- titration_type: str = "1",
- time: str = "360",
- torque_variation: int = 2,
- temperature: float = 25.00
- ):
- """液体进料-溶剂
-
- Args:
- assign_material_name: 物料名称
- volume: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
- solvents: 溶剂信息的字典或JSON字符串(可选),格式如下:
- {
- "additional_solvent": 33.55092503597727, # 溶剂体积(mL)
- "total_liquid_volume": 48.00916988195499
- }
- 如果提供solvents,则从中提取additional_solvent并转换为μL
- titration_type: 是否滴定(1=否, 2=是)
- time: 观察时间(分钟)
- torque_variation: 是否观察(int类型, 1=否, 2=是)
- temperature: 温度设定(°C)
- """
- # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
- if not volume and solvents is not None:
- # 参数类型转换:如果是字符串则解析为字典
- if isinstance(solvents, str):
- try:
- solvents = json.loads(solvents)
- except json.JSONDecodeError as e:
- raise ValueError(f"solvents参数JSON解析失败: {str(e)}")
-
- # 参数验证
- if not isinstance(solvents, dict):
- raise ValueError("solvents 必须是字典类型或有效的JSON字符串")
-
- # 提取 additional_solvent 值
- additional_solvent = solvents.get("additional_solvent")
- if additional_solvent is None:
- raise ValueError("solvents 中没有找到 additional_solvent 字段")
-
- # 转换为微升(μL) - 从毫升(mL)转换
- volume = str(float(additional_solvent) * 1000)
- elif volume is None:
- raise ValueError("必须提供 volume 或 solvents 参数之一")
-
- self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
- material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
- if material_id is None:
- raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
- observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
-
- params = {
- "param_values": {
- liquid_step_id: {
- ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [
- {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
- {"m": 0, "n": 1, "Key": "volume", "Value": volume},
- {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
- ]
- },
- observe_step_id: {
- ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [
- {"m": 1, "n": 0, "Key": "time", "Value": time},
- {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
- {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(params)
- print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def liquid_feeding_titration(
- self,
- assign_material_name: str,
- volume_formula: str = None,
- x_value: str = None,
- feeding_order_data: str = None,
- extracted_actuals: str = None,
- titration_type: str = "2",
- time: str = "90",
- torque_variation: int = 2,
- temperature: float = 25.00
- ):
- """液体进料(滴定)
-
- 支持两种模式:
- 1. 直接提供 volume_formula (传统方式)
- 2. 自动计算公式: 提供 x_value, feeding_order_data, extracted_actuals (新方式)
-
- Args:
- assign_material_name: 物料名称
- volume_formula: 分液公式(μL),如果提供则直接使用,否则自动计算
- x_value: 手工输入的x值,格式如 "1-2-3"
- feeding_order_data: feeding_order JSON字符串或对象,用于获取m二酐值
- extracted_actuals: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
- titration_type: 是否滴定(1=否, 2=是),默认2
- time: 观察时间(分钟)
- torque_variation: 是否观察(int类型, 1=否, 2=是)
- temperature: 温度(°C)
-
- 自动公式模板: 1000*(m二酐-x)*V二酐滴定/m二酐滴定
- 其中:
- - m二酐滴定 = actualTargetWeigh (从extracted_actuals获取)
- - V二酐滴定 = actualVolume (从extracted_actuals获取)
- - x = x_value (手工输入)
- - m二酐 = feeding_order中type为"main_anhydride"的amount值
- """
- self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
- material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
- if material_id is None:
- raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- # 如果没有直接提供volume_formula,则自动计算
- if not volume_formula and x_value and feeding_order_data and extracted_actuals:
- # 1. 解析 feeding_order_data 获取 m二酐
- if isinstance(feeding_order_data, str):
- try:
- feeding_order_data = json.loads(feeding_order_data)
- except json.JSONDecodeError as e:
- raise ValueError(f"feeding_order_data JSON解析失败: {str(e)}")
-
- # 支持两种格式:
- # 格式1: 直接是数组 [{...}, {...}]
- # 格式2: 对象包裹 {"feeding_order": [{...}, {...}]}
- if isinstance(feeding_order_data, list):
- feeding_order_list = feeding_order_data
- elif isinstance(feeding_order_data, dict):
- feeding_order_list = feeding_order_data.get("feeding_order", [])
- else:
- raise ValueError("feeding_order_data 必须是数组或包含feeding_order的字典")
-
- # 从feeding_order中找到main_anhydride的amount
- m_anhydride = None
- for item in feeding_order_list:
- if item.get("type") == "main_anhydride":
- m_anhydride = item.get("amount")
- break
-
- if m_anhydride is None:
- raise ValueError("在feeding_order中未找到type为'main_anhydride'的条目")
-
- # 2. 解析 extracted_actuals 获取 actualTargetWeigh 和 actualVolume
- if isinstance(extracted_actuals, str):
- try:
- extracted_actuals_obj = json.loads(extracted_actuals)
- except json.JSONDecodeError as e:
- raise ValueError(f"extracted_actuals JSON解析失败: {str(e)}")
- else:
- extracted_actuals_obj = extracted_actuals
-
- # 获取actuals数组
- actuals_list = extracted_actuals_obj.get("actuals", [])
- if not actuals_list:
- # actuals为空,无法自动生成公式,回退到手动模式
- print(f"警告: extracted_actuals中actuals数组为空,无法自动生成公式,请手动提供volume_formula")
- volume_formula = None # 清空,触发后续的错误检查
- else:
- # 根据assign_material_name匹配对应的actual数据
- # 假设order_code中包含物料名称
- matched_actual = None
- for actual in actuals_list:
- order_code = actual.get("order_code", "")
- # 简单匹配:如果order_code包含物料名称
- if assign_material_name in order_code:
- matched_actual = actual
- break
-
- # 如果没有匹配到,使用第一个
- if not matched_actual and actuals_list:
- matched_actual = actuals_list[0]
-
- if not matched_actual:
- raise ValueError("无法从extracted_actuals中获取实际加料量数据")
-
- m_anhydride_titration = matched_actual.get("actualTargetWeigh") # m二酐滴定
- v_anhydride_titration = matched_actual.get("actualVolume") # V二酐滴定
-
- if m_anhydride_titration is None or v_anhydride_titration is None:
- raise ValueError(f"实际加料量数据不完整: actualTargetWeigh={m_anhydride_titration}, actualVolume={v_anhydride_titration}")
-
- # 3. 构建公式: 1000*(m二酐-x)*V二酐滴定/m二酐滴定
- # x_value 格式如 "{{1-2-3}}",保留完整格式(包括花括号)直接替换到公式中
- volume_formula = f"1000*({m_anhydride}-{x_value})*{v_anhydride_titration}/{m_anhydride_titration}"
-
- print(f"自动生成滴定公式: {volume_formula}")
- print(f" m二酐={m_anhydride}, x={x_value}, V二酐滴定={v_anhydride_titration}, m二酐滴定={m_anhydride_titration}")
-
- elif not volume_formula:
- raise ValueError("必须提供 volume_formula 或 (x_value + feeding_order_data + extracted_actuals)")
-
- liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
- observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
-
- params = {
- "param_values": {
- liquid_step_id: {
- ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [
- {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
- {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
- {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
- ]
- },
- observe_step_id: {
- ACTION_NAMES["liquid_feeding_titration"]["observe"]: [
- {"m": 1, "n": 0, "Key": "time", "Value": time},
- {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
- {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(params)
- print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
- data = report.get('data') if isinstance(report, dict) else None
- actual_target_weigh = None
- actual_volume = None
- if data:
- extra = data.get('extraProperties') or {}
- if isinstance(extra, dict):
- for v in extra.values():
- obj = None
- try:
- obj = json.loads(v) if isinstance(v, str) else v
- except Exception:
- obj = None
- if isinstance(obj, dict):
- tw = obj.get('targetWeigh')
- vol = obj.get('volume')
- if tw is not None:
- try:
- actual_target_weigh = float(tw)
- except Exception:
- pass
- if vol is not None:
- try:
- actual_volume = float(vol)
- except Exception:
- pass
- return {
- 'actualTargetWeigh': actual_target_weigh,
- 'actualVolume': actual_volume
- }
-
- def extract_actuals_from_batch_reports(self, batch_reports_result: str) -> dict:
- print(f"[DEBUG] extract_actuals 收到原始数据: {batch_reports_result[:500]}...") # 打印前500字符
- try:
- obj = json.loads(batch_reports_result) if isinstance(batch_reports_result, str) else batch_reports_result
- if isinstance(obj, dict) and "return_info" in obj:
- inner = obj["return_info"]
- obj = json.loads(inner) if isinstance(inner, str) else inner
- reports = obj.get("reports", []) if isinstance(obj, dict) else []
- print(f"[DEBUG] 解析后的 reports 数组长度: {len(reports)}")
- except Exception as e:
- print(f"[DEBUG] 解析异常: {e}")
- reports = []
-
- actuals = []
- for i, r in enumerate(reports):
- print(f"[DEBUG] 处理 report[{i}]: order_code={r.get('order_code')}, has_extracted={r.get('extracted') is not None}, has_report={r.get('report') is not None}")
- order_code = r.get("order_code")
- order_id = r.get("order_id")
- ex = r.get("extracted")
- if isinstance(ex, dict) and (ex.get("actualTargetWeigh") is not None or ex.get("actualVolume") is not None):
- print(f"[DEBUG] 从 extracted 字段提取: actualTargetWeigh={ex.get('actualTargetWeigh')}, actualVolume={ex.get('actualVolume')}")
- actuals.append({
- "order_code": order_code,
- "order_id": order_id,
- "actualTargetWeigh": ex.get("actualTargetWeigh"),
- "actualVolume": ex.get("actualVolume")
- })
- continue
- report = r.get("report")
- vals = self._extract_actuals_from_report(report) if report else {"actualTargetWeigh": None, "actualVolume": None}
- print(f"[DEBUG] 从 report 字段提取: {vals}")
- actuals.append({
- "order_code": order_code,
- "order_id": order_id,
- **vals
- })
-
- print(f"[DEBUG] 最终提取的 actuals 数组长度: {len(actuals)}")
- result = {
- "return_info": json.dumps({"actuals": actuals}, ensure_ascii=False)
- }
- print(f"[DEBUG] 返回结果: {result}")
- return result
-
- def process_temperature_cutoff_report(self, report_request) -> Dict[str, Any]:
- try:
- data = report_request.data
- def _f(v):
- try:
- return float(v)
- except Exception:
- return 0.0
- self.target_temperature = _f(data.get("targetTemperature"))
- self.setting_temperature = _f(data.get("settingTemperature"))
- self.in_temperature = _f(data.get("inTemperature"))
- self.out_temperature = _f(data.get("outTemperature"))
- self.pt100_temperature = _f(data.get("pt100Temperature"))
- self.sensor_average_temperature = _f(data.get("sensorAverageTemperature"))
- self.speed = _f(data.get("speed"))
- self.force = _f(data.get("force"))
- self.viscosity = _f(data.get("viscosity"))
- self.average_viscosity = _f(data.get("averageViscosity"))
-
- try:
- if hasattr(self, "_ros_node") and self._ros_node is not None:
- props = [
- "in_temperature","out_temperature","pt100_temperature","sensor_average_temperature",
- "target_temperature","setting_temperature","viscosity","average_viscosity",
- "speed","force"
- ]
- for name in props:
- pub = self._ros_node._property_publishers.get(name)
- if pub:
- pub.publish_property()
- frame = data.get("frameCode")
- reactor_id = None
- try:
- reactor_id = self._frame_to_reactor_id.get(int(frame))
- except Exception:
- reactor_id = None
- if reactor_id and hasattr(self._ros_node, "sub_devices"):
- child = self._ros_node.sub_devices.get(reactor_id)
- if child and hasattr(child, "driver_instance"):
- child.driver_instance.update_metrics(data)
- pubs = getattr(child.ros_node_instance, "_property_publishers", {})
- for name in props:
- p = pubs.get(name)
- if p:
- p.publish_property()
- except Exception:
- pass
- event = {
- "frameCode": data.get("frameCode"),
- "generateTime": data.get("generateTime"),
- "targetTemperature": data.get("targetTemperature"),
- "settingTemperature": data.get("settingTemperature"),
- "inTemperature": data.get("inTemperature"),
- "outTemperature": data.get("outTemperature"),
- "pt100Temperature": data.get("pt100Temperature"),
- "sensorAverageTemperature": data.get("sensorAverageTemperature"),
- "speed": data.get("speed"),
- "force": data.get("force"),
- "viscosity": data.get("viscosity"),
- "averageViscosity": data.get("averageViscosity"),
- "request_time": report_request.request_time,
- "timestamp": datetime.now().isoformat(),
- "reactor_id": self._frame_to_reactor_id.get(int(data.get("frameCode", 0))) if str(data.get("frameCode", "")).isdigit() else None,
- }
-
- base_dir = Path(__file__).resolve().parents[3] / "unilabos_data"
- base_dir.mkdir(parents=True, exist_ok=True)
- out_file = base_dir / "temperature_cutoff_events.json"
- try:
- existing = json.loads(out_file.read_text(encoding="utf-8")) if out_file.exists() else []
- if not isinstance(existing, list):
- existing = []
- except Exception:
- existing = []
- existing.append(event)
- out_file.write_text(json.dumps(existing, ensure_ascii=False, indent=2), encoding="utf-8")
-
- if hasattr(self, "_ros_node") and self._ros_node is not None:
- ns = self._ros_node.namespace
- topics = {
- "targetTemperature": f"{ns}/metrics/temperature_cutoff/target_temperature",
- "settingTemperature": f"{ns}/metrics/temperature_cutoff/setting_temperature",
- "inTemperature": f"{ns}/metrics/temperature_cutoff/in_temperature",
- "outTemperature": f"{ns}/metrics/temperature_cutoff/out_temperature",
- "pt100Temperature": f"{ns}/metrics/temperature_cutoff/pt100_temperature",
- "sensorAverageTemperature": f"{ns}/metrics/temperature_cutoff/sensor_average_temperature",
- "speed": f"{ns}/metrics/temperature_cutoff/speed",
- "force": f"{ns}/metrics/temperature_cutoff/force",
- "viscosity": f"{ns}/metrics/temperature_cutoff/viscosity",
- "averageViscosity": f"{ns}/metrics/temperature_cutoff/average_viscosity",
- }
- for k, t in topics.items():
- v = data.get(k)
- if v is not None:
- pub = self._ros_node.create_publisher(Float64, t, 10)
- pub.publish(convert_to_ros_msg(Float64, float(v)))
-
- evt_pub = self._ros_node.create_publisher(String, f"{ns}/events/temperature_cutoff", 10)
- evt_pub.publish(convert_to_ros_msg(String, json.dumps(event, ensure_ascii=False)))
-
- return {"processed": True, "frame": data.get("frameCode")}
- except Exception as e:
- return {"processed": False, "error": str(e)}
-
- def wait_for_multiple_orders_and_get_reports(self, batch_create_result: str = None, timeout: int = 7200, check_interval: int = 10) -> Dict[str, Any]:
- try:
- timeout = int(timeout) if timeout else 7200
- check_interval = int(check_interval) if check_interval else 10
- if not batch_create_result or batch_create_result == "":
- raise ValueError("batch_create_result为空")
- try:
- if isinstance(batch_create_result, str) and '[...]' in batch_create_result:
- batch_create_result = batch_create_result.replace('[...]', '[]')
- result_obj = json.loads(batch_create_result) if isinstance(batch_create_result, str) else batch_create_result
- if isinstance(result_obj, dict) and "return_value" in result_obj:
- inner = result_obj.get("return_value")
- if isinstance(inner, str):
- result_obj = json.loads(inner)
- elif isinstance(inner, dict):
- result_obj = inner
- order_codes = result_obj.get("order_codes", [])
- order_ids = result_obj.get("order_ids", [])
- except Exception as e:
- raise ValueError(f"解析batch_create_result失败: {e}")
- if not order_codes or not order_ids:
- raise ValueError("缺少order_codes或order_ids")
- if not isinstance(order_codes, list):
- order_codes = [order_codes]
- if not isinstance(order_ids, list):
- order_ids = [order_ids]
- if len(order_codes) != len(order_ids):
- raise ValueError("order_codes与order_ids数量不匹配")
- total = len(order_codes)
- pending = {c: {"order_id": order_ids[i], "completed": False} for i, c in enumerate(order_codes)}
- reports = []
- start_time = time.time()
- while pending:
- elapsed_time = time.time() - start_time
- if elapsed_time > timeout:
- for oc in list(pending.keys()):
- reports.append({
- "order_code": oc,
- "order_id": pending[oc]["order_id"],
- "status": "timeout",
- "completion_status": None,
- "report": None,
- "extracted": None,
- "elapsed_time": elapsed_time
- })
- break
- completed_round = []
- for oc in list(pending.keys()):
- oid = pending[oc]["order_id"]
- if oc in self.order_completion_status:
- info = self.order_completion_status[oc]
- try:
- rep = self.hardware_interface.order_report(oid)
- if not rep:
- rep = {"error": "无法获取报告"}
- reports.append({
- "order_code": oc,
- "order_id": oid,
- "status": "completed",
- "completion_status": info.get('status'),
- "report": rep,
- "extracted": self._extract_actuals_from_report(rep),
- "elapsed_time": elapsed_time
- })
- completed_round.append(oc)
- del self.order_completion_status[oc]
- except Exception as e:
- reports.append({
- "order_code": oc,
- "order_id": oid,
- "status": "error",
- "completion_status": info.get('status') if 'info' in locals() else None,
- "report": None,
- "extracted": None,
- "error": str(e),
- "elapsed_time": elapsed_time
- })
- completed_round.append(oc)
- for oc in completed_round:
- del pending[oc]
- if pending:
- time.sleep(check_interval)
- completed_count = sum(1 for r in reports if r['status'] == 'completed')
- timeout_count = sum(1 for r in reports if r['status'] == 'timeout')
- error_count = sum(1 for r in reports if r['status'] == 'error')
- final_elapsed_time = time.time() - start_time
- summary = {
- "total": total,
- "completed": completed_count,
- "timeout": timeout_count,
- "error": error_count,
- "elapsed_time": round(final_elapsed_time, 2),
- "reports": reports
- }
- return {
- "return_info": json.dumps(summary, ensure_ascii=False)
- }
- except Exception as e:
- raise
-
- def liquid_feeding_beaker(
- self,
- volume: str = "350",
- assign_material_name: str = "BAPP",
- time: str = "0",
- torque_variation: int = 1,
- titration_type: str = "1",
- temperature: float = 25.00
- ):
- """液体进料烧杯
-
- Args:
- volume: 分液质量(g)
- assign_material_name: 物料名称(试剂瓶位)
- time: 观察时间(分钟)
- torque_variation: 是否观察(int类型, 1=否, 2=是)
- titration_type: 是否滴定(1=否, 2=是)
- temperature: 温度设定(°C)
- """
- self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
- material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
- if material_id is None:
- raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
- observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
-
- params = {
- "param_values": {
- liquid_step_id: {
- ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [
- {"m": 0, "n": 2, "Key": "volume", "Value": volume},
- {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
- {"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type}
- ]
- },
- observe_step_id: {
- ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [
- {"m": 1, "n": 0, "Key": "time", "Value": time},
- {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
- {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(params)
- print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- def drip_back(
- self,
- assign_material_name: str,
- volume: str,
- titration_type: str = "1",
- time: str = "90",
- torque_variation: int = 2,
- temperature: float = 25.00
- ):
- """滴回去
-
- Args:
- assign_material_name: 物料名称(液体种类)
- volume: 分液量(μL)
- titration_type: 是否滴定(1=否, 2=是)
- time: 观察时间(分钟)
- torque_variation: 是否观察(int类型, 1=否, 2=是)
- temperature: 温度(°C)
- """
- self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}')
- material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
- if material_id is None:
- raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
- if isinstance(temperature, str):
- temperature = float(temperature)
-
- liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"]
- observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"]
-
- params = {
- "param_values": {
- liquid_step_id: {
- ACTION_NAMES["drip_back"]["liquid"]: [
- {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
- {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id},
- {"m": 0, "n": 1, "Key": "volume", "Value": volume}
- ]
- },
- observe_step_id: {
- ACTION_NAMES["drip_back"]["observe"]: [
- {"m": 1, "n": 0, "Key": "time", "Value": time},
- {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
- {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
- ]
- }
- }
- }
-
- self.pending_task_params.append(params)
- print(f"成功添加滴回去参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
- print(f"当前队列长度: {len(self.pending_task_params)}")
- return json.dumps({"suc": True})
-
- # ==================== 工作流管理方法 ====================
-
- def get_workflow_sequence(self) -> List[str]:
- """获取当前工作流执行顺序
-
- Returns:
- 工作流名称列表
- """
- id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
- workflow_names = []
- for workflow_id in self.workflow_sequence:
- workflow_name = id_to_name.get(workflow_id, workflow_id)
- workflow_names.append(workflow_name)
- print(f"工作流序列: {workflow_names}")
- return workflow_names
-
- def workflow_step_query(self, workflow_id: str) -> dict:
- """查询工作流步骤参数
-
- Args:
- workflow_id: 工作流ID
-
- Returns:
- 工作流步骤参数字典
- """
- return self.hardware_interface.workflow_step_query(workflow_id)
-
- def create_order(self, json_str: str) -> dict:
- """创建订单
-
- Args:
- json_str: 订单参数的JSON字符串
-
- Returns:
- 创建结果
- """
- return self.hardware_interface.create_order(json_str)
-
- def hard_delete_merged_workflows(self, workflow_ids: List[str]) -> Dict[str, Any]:
- """
- 调用新接口：硬删除合并后的工作流
-
- Args:
- workflow_ids: 要删除的工作流ID数组
-
- Returns:
- 删除结果
- """
- try:
- if not isinstance(workflow_ids, list):
- raise ValueError("workflow_ids必须是字符串数组")
- return self._delete_project_api("/api/lims/order/workflows", workflow_ids)
- except Exception as e:
- print(f"❌ 硬删除异常: {str(e)}")
- return {"code": 0, "message": str(e), "timestamp": int(time.time())}
-
- # ==================== 项目接口通用方法 ====================
-
- def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
- """项目接口通用POST调用
-
- 参数:
- endpoint: 接口路径（例如 /api/lims/order/skip-titration-steps）
- data: 请求体中的 data 字段内容
-
- 返回:
- dict: 服务端响应，失败时返回 {code:0,message,...}
- """
- request_data = {
- "apiKey": API_CONFIG["api_key"],
- "requestTime": self.hardware_interface.get_current_time_iso8601(),
- "data": data
- }
- print(f"\n📤 项目POST请求: {self.hardware_interface.host}{endpoint}")
- print(json.dumps(request_data, indent=4, ensure_ascii=False))
- try:
- response = requests.post(
- f"{self.hardware_interface.host}{endpoint}",
- json=request_data,
- headers={"Content-Type": "application/json"},
- timeout=30
- )
- result = response.json()
- if result.get("code") == 1:
- print("✅ 请求成功")
- else:
- print(f"❌ 请求失败: {result.get('message','未知错误')}")
- return result
- except json.JSONDecodeError:
- print("❌ 非JSON响应")
- return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())}
- except requests.exceptions.Timeout:
- print("❌ 请求超时")
- return {"code": 0, "message": "请求超时", "timestamp": int(time.time())}
- except requests.exceptions.RequestException as e:
- print(f"❌ 网络异常: {str(e)}")
- return {"code": 0, "message": str(e), "timestamp": int(time.time())}
-
- def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
- """项目接口通用DELETE调用
-
- 参数:
- endpoint: 接口路径（例如 /api/lims/order/workflows）
- data: 请求体中的 data 字段内容
-
- 返回:
- dict: 服务端响应，失败时返回 {code:0,message,...}
- """
- request_data = {
- "apiKey": API_CONFIG["api_key"],
- "requestTime": self.hardware_interface.get_current_time_iso8601(),
- "data": data
- }
- print(f"\n📤 项目DELETE请求: {self.hardware_interface.host}{endpoint}")
- print(json.dumps(request_data, indent=4, ensure_ascii=False))
- try:
- response = requests.delete(
- f"{self.hardware_interface.host}{endpoint}",
- json=request_data,
- headers={"Content-Type": "application/json"},
- timeout=30
- )
- result = response.json()
- if result.get("code") == 1:
- print("✅ 请求成功")
- else:
- print(f"❌ 请求失败: {result.get('message','未知错误')}")
- return result
- except json.JSONDecodeError:
- print("❌ 非JSON响应")
- return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())}
- except requests.exceptions.Timeout:
- print("❌ 请求超时")
- return {"code": 0, "message": "请求超时", "timestamp": int(time.time())}
- except requests.exceptions.RequestException as e:
- print(f"❌ 网络异常: {str(e)}")
- return {"code": 0, "message": str(e), "timestamp": int(time.time())}
-
- # ==================== 工作流执行核心方法 ====================
-
- def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
- """处理网页工作流列表
-
- Args:
- web_workflow_json: JSON 格式的网页工作流列表
-
- Returns:
- List[Dict[str, str]]: 包含工作流 ID 和名称的字典列表
- """
- try:
- web_workflow_data = json.loads(web_workflow_json)
- web_workflow_list = web_workflow_data.get("web_workflow_list", [])
- workflows_result = []
- for name in web_workflow_list:
- workflow_id = self.workflow_mappings.get(name, "")
- if not workflow_id:
- print(f"警告：未找到工作流名称 {name} 对应的 ID")
- continue
- workflows_result.append({"id": workflow_id, "name": name})
- print(f"process_web_workflows 输出: {workflows_result}")
- return workflows_result
- except json.JSONDecodeError as e:
- print(f"错误：无法解析 web_workflow_json: {e}")
- return []
- except Exception as e:
- print(f"错误：处理工作流失败: {e}")
- return []
-
- def _build_workflows_with_parameters(self, workflows_result: list) -> list:
- """
- 构建带参数的工作流列表
-
- Args:
- workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表）
-
- Returns:
- 符合新接口格式的工作流参数结构
- """
- workflows_with_params = []
- total_params = 0
- successful_params = 0
- failed_params = []
-
- for idx, workflow_info in enumerate(workflows_result):
- if not isinstance(workflow_info, dict):
- print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}")
- continue
- workflow_id = workflow_info.get("id")
- if not workflow_id:
- print(f"警告：workflows_result[{idx}] 缺少 'id' 键")
- continue
- workflow_name = workflow_info.get("name", "")
- # print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})")
-
- if idx >= len(self.pending_task_params):
- # print(f" ⚠️ 无对应参数，跳过")
- workflows_with_params.append({"id": workflow_id})
- continue
-
- param_data = self.pending_task_params[idx]
- param_values = param_data.get("param_values", {})
- if not param_values:
- # print(f" ⚠️ 参数为空，跳过")
- workflows_with_params.append({"id": workflow_id})
- continue
-
- step_parameters = {}
- for step_id, actions_dict in param_values.items():
- # print(f" 📍 步骤ID: {step_id}")
- for action_name, param_list in actions_dict.items():
- # print(f" 🔹 模块: {action_name}, 参数数量: {len(param_list)}")
- if step_id not in step_parameters:
- step_parameters[step_id] = {}
- if action_name not in step_parameters[step_id]:
- step_parameters[step_id][action_name] = []
- for param_item in param_list:
- param_key = param_item.get("Key", "")
- param_value = param_item.get("Value", "")
- total_params += 1
- step_parameters[step_id][action_name].append({
- "Key": param_key,
- "DisplayValue": param_value,
- "Value": param_value
- })
- successful_params += 1
- # print(f" ✓ {param_key} = {param_value}")
-
- workflows_with_params.append({
- "id": workflow_id,
- "stepParameters": step_parameters
- })
-
- self._print_mapping_stats(total_params, successful_params, failed_params)
- return workflows_with_params
-
- def _print_mapping_stats(self, total: int, success: int, failed: list):
- """打印参数映射统计"""
- print(f"\n{'='*20} 参数映射统计 {'='*20}")
- print(f"📊 总参数数量: {total}")
- print(f"✅ 成功映射: {success}")
- print(f"❌ 映射失败: {len(failed)}")
- if not failed:
- print("🎉 成功映射所有参数！")
- else:
- print(f"⚠️ 失败的参数: {', '.join(failed)}")
- success_rate = (success/total*100) if total > 0 else 0
- print(f"📈 映射成功率: {success_rate:.1f}%")
- print("="*60)
-
- def _create_error_result(self, error_msg: str, step: str) -> str:
- """创建统一的错误返回格式"""
- print(f"❌ {error_msg}")
- return json.dumps({
- "success": False,
- "error": f"process_and_execute_workflow: {error_msg}",
- "method": "process_and_execute_workflow",
- "step": step
- })
-
- def merge_workflow_with_parameters(self, json_str: str) -> dict:
- """
- 调用新接口：合并工作流并传递参数
-
- Args:
- json_str: JSON格式的字符串，包含:
- - name: 工作流名称
- - workflows: [{"id": "工作流ID", "stepParameters": {...}}]
-
- Returns:
- 合并后的工作流信息
- """
- try:
- data = json.loads(json_str)
-
- # 在工作流名称后面添加时间戳，避免重复
- if "name" in data and data["name"]:
- timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-")
- original_name = data["name"]
- data["name"] = f"{original_name}_{timestamp}"
- print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}")
-
- request_data = {
- "apiKey": API_CONFIG["api_key"],
- "requestTime": self.hardware_interface.get_current_time_iso8601(),
- "data": data
- }
- print(f"\n📤 发送合并请求:")
- print(f" 工作流名称: {data.get('name')}")
- print(f" 子工作流数量: {len(data.get('workflows', []))}")
-
- # 打印完整的POST请求内容
- print(f"\n🔍 POST请求详细内容:")
- print(f" URL: {self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters")
- print(f" Headers: {{'Content-Type': 'application/json'}}")
- print(f" Request Data:")
- print(f" {json.dumps(request_data, indent=4, ensure_ascii=False)}")
- #
- response = requests.post(
- f"{self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters",
- json=request_data,
- headers={"Content-Type": "application/json"},
- timeout=30
- )
-
- # # 打印响应详细内容
- # print(f"\n📥 POST响应详细内容:")
- # print(f" 状态码: {response.status_code}")
- # print(f" 响应头: {dict(response.headers)}")
- # print(f" 响应体: {response.text}")
- # #
- try:
- result = response.json()
- # #
- # print(f"\n📋 解析后的响应JSON:")
- # print(f" {json.dumps(result, indent=4, ensure_ascii=False)}")
- # #
- except json.JSONDecodeError:
- print(f"❌ 服务器返回非 JSON 格式响应: {response.text}")
- return None
-
- if result.get("code") == 1:
- print(f"✅ 工作流合并成功（带参数）")
- return result.get("data", {})
- else:
- error_msg = result.get('message', '未知错误')
- print(f"❌ 工作流合并失败: {error_msg}")
- return None
-
- except requests.exceptions.Timeout:
- print(f"❌ 合并工作流请求超时")
- return None
- except requests.exceptions.RequestException as e:
- print(f"❌ 合并工作流网络异常: {str(e)}")
- return None
- except json.JSONDecodeError as e:
- print(f"❌ 合并工作流响应解析失败: {str(e)}")
- return None
- except Exception as e:
- print(f"❌ 合并工作流异常: {str(e)}")
- return None
-
- def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool:
- """验证工作流ID是否有效，如果无效则重新合并
-
- Args:
- workflow_name: 工作流名称
-
- Returns:
- bool: 验证或刷新是否成功
- """
- print(f"\n🔍 验证工作流ID有效性...")
- if not self.workflow_sequence:
- print(f" ⚠️ 工作流序列为空，需要重新合并")
- return False
- first_workflow_id = self.workflow_sequence[0]
- try:
- structure = self.workflow_step_query(first_workflow_id)
- if structure:
- print(f" ✅ 工作流ID有效")
- return True
- else:
- print(f" ⚠️ 工作流ID已过期，需要重新合并")
- return False
- except Exception as e:
- print(f" ❌ 工作流ID验证失败: {e}")
- print(f" 💡 将重新合并工作流")
- return False
-
- def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
- """
- 一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
-
- Args:
- workflow_name: 合并后的工作流名称
- task_name: 任务名称
-
- Returns:
- 任务创建结果
- """
- web_workflow_list = self.get_workflow_sequence()
- print(f"\n{'='*60}")
- print(f"📋 处理网页工作流列表: {web_workflow_list}")
- print(f"{'='*60}")
-
- web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
- workflows_result = self.process_web_workflows(web_workflow_json)
-
- if not workflows_result:
- return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
-
- print(f"workflows_result 类型: {type(workflows_result)}")
- print(f"workflows_result 内容: {workflows_result}")
-
- workflows_with_params = self._build_workflows_with_parameters(workflows_result)
-
- merge_data = {
- "name": workflow_name,
- "workflows": workflows_with_params
- }
-
- # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
- merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
-
- if not merged_workflow:
- return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
-
- workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
- # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
-
- order_params = [{
- "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
- "orderName": task_name,
- "workFlowId": workflow_id,
- "borderNumber": 1,
- "paramValues": {}
- }]
-
- result = self.create_order(json.dumps(order_params))
-
- if not result:
- return self._create_error_result("创建任务失败", "create_order")
-
- # 清空工作流序列和参数，防止下次执行时累积重复
- self.pending_task_params = []
- self.clear_workflows() # 清空工作流序列，避免重复累积
-
- # print(f"\n✅ 任务创建成功: {result}")
- # print(f"\n✅ 任务创建成功")
- print(f"{'='*60}\n")
-
- # 返回结果，包含合并后的工作流数据和订单参数
- return json.dumps({
- "success": True,
- "result": result,
- "merged_workflow": merged_workflow,
- "order_params": order_params
- })
-
- # ==================== 反应器操作接口 ====================
-
- def skip_titration_steps(self, preintake_id: str) -> Dict[str, Any]:
- """跳过当前正在进行的滴定步骤
-
- Args:
- preintake_id: 通量ID
-
- Returns:
- Dict[str, Any]: 服务器响应，包含状态码、消息和时间戳
- """
- try:
- return self._post_project_api("/api/lims/order/skip-titration-steps", preintake_id)
- except Exception as e:
- print(f"❌ 跳过滴定异常: {str(e)}")
- return {"code": 0, "message": str(e), "timestamp": int(time.time())}
diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py
deleted file mode 100644
index e349b083..00000000
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ /dev/null
@@ -1,1444 +0,0 @@
-"""
-Bioyond工作站实现
-Bioyond Workstation Implementation
-
-集成Bioyond物料管理的工作站示例
-"""
-import time
-import traceback
-from datetime import datetime
-from typing import Dict, Any, List, Optional, Union
-import json
-from pathlib import Path
-
-from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer
-from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC
-from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
-from unilabos.resources.warehouse import WareHouse
-from unilabos.utils.log import logger
-from unilabos.resources.graphio import resource_bioyond_to_plr, resource_plr_to_bioyond
-
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
-from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
-from pylabrobot.resources.resource import Resource as ResourcePLR
-
-from unilabos.devices.workstation.bioyond_studio.config import (
- API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
-)
-from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
-
-
-class BioyondResourceSynchronizer(ResourceSynchronizer):
- """Bioyond资源同步器
-
- 负责与Bioyond系统进行物料数据的同步
- """
-
- def __init__(self, workstation: 'BioyondWorkstation'):
- super().__init__(workstation)
- self.bioyond_api_client = None
- self.sync_interval = 60 # 默认60秒同步一次
- self.last_sync_time = 0
- self.initialize()
-
- def initialize(self) -> bool:
- """初始化Bioyond资源同步器"""
- try:
- self.bioyond_api_client = self.workstation.hardware_interface
- if self.bioyond_api_client is None:
- logger.error("Bioyond API客户端未初始化")
- return False
-
- # 设置同步间隔
- self.sync_interval = self.workstation.bioyond_config.get("sync_interval", 600)
-
- logger.info("Bioyond资源同步器初始化完成")
- return True
- except Exception as e:
- logger.error(f"Bioyond资源同步器初始化失败: {e}")
- return False
-
- def sync_from_external(self) -> bool:
- """从Bioyond系统同步物料数据"""
- try:
- if self.bioyond_api_client is None:
- logger.error("Bioyond API客户端未初始化")
- return False
-
- # 同时查询耗材类型(typeMode=0)、样品类型(typeMode=1)和试剂类型(typeMode=2)
- all_bioyond_data = []
-
- # 查询耗材类型物料（例如：枪头盒）
- bioyond_data_type0 = self.bioyond_api_client.stock_material('{"typeMode": 0, "includeDetail": true}')
- if bioyond_data_type0:
- all_bioyond_data.extend(bioyond_data_type0)
- logger.debug(f"从Bioyond查询到 {len(bioyond_data_type0)} 个耗材类型物料")
-
- # 查询样品类型物料（烧杯、试剂瓶、分装板等）
- bioyond_data_type1 = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}')
- if bioyond_data_type1:
- all_bioyond_data.extend(bioyond_data_type1)
- logger.debug(f"从Bioyond查询到 {len(bioyond_data_type1)} 个样品类型物料")
-
- # 查询试剂类型物料（样品板、样品瓶等）
- bioyond_data_type2 = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
- if bioyond_data_type2:
- all_bioyond_data.extend(bioyond_data_type2)
- logger.debug(f"从Bioyond查询到 {len(bioyond_data_type2)} 个试剂类型物料")
-
- if not all_bioyond_data:
- logger.warning("从Bioyond获取的物料数据为空")
- return False
-
- # 转换为UniLab格式
- unilab_resources = resource_bioyond_to_plr(
- all_bioyond_data,
- type_mapping=self.workstation.bioyond_config["material_type_mappings"],
- deck=self.workstation.deck
- )
-
- logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
- return True
- except Exception as e:
- logger.error(f"从Bioyond同步物料数据失败: {e}")
- return False
-
- def sync_to_external(self, resource: Any) -> bool:
- """将本地物料数据变更同步到Bioyond系统"""
- try:
- # ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
- resource_category = getattr(resource, "category", None)
- if resource_category == "warehouse":
- logger.debug(f"[同步→Bioyond] 跳过仓库类型资源: {resource.name} (仓库是容器，不需要同步为物料)")
- return True
-
- logger.info(f"[同步→Bioyond] 收到物料变更: {resource.name}")
-
- # 获取物料的 Bioyond ID
- extra_info = getattr(resource, "unilabos_extra", {})
- material_bioyond_id = extra_info.get("material_bioyond_id")
-
- # 🔥 查询所有物料，用于获取物料当前位置等信息
- existing_materials = []
- try:
- import json
- logger.info(f"[同步→Bioyond] 查询 Bioyond 系统中的所有物料...")
- all_materials = []
-
- for type_mode in [0, 1, 2]: # 0=耗材, 1=样品, 2=试剂
- query_params = json.dumps({
- "typeMode": type_mode,
- "filter": "",
- "includeDetail": True
- })
- materials = self.bioyond_api_client.stock_material(query_params)
- if materials:
- all_materials.extend(materials)
-
- existing_materials = all_materials
- logger.info(f"[同步→Bioyond] 查询到 {len(all_materials)} 个物料")
- except Exception as e:
- logger.error(f"查询 Bioyond 物料失败: {e}")
- return False
-
- # ⭐ 如果没有 Bioyond ID，尝试从查询结果中按名称匹配
- if not material_bioyond_id:
- logger.warning(f"[同步→Bioyond] 物料 {resource.name} 没有 Bioyond ID，尝试按名称查询...")
- for mat in existing_materials:
- if mat.get("name") == resource.name:
- material_bioyond_id = mat.get("id")
- mat_type = mat.get("typeName", "未知")
- logger.info(f"✅ 找到物料 {resource.name} ({mat_type}) 的 Bioyond ID: {material_bioyond_id[:8]}...")
- # 保存 ID 到资源对象
- extra_info["material_bioyond_id"] = material_bioyond_id
- setattr(resource, "unilabos_extra", extra_info)
- break
-
- if not material_bioyond_id:
- logger.warning(f"⚠️ 在 Bioyond 系统中未找到名为 {resource.name} 的物料")
- logger.info(f"[同步→Bioyond] 这是一个新物料，将创建并入库到 Bioyond 系统")
-
- # 检查是否有位置更新请求
- update_site = extra_info.get("update_resource_site")
-
- if not update_site:
- logger.debug(f"[同步→Bioyond] 物料 {resource.name} 无位置更新请求，跳过同步")
- return True
-
- # ===== 物料移动/创建流程 =====
- logger.info(f"[同步→Bioyond] 📍 物料 {resource.name} 目标库位: {update_site}")
-
- if material_bioyond_id:
- logger.info(f"[同步→Bioyond] 🔄 物料已存在于 Bioyond (ID: {material_bioyond_id[:8]}...)，执行移动操作")
- else:
- 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：获取仓库配置
- from .config import WAREHOUSE_MAPPING
- warehouse_mapping = WAREHOUSE_MAPPING
-
- # 确定目标仓库名称
- parent_name = None
- target_location_uuid = None
- current_warehouse = None
-
- # 🔥 优先级1: 从 Bioyond 查询结果中获取物料当前所在的仓库
- if material_bioyond_id:
- for mat in existing_materials:
- if mat.get("name") == resource.name or mat.get("id") == material_bioyond_id:
- locations = mat.get("locations", [])
- if locations and len(locations) > 0:
- current_warehouse = locations[0].get("whName")
- logger.info(f"[同步→Bioyond] 💡 物料当前位于 Bioyond 仓库: {current_warehouse}")
- break
-
- # 优先在当前仓库中查找目标库位
- if current_warehouse and current_warehouse in warehouse_mapping:
- site_uuids = warehouse_mapping[current_warehouse].get("site_uuids", {})
- if update_site in site_uuids:
- parent_name = current_warehouse
- target_location_uuid = site_uuids[update_site]
- logger.info(f"[同步→Bioyond] ✅ 在当前仓库找到目标库位: {parent_name}/{update_site}")
- logger.info(f"[同步→Bioyond] 目标库位UUID: {target_location_uuid[:8]}...")
- else:
- logger.warning(f"⚠️ [同步→Bioyond] 当前仓库 {current_warehouse} 中没有库位 {update_site}，将搜索其他仓库")
-
- # 🔥 优先级2: 检查 PLR 父节点名称
- if not parent_name or not target_location_uuid:
- if resource.parent is not None:
- parent_name_candidate = resource.parent.name
- logger.info(f"[同步→Bioyond] 从 PLR 父节点获取仓库名称: {parent_name_candidate}")
-
- if parent_name_candidate in warehouse_mapping:
- site_uuids = warehouse_mapping[parent_name_candidate].get("site_uuids", {})
- if update_site in site_uuids:
- parent_name = parent_name_candidate
- target_location_uuid = site_uuids[update_site]
- logger.info(f"[同步→Bioyond] ✅ 在父节点仓库找到目标库位: {parent_name}/{update_site}")
- logger.info(f"[同步→Bioyond] 目标库位UUID: {target_location_uuid[:8]}...")
-
- # 🔥 优先级3: 遍历所有仓库查找（兜底方案）
- if not parent_name or not target_location_uuid:
- logger.info(f"[同步→Bioyond] 从所有仓库中查找库位 {update_site}...")
- for warehouse_name, warehouse_info in warehouse_mapping.items():
- site_uuids = warehouse_info.get("site_uuids", {})
- if update_site in site_uuids:
- parent_name = warehouse_name
- target_location_uuid = site_uuids[update_site]
- logger.warning(f"[同步→Bioyond] ⚠️ 在其他仓库找到目标库位: {parent_name}/{update_site}")
- logger.info(f"[同步→Bioyond] 目标库位UUID: {target_location_uuid[:8]}...")
- break
-
- if not parent_name or not target_location_uuid:
- logger.error(f"❌ [同步→Bioyond] 库位 {update_site} 没有在 WAREHOUSE_MAPPING 中配置")
- logger.debug(f"[同步→Bioyond] 可用仓库: {list(warehouse_mapping.keys())}")
- return False
-
- # 第2步：转换为 Bioyond 格式
- logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
-
- # 导入物料默认参数配置
- from .config import MATERIAL_DEFAULT_PARAMETERS
-
- bioyond_material = resource_plr_to_bioyond(
- [resource],
- type_mapping=self.workstation.bioyond_config["material_type_mappings"],
- warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
- material_params=MATERIAL_DEFAULT_PARAMETERS
- )[0]
-
- logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
-
- # 🔥 强制覆盖 locations 信息，使用正确的目标库位 UUID
- # resource_plr_to_bioyond 可能会生成错误的仓库信息，这里直接覆盖
- bioyond_material["locations"] = [{
- "id": target_location_uuid,
- "whid": "",
- "whName": parent_name,
- "x": ord(update_site[0]) - ord('A') + 1, # A→1, B→2, ...
- "y": int(update_site[1:]), # 01→1, 02→2, ...
- "z": 1,
- "quantity": 0
- }]
- logger.info(f"[同步→Bioyond] ✅ 已覆盖库位信息: {parent_name}/{update_site} (UUID: {target_location_uuid[:8]}...)")
-
- logger.debug(f"[同步→Bioyond] Bioyond 物料数据: {bioyond_material}")
-
- location_info = bioyond_material.get("locations")
- logger.debug(f"[同步→Bioyond] 库位信息: {location_info}, 类型: {type(location_info)}")
-
- # 第3步：根据是否已有 Bioyond ID 决定创建还是使用现有物料
- if material_bioyond_id:
- # 物料已存在,直接使用现有 ID
- material_id = material_bioyond_id
- logger.info(f"✅ [同步→Bioyond] 使用已有物料 ID: {material_id[:8]}...")
- else:
- # 物料不存在,调用 API 创建新物料
- logger.info(f"[同步→Bioyond] 📤 调用 Bioyond API 添加物料...")
- material_id = self.bioyond_api_client.add_material(bioyond_material)
-
- if not material_id:
- logger.error(f"❌ [同步→Bioyond] 添加物料失败，API 返回空")
- return False
-
- logger.info(f"✅ [同步→Bioyond] 物料添加成功，Bioyond ID: {material_id[:8]}...")
-
- # 保存新创建的物料 ID 到资源对象
- extra_info["material_bioyond_id"] = material_id
- setattr(resource, "unilabos_extra", extra_info)
-
- # 第4步：物料入库前先检查目标库位是否被占用
- if location_info:
- logger.info(f"[同步→Bioyond] 📥 准备入库到库位 {update_site}...")
-
- # 处理不同的 location_info 数据结构
- if isinstance(location_info, list) and len(location_info) > 0:
- location_id = location_info[0]["id"]
- elif isinstance(location_info, dict):
- location_id = location_info["id"]
- else:
- logger.warning(f"⚠️ [同步→Bioyond] 无效的库位信息格式: {location_info}")
- location_id = None
-
- if location_id:
- # 查询目标库位是否已有物料
- logger.info(f"[同步→Bioyond] 🔍 检查库位 {update_site} (UUID: {location_id[:8]}...) 是否被占用...")
-
- # 查询所有物料，检查是否有物料在目标库位
- try:
- all_materials_type1 = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}')
- all_materials_type2 = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
- all_materials = (all_materials_type1 or []) + (all_materials_type2 or [])
-
- # 检查是否有物料已经在目标库位
- location_occupied = False
- occupying_material = None
-
- # 同时检查当前物料是否在其他位置（需要先出库）
- current_material_location = None
- current_location_uuid = None
-
- for material in all_materials:
- locations = material.get("locations", [])
-
- # 检查目标库位占用情况
- for loc in locations:
- if loc.get("id") == location_id:
- location_occupied = True
- occupying_material = material
- logger.warning(f"⚠️ [同步→Bioyond] 库位 {update_site} 已被占用！")
- logger.warning(f" 占用物料: {material.get('name')} (ID: {material.get('id', '')[:8]}...)")
- logger.warning(f" 占用位置: code={loc.get('code')}, x={loc.get('x')}, y={loc.get('y')}")
- logger.warning(f" 🔍 详细信息: location_id={loc.get('id')[:8]}..., 目标UUID={location_id[:8]}...")
- logger.warning(f" 🔍 完整location数据: {loc}")
- break
-
- # 检查当前物料是否在其他位置
- if material.get("id") == material_id and locations:
- current_material_location = locations[0]
- current_location_uuid = current_material_location.get("id")
- logger.info(f"📍 [同步→Bioyond] 物料当前位置: {current_material_location.get('whName')}/{current_material_location.get('code')} (UUID: {current_location_uuid[:8]}...)")
-
- if location_occupied:
- break
-
- if location_occupied:
- # 如果是同一个物料（ID相同），说明已经在目标位置了，跳过
- if occupying_material and occupying_material.get("id") == material_id:
- logger.info(f"✅ [同步→Bioyond] 物料 {resource.name} 已经在库位 {update_site}，跳过重复入库")
- return True
- else:
- logger.error(f"❌ [同步→Bioyond] 库位 {update_site} 已被其他物料占用，拒绝入库")
- return False
-
- logger.info(f"✅ [同步→Bioyond] 库位 {update_site} 可用，准备入库...")
-
- except Exception as e:
- logger.warning(f"⚠️ [同步→Bioyond] 检查库位状态时发生异常: {e}，继续尝试入库...")
-
- # 🔧 如果物料当前在其他位置，先出库再入库
- if current_location_uuid and current_location_uuid != location_id:
- logger.info(f"[同步→Bioyond] 🚚 物料需要移动，先从当前位置出库...")
- logger.info(f" 当前位置 UUID: {current_location_uuid[:8]}...")
- logger.info(f" 目标位置 UUID: {location_id[:8]}...")
-
- try:
- # 获取物料数量用于出库
- material_quantity = current_material_location.get("totalNumber", 1)
- logger.info(f" 出库数量: {material_quantity}")
-
- # 调用出库 API
- outbound_response = self.bioyond_api_client.material_outbound_by_id(
- material_id,
- current_location_uuid,
- material_quantity
- )
- logger.info(f"✅ [同步→Bioyond] 物料从 {current_material_location.get('code')} 出库成功")
- except Exception as e:
- logger.error(f"❌ [同步→Bioyond] 物料出库失败: {e}")
- return False
-
- # 执行入库
- logger.info(f"[同步→Bioyond] 📥 调用 Bioyond API 物料入库...")
- response = self.bioyond_api_client.material_inbound(material_id, location_id)
-
- # 注意：Bioyond API 成功时返回空字典 {}，所以不能用 if not response 判断
- # 只要没有抛出异常，就认为成功（response 是 dict 类型，即使是 {} 也不是 None）
- if response is not None:
- logger.info(f"✅ [同步→Bioyond] 物料 {resource.name} 成功入库到 {update_site}")
-
- # 入库成功后，重新查询验证物料实际入库位置
- logger.info(f"[同步→Bioyond] 🔍 验证物料实际入库位置...")
- try:
- all_materials_type1 = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}')
- all_materials_type2 = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}')
- all_materials = (all_materials_type1 or []) + (all_materials_type2 or [])
-
- for material in all_materials:
- if material.get("id") == material_id:
- locations = material.get("locations", [])
- if locations:
- actual_loc = locations[0]
- logger.info(f"📍 [同步→Bioyond] 物料实际位置: code={actual_loc.get('code')}, "
- f"warehouse={actual_loc.get('whName')}, "
- f"x={actual_loc.get('x')}, y={actual_loc.get('y')}")
-
- # 验证 UUID 是否匹配
- if actual_loc.get("id") != location_id:
- logger.error(f"❌ [同步→Bioyond] UUID 不匹配！")
- logger.error(f" 预期 UUID: {location_id}")
- logger.error(f" 实际 UUID: {actual_loc.get('id')}")
- logger.error(f" 这说明配置文件中的 UUID 映射有误，请检查 config.py 中的 WAREHOUSE_MAPPING")
- break
- except Exception as e:
- logger.warning(f"⚠️ [同步→Bioyond] 验证入库位置时发生异常: {e}")
- else:
- logger.error(f"❌ [同步→Bioyond] 物料入库失败")
- return False
- else:
- logger.warning(f"⚠️ [同步→Bioyond] 无法获取库位 ID，跳过入库操作")
- else:
- logger.warning(f"⚠️ [同步→Bioyond] 物料没有库位信息，跳过入库操作")
- return True
-
- except Exception as e:
- logger.error(f"❌ [同步→Bioyond] 同步物料 {resource.name} 时发生异常: {e}")
- import traceback
- traceback.print_exc()
- return False
-
- def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
- """处理Bioyond系统的变更通知"""
- try:
- # 这里可以实现对Bioyond变更的处理逻辑
- logger.info(f"处理Bioyond变更通知: {change_info}")
-
- return True
- except Exception as e:
- logger.error(f"处理Bioyond变更通知失败: {e}")
- return False
-
- def _create_material_only(self, resource: Any) -> Optional[str]:
- """只创建物料到 Bioyond 系统（不入库）
-
- Transfer 阶段使用：只调用 add_material API 创建物料记录
-
- Args:
- resource: 要创建的资源对象
-
- Returns:
- str: 创建成功返回 Bioyond 物料 ID，失败返回 None
- """
- try:
- # 跳过仓库类型的资源
- resource_category = getattr(resource, "category", None)
- if resource_category == "warehouse":
- logger.debug(f"[创建物料] 跳过仓库类型资源: {resource.name}")
- return None
-
- logger.info(f"[创建物料] 开始创建物料: {resource.name}")
-
- # 检查是否已经有 Bioyond ID
- extra_info = getattr(resource, "unilabos_extra", {})
- material_bioyond_id = extra_info.get("material_bioyond_id")
-
- if material_bioyond_id:
- logger.info(f"[创建物料] 物料 {resource.name} 已存在 (ID: {material_bioyond_id[:8]}...)，跳过创建")
- return material_bioyond_id
-
- # 转换为 Bioyond 格式
- from .config import MATERIAL_DEFAULT_PARAMETERS
-
- bioyond_material = resource_plr_to_bioyond(
- [resource],
- type_mapping=self.workstation.bioyond_config["material_type_mappings"],
- warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
- material_params=MATERIAL_DEFAULT_PARAMETERS
- )[0]
-
- # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
- # locations 字段在后续的入库操作中才会指定
- bioyond_material.pop("locations", None)
-
- logger.info(f"[创建物料] 调用 Bioyond API 创建物料（不指定库位）...")
- material_id = self.bioyond_api_client.add_material(bioyond_material)
-
- if not material_id:
- logger.error(f"[创建物料] 创建物料失败，API 返回空")
- return None
-
- logger.info(f"✅ [创建物料] 物料创建成功，ID: {material_id[:8]}...")
-
- # 保存 Bioyond ID 到资源对象
- extra_info["material_bioyond_id"] = material_id
- setattr(resource, "unilabos_extra", extra_info)
-
- return material_id
-
- except Exception as e:
- logger.error(f"❌ [创建物料] 创建物料 {resource.name} 时发生异常: {e}")
- import traceback
- traceback.print_exc()
- return None
-
- def _inbound_material_only(self, resource: Any, material_id: str) -> bool:
- """只执行物料入库操作（物料已存在于 Bioyond 系统）
-
- Add 阶段使用：调用 material_inbound API 将物料入库到指定库位
-
- Args:
- resource: 要入库的资源对象
- material_id: Bioyond 物料 ID
-
- Returns:
- bool: 入库成功返回 True，失败返回 False
- """
- try:
- logger.info(f"[物料入库] 开始入库物料: {resource.name} (ID: {material_id[:8]}...)")
-
- # 获取目标库位信息
- extra_info = getattr(resource, "unilabos_extra", {})
- update_site = extra_info.get("update_resource_site")
-
- if not update_site:
- logger.warning(f"[物料入库] 物料 {resource.name} 没有指定目标库位，跳过入库")
- return True
-
- logger.info(f"[物料入库] 目标库位: {update_site}")
-
- # 获取仓库配置和目标库位 UUID
- from .config import WAREHOUSE_MAPPING
- warehouse_mapping = WAREHOUSE_MAPPING
-
- parent_name = None
- target_location_uuid = None
-
- # 查找目标库位的 UUID
- if resource.parent is not None:
- parent_name_candidate = resource.parent.name
- if parent_name_candidate in warehouse_mapping:
- site_uuids = warehouse_mapping[parent_name_candidate].get("site_uuids", {})
- if update_site in site_uuids:
- parent_name = parent_name_candidate
- target_location_uuid = site_uuids[update_site]
- logger.info(f"[物料入库] 从父节点找到库位: {parent_name}/{update_site}")
-
- # 兜底：遍历所有仓库查找
- if not target_location_uuid:
- for warehouse_name, warehouse_info in warehouse_mapping.items():
- site_uuids = warehouse_info.get("site_uuids", {})
- if update_site in site_uuids:
- parent_name = warehouse_name
- target_location_uuid = site_uuids[update_site]
- logger.info(f"[物料入库] 从所有仓库找到库位: {parent_name}/{update_site}")
- break
-
- if not target_location_uuid:
- logger.error(f"❌ [物料入库] 库位 {update_site} 未在配置中找到")
- return False
-
- logger.info(f"[物料入库] 库位 UUID: {target_location_uuid[:8]}...")
-
- # 调用入库 API
- logger.info(f"[物料入库] 调用 Bioyond API 执行入库...")
- response = self.bioyond_api_client.material_inbound(material_id, target_location_uuid)
-
- if response: # 空字典 {} 表示失败，非空字典表示成功
- logger.info(f"✅ [物料入库] 物料 {resource.name} 成功入库到 {update_site}")
- return True
- else:
- logger.error(f"❌ [物料入库] 物料入库失败，API返回空响应或失败")
- return False
-
- except Exception as e:
- logger.error(f"❌ [物料入库] 入库物料 {resource.name} 时发生异常: {e}")
- import traceback
- traceback.print_exc()
- return False
-
-
-class BioyondWorkstation(WorkstationBase):
- """Bioyond工作站
-
- 集成Bioyond物料管理的工作站实现
- """
-
- def __init__(
- self,
- bioyond_config: Optional[Dict[str, Any]] = None,
- deck: Optional[Any] = None,
- *args,
- **kwargs,
- ):
- # 初始化父类
- super().__init__(
- # 桌子
- deck=deck,
- *args,
- **kwargs,
- )
-
- # 检查 deck 是否为 None，防止 AttributeError
- if self.deck is None:
- logger.error("❌ Deck 配置为空，请检查配置文件中的 deck 参数")
- raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
-
- # 初始化 warehouses 属性
- self.deck.warehouses = {}
- for resource in self.deck.children:
- if isinstance(resource, WareHouse):
- self.deck.warehouses[resource.name] = resource
-
- # 创建通信模块
- self._create_communication_module(bioyond_config)
- self.resource_synchronizer = BioyondResourceSynchronizer(self)
- self.resource_synchronizer.sync_from_external()
-
- # TODO: self._ros_node里面拿属性
-
- # 工作流加载
- self.is_running = False
- self.workflow_mappings = {}
- self.workflow_sequence = []
- self.pending_task_params = []
-
- if "workflow_mappings" in bioyond_config:
- self._set_workflow_mappings(bioyond_config["workflow_mappings"])
-
- # 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
- # 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
- self._http_service_config = {
- "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
- "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
- }
- self.http_service = None # 将在 post_init 中启动
-
- logger.info(f"Bioyond工作站初始化完成")
-
- def __del__(self):
- """析构函数：清理资源，停止 HTTP 服务"""
- try:
- if hasattr(self, 'http_service') and self.http_service is not None:
- logger.info("正在停止 HTTP 报送服务...")
- self.http_service.stop()
- except Exception as e:
- logger.error(f"停止 HTTP 服务时发生错误: {e}")
-
- def post_init(self, ros_node: ROS2WorkstationNode):
- self._ros_node = ros_node
-
- # 启动 HTTP 报送接收服务（现在 device_id 已可用）
- if hasattr(self, '_http_service_config'):
- try:
- self.http_service = WorkstationHTTPService(
- workstation_instance=self,
- host=self._http_service_config["host"],
- port=self._http_service_config["port"]
- )
- self.http_service.start()
- logger.info(f"Bioyond工作站HTTP报送服务已启动: {self.http_service.service_url}")
- except Exception as e:
- logger.error(f"启动HTTP报送服务失败: {e}")
- import traceback
- traceback.print_exc()
- self.http_service = None
-
- # ⭐ 上传 deck（包括所有 warehouses 及其中的物料）
- # 注意：如果有从 Bioyond 同步的物料，它们已经被放置到 warehouse 中了
- # 所以只需要上传 deck，物料会作为 warehouse 的 children 一起上传
- logger.info("正在上传 deck（包括 warehouses 和物料）到云端...")
- ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
- "resources": [self.deck]
- })
-
- # 清理临时变量（物料已经在 deck 的 warehouse children 中，不需要单独上传）
- if hasattr(self, "_synced_resources"):
- logger.info(f"✅ {len(self._synced_resources)} 个从Bioyond同步的物料已包含在 deck 中")
- self._synced_resources = []
-
- def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
- future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
- "plr_resources": resource,
- "target_device_id": mount_device_id,
- "target_resources": mount_resource,
- "sites": sites,
- })
- return future
-
- def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
- """创建Bioyond通信模块"""
- # 创建默认配置
- default_config = {
- **API_CONFIG,
- "workflow_mappings": WORKFLOW_MAPPINGS,
- "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
- "warehouse_mapping": WAREHOUSE_MAPPING
- }
-
- # 如果传入了 config，合并配置（config 中的值会覆盖默认值）
- if config:
- self.bioyond_config = {**default_config, **config}
- else:
- self.bioyond_config = default_config
-
- self.hardware_interface = BioyondV1RPC(self.bioyond_config)
-
- def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
- """添加资源到资源树并更新ROS节点
-
- Args:
- resources (List[ResourcePLR]): 要添加的资源列表
- """
- logger.info(f"[resource_tree_add] 开始同步 {len(resources)} 个资源到 Bioyond 系统")
- for resource in resources:
- try:
- # 🔍 检查资源是否已有 Bioyond ID
- extra_info = getattr(resource, "unilabos_extra", {})
- material_bioyond_id = extra_info.get("material_bioyond_id")
-
- if material_bioyond_id:
- # ⭐ 已有 Bioyond ID，说明 transfer 已经创建了物料
- # 现在只需要执行入库操作
- logger.info(f"✅ [resource_tree_add] 物料 {resource.name} 已有 Bioyond ID ({material_bioyond_id[:8]}...)，执行入库操作")
- self.resource_synchronizer._inbound_material_only(resource, material_bioyond_id)
- else:
- # ⚠️ 没有 Bioyond ID，说明是直接添加的物料（兜底逻辑）
- # 需要先创建再入库
- logger.info(f"⚠️ [resource_tree_add] 物料 {resource.name} 无 Bioyond ID，执行创建+入库操作")
- self.resource_synchronizer.sync_to_external(resource)
-
- except Exception as e:
- logger.error(f"[resource_tree_add] 同步资源失败 {resource}: {e}")
- import traceback
- traceback.print_exc()
-
- def resource_tree_remove(self, resources: List[ResourcePLR]) -> None:
- """处理资源删除时的同步（出库操作）
-
- 当 UniLab 前端删除物料时，需要将删除操作同步到 Bioyond 系统（出库）
-
- Args:
- resources: 要删除的资源列表
- """
- logger.info(f"[resource_tree_remove] 收到 {len(resources)} 个资源的移除请求（出库操作）")
-
- # ⭐ 关键优化：先找出所有的顶层容器（BottleCarrier），只对它们进行出库
- # 因为在 Bioyond 中，容器（如分装板 1105-12）是一个完整的物料
- # 里面的小瓶子是它的 detail 字段，不需要单独出库
-
- top_level_resources = []
- child_resource_names = set()
-
- # 第一步：识别所有子资源的名称
- for resource in resources:
- resource_category = getattr(resource, "category", None)
- if resource_category == "bottle_carrier":
- children = list(resource.children) if hasattr(resource, 'children') else []
- for child in children:
- child_resource_names.add(child.name)
-
- # 第二步：筛选出顶层资源（不是任何容器的子资源）
- for resource in resources:
- resource_category = getattr(resource, "category", None)
-
- # 跳过仓库类型的资源
- if resource_category == "warehouse":
- logger.debug(f"[resource_tree_remove] 跳过仓库类型资源: {resource.name}")
- continue
-
- # 如果是容器，它就是顶层资源
- if resource_category == "bottle_carrier":
- top_level_resources.append(resource)
- logger.info(f"[resource_tree_remove] 识别到顶层容器资源: {resource.name}")
- # 如果不是任何容器的子资源，它也是顶层资源
- elif resource.name not in child_resource_names:
- top_level_resources.append(resource)
- logger.info(f"[resource_tree_remove] 识别到顶层独立资源: {resource.name}")
- else:
- logger.debug(f"[resource_tree_remove] 跳过子资源（将随容器一起出库）: {resource.name}")
-
- logger.info(f"[resource_tree_remove] 实际需要处理的顶层资源: {len(top_level_resources)} 个")
-
- # 第三步：对每个顶层资源执行出库操作
- for resource in top_level_resources:
- try:
- self._outbound_single_resource(resource)
- except Exception as e:
- logger.error(f"❌ [resource_tree_remove] 处理资源 {resource.name} 出库失败: {e}")
- import traceback
- traceback.print_exc()
-
- logger.info(f"[resource_tree_remove] 资源移除（出库）操作完成")
-
- def _outbound_single_resource(self, resource: ResourcePLR) -> bool:
- """对单个资源执行 Bioyond 出库操作
-
- Args:
- resource: 要出库的资源
-
- Returns:
- bool: 出库是否成功
- """
- try:
- logger.info(f"[resource_tree_remove] 🎯 开始处理资源出库: {resource.name}")
-
- # 获取资源的 Bioyond 信息
- extra_info = getattr(resource, "unilabos_extra", {})
- material_bioyond_id = extra_info.get("material_bioyond_id")
- material_bioyond_name = extra_info.get("material_bioyond_name") # ⭐ 原始 Bioyond 名称
-
- # ⭐ 优先使用保存的 Bioyond ID，避免重复查询
- if material_bioyond_id:
- logger.info(f"✅ [resource_tree_remove] 从资源中获取到 Bioyond ID: {material_bioyond_id[:8]}...")
- if material_bioyond_name and material_bioyond_name != resource.name:
- logger.info(f" 原始 Bioyond 名称: {material_bioyond_name} (当前名称: {resource.name})")
- else:
- # 如果没有 Bioyond ID，尝试按名称查询
- logger.info(f"[resource_tree_remove] 资源 {resource.name} 没有保存 Bioyond ID，尝试查询...")
-
- # ⭐ 优先使用保存的原始 Bioyond 名称，如果没有则使用当前名称
- query_name = material_bioyond_name if material_bioyond_name else resource.name
- logger.info(f"[resource_tree_remove] 查询 Bioyond 系统中的物料: {query_name}")
-
- # 查询所有类型的物料：0=耗材, 1=样品, 2=试剂
- all_materials = []
- for type_mode in [0, 1, 2]:
- query_params = json.dumps({
- "typeMode": type_mode,
- "filter": query_name, # ⭐ 使用原始 Bioyond 名称查询
- "includeDetail": True
- })
- materials = self.hardware_interface.stock_material(query_params)
- if materials:
- all_materials.extend(materials)
-
- # 精确匹配物料名称
- matched_material = None
- for mat in all_materials:
- if mat.get("name") == query_name:
- matched_material = mat
- material_bioyond_id = mat.get("id")
- logger.info(f"✅ [resource_tree_remove] 找到物料 {query_name} 的 Bioyond ID: {material_bioyond_id[:8]}...")
- break
-
- if not matched_material:
- logger.warning(f"⚠️ [resource_tree_remove] Bioyond 系统中未找到物料: {query_name}")
- logger.info(f"[resource_tree_remove] 该物料可能尚未入库或已被删除，跳过出库操作")
- return True
-
- # 获取物料当前所在的库位信息
- logger.info(f"[resource_tree_remove] 📍 查询物料的库位信息...")
-
- # 重新查询物料详情以获取最新的库位信息
- all_materials_type1 = self.hardware_interface.stock_material('{"typeMode": 1, "includeDetail": true}')
- all_materials_type2 = self.hardware_interface.stock_material('{"typeMode": 2, "includeDetail": true}')
- all_materials_type0 = self.hardware_interface.stock_material('{"typeMode": 0, "includeDetail": true}')
- all_materials = (all_materials_type0 or []) + (all_materials_type1 or []) + (all_materials_type2 or [])
-
- location_id = None
- current_quantity = 0
-
- for material in all_materials:
- if material.get("id") == material_bioyond_id:
- locations = material.get("locations", [])
- if locations:
- # 取第一个库位
- location = locations[0]
- location_id = location.get("id")
- current_quantity = location.get("quantity", 1)
- logger.info(f"📍 [resource_tree_remove] 物料位于库位:")
- logger.info(f" - 库位代码: {location.get('code')}")
- logger.info(f" - 仓库名称: {location.get('whName')}")
- logger.info(f" - 数量: {current_quantity}")
- logger.info(f" - 库位ID: {location_id[:8]}...")
- break
- else:
- logger.warning(f"⚠️ [resource_tree_remove] 物料没有库位信息，可能尚未入库")
- return True
-
- if not location_id:
- logger.warning(f"⚠️ [resource_tree_remove] 无法获取物料的库位信息，跳过出库")
- return False
-
- # 调用 Bioyond 出库 API
- logger.info(f"[resource_tree_remove] 📤 调用 Bioyond API 出库物料...")
- logger.info(f" UniLab 名称: {resource.name}")
- if material_bioyond_name and material_bioyond_name != resource.name:
- logger.info(f" Bioyond 名称: {material_bioyond_name}")
- logger.info(f" 物料ID: {material_bioyond_id[:8]}...")
- logger.info(f" 库位ID: {location_id[:8]}...")
- logger.info(f" 出库数量: {current_quantity}")
-
- response = self.hardware_interface.material_outbound_by_id(
- material_id=material_bioyond_id,
- location_id=location_id,
- quantity=current_quantity
- )
-
- if response is not None:
- logger.info(f"✅ [resource_tree_remove] 物料成功从 Bioyond 系统出库")
- return True
- else:
- logger.error(f"❌ [resource_tree_remove] 物料出库失败，API 返回空")
- return False
-
- except Exception as e:
- logger.error(f"❌ [resource_tree_remove] 物料 {resource.name} 出库时发生异常: {e}")
- import traceback
- traceback.print_exc()
- return False
-
- def resource_tree_transfer(self, old_parent: Optional[ResourcePLR], resource: ResourcePLR, new_parent: ResourcePLR) -> None:
- """处理资源在设备间迁移时的同步
-
- 当资源从一个设备迁移到 BioyondWorkstation 时,只创建物料（不入库）
- 入库操作由后续的 resource_tree_add 完成
-
- Args:
- old_parent: 资源的原父节点（可能为 None）
- resource: 要迁移的资源
- new_parent: 资源的新父节点
- """
- logger.info(f"[resource_tree_transfer] 资源迁移: {resource.name}")
- logger.info(f" 旧父节点: {old_parent.name if old_parent else 'None'}")
- logger.info(f" 新父节点: {new_parent.name}")
-
- try:
- # ⭐ Transfer 阶段：只创建物料到 Bioyond 系统，不执行入库
- logger.info(f"[resource_tree_transfer] 开始创建物料 {resource.name} 到 Bioyond 系统（不入库）")
- result = self.resource_synchronizer._create_material_only(resource)
-
- if result:
- logger.info(f"✅ [resource_tree_transfer] 物料 {resource.name} 创建成功，Bioyond ID: {result[:8]}...")
- else:
- logger.warning(f"⚠️ [resource_tree_transfer] 物料 {resource.name} 创建失败")
-
- except Exception as e:
- logger.error(f"❌ [resource_tree_transfer] 资源 {resource.name} 创建异常: {e}")
- import traceback
- traceback.print_exc()
-
- def resource_tree_update(self, resources: List[ResourcePLR]) -> None:
- """处理资源更新时的同步（位置移动、属性修改等）
-
- 当 UniLab 前端更新物料信息时（如修改位置），需要将更新操作同步到 Bioyond 系统
-
- Args:
- resources: 要更新的资源列表
- """
- logger.info(f"[resource_tree_update] 开始同步 {len(resources)} 个资源更新到 Bioyond 系统")
-
- for resource in resources:
- try:
- logger.info(f"[resource_tree_update] 同步资源更新: {resource.name}")
-
- # 调用同步器的 sync_to_external 方法
- # 该方法会检查 unilabos_extra 中的 update_resource_site 字段
- # 如果存在，会执行位置移动操作
- result = self.resource_synchronizer.sync_to_external(resource)
-
- if result:
- logger.info(f"✅ [resource_tree_update] 资源 {resource.name} 成功同步到 Bioyond 系统")
- else:
- logger.warning(f"⚠️ [resource_tree_update] 资源 {resource.name} 同步到 Bioyond 系统失败")
-
- except Exception as e:
- logger.error(f"❌ [resource_tree_update] 同步资源 {resource.name} 时发生异常: {e}")
- import traceback
- traceback.print_exc()
-
- logger.info(f"[resource_tree_update] 资源更新同步完成")
-
- @property
- def bioyond_status(self) -> Dict[str, Any]:
- """获取 Bioyond 系统状态信息
-
- 这个属性被 ROS 节点用来发布设备状态
-
- Returns:
- Dict[str, Any]: Bioyond 系统的状态信息
- - 连接成功时返回 {"connected": True}
- - 连接失败时返回 {"connected": False, "error": "错误信息"}
- """
- try:
- # 检查硬件接口是否存在
- if not self.hardware_interface:
- return {"connected": False, "error": "hardware_interface not initialized"}
-
- # 尝试获取调度器状态来验证连接
- scheduler_status = self.hardware_interface.scheduler_status()
-
- # 如果能成功获取状态，说明连接正常
- if scheduler_status:
- return {"connected": True}
- else:
- return {"connected": False, "error": "scheduler_status returned None"}
-
- except Exception as e:
- logger.warning(f"获取Bioyond状态失败: {e}")
- return {"connected": False, "error": str(e)}
-
- # ==================== 工作流合并与参数设置 API ====================
-
- def append_to_workflow_sequence(self, web_workflow_name: str) -> bool:
- # 检查是否为JSON格式的字符串
- actual_workflow_name = web_workflow_name
- if web_workflow_name.startswith('{') and web_workflow_name.endswith('}'):
- try:
- data = json.loads(web_workflow_name)
- actual_workflow_name = data.get("web_workflow_name", web_workflow_name)
- print(f"解析JSON格式工作流名称: {web_workflow_name} -> {actual_workflow_name}")
- except json.JSONDecodeError:
- print(f"JSON解析失败，使用原始字符串: {web_workflow_name}")
-
- workflow_id = self._get_workflow(actual_workflow_name)
- if workflow_id:
- self.workflow_sequence.append(workflow_id)
- print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
- return True
- return False
-
- def set_workflow_sequence(self, json_str: str) -> List[str]:
- try:
- data = json.loads(json_str)
- web_workflow_names = data.get("web_workflow_names", [])
- except:
- return []
-
- sequence = []
- for web_name in web_workflow_names:
- workflow_id = self._get_workflow(web_name)
- if workflow_id:
- sequence.append(workflow_id)
-
- def get_all_workflows(self) -> Dict[str, str]:
- return self.workflow_mappings.copy()
-
- def _get_workflow(self, web_workflow_name: str) -> str:
- if web_workflow_name not in self.workflow_mappings:
- print(f"未找到工作流映射配置: {web_workflow_name}")
- return ""
- workflow_id = self.workflow_mappings[web_workflow_name]
- print(f"获取工作流: {web_workflow_name} -> {workflow_id}")
- return workflow_id
-
- def _set_workflow_mappings(self, mappings: Dict[str, str]):
- self.workflow_mappings = mappings
- print(f"设置工作流映射配置: {mappings}")
-
- def process_web_workflows(self, json_str: str) -> Dict[str, str]:
- try:
- data = json.loads(json_str)
- web_workflow_list = data.get("web_workflow_list", [])
- except json.JSONDecodeError:
- print(f"无效的JSON字符串: {json_str}")
- return {}
- result = {}
-
- self.workflow_sequence = []
- for web_name in web_workflow_list:
- workflow_id = self._get_workflow(web_name)
- if workflow_id:
- result[web_name] = workflow_id
- self.workflow_sequence.append(workflow_id)
- else:
- print(f"无法获取工作流ID: {web_name}")
- print(f"工作流执行顺序: {self.workflow_sequence}")
- return result
-
- def clear_workflows(self):
- self.workflow_sequence = []
- print("清空工作流执行顺序")
-
- # ==================== 基础物料管理接口 ====================
-
- # ============ 工作站状态管理 ============
- def get_station_info(self) -> Dict[str, Any]:
- """获取工作站基础信息
-
- Returns:
- Dict[str, Any]: 工作站基础信息，包括设备ID、状态等
- """
- return {
- "device_id": getattr(self._ros_node, 'device_id', 'unknown'),
- "station_type": "BioyondWorkstation",
- "workflow_status": self.current_workflow_status.value if hasattr(self, 'current_workflow_status') else "unknown",
- "is_busy": getattr(self, 'is_busy', False),
- "deck_info": {
- "name": self.deck.name if self.deck and hasattr(self.deck, 'name') else "unknown",
- "children_count": len(self.deck.children) if self.deck and hasattr(self.deck, 'children') else 0
- } if self.deck else None,
- "hardware_interface": type(self.hardware_interface).__name__ if self.hardware_interface else None
- }
-
- def get_workstation_status(self) -> Dict[str, Any]:
- """获取工作站状态
-
- Returns:
- Dict[str, Any]: 工作站状态信息
- """
- try:
- # 获取基础工作站状态
- base_status = {
- "station_info": self.get_station_info(),
- "bioyond_status": self.bioyond_status
- }
-
- # 如果有接口，获取设备列表
- if self.hardware_interface:
- try:
- devices = self.hardware_interface.device_list()
- base_status["devices"] = devices
- except Exception as e:
- logger.warning(f"获取设备列表失败: {e}")
- base_status["devices"] = []
-
- return {
- "success": True,
- "data": base_status,
- "action": "get_workstation_status"
- }
-
- except Exception as e:
- error_msg = f"获取工作站状态失败: {str(e)}"
- logger.error(error_msg)
- return {
- "success": False,
- "message": error_msg,
- "action": "get_workstation_status"
- }
-
- def get_bioyond_status(self) -> Dict[str, Any]:
- """获取完整的 Bioyond 状态信息
-
- 这个方法提供了比 bioyond_status 属性更详细的状态信息，
- 包括错误处理和格式化的响应结构
-
- Returns:
- Dict[str, Any]: 格式化的 Bioyond 状态响应
- """
- try:
- status = self.bioyond_status
- return {
- "success": True,
- "data": status,
- "action": "get_bioyond_status"
- }
-
- except Exception as e:
- error_msg = f"获取 Bioyond 状态失败: {str(e)}"
- logger.error(error_msg)
- return {
- "success": False,
- "message": error_msg,
- "action": "get_bioyond_status"
- }
-
- def reset_workstation(self) -> Dict[str, Any]:
- """重置工作站
-
- 重置工作站到初始状态
-
- Returns:
- Dict[str, Any]: 操作结果
- """
- try:
- logger.info("开始重置工作站")
-
- # 重置调度器
- if self.hardware_interface:
- self.hardware_interface.scheduler_reset()
-
- # 刷新物料缓存
- if self.hardware_interface:
- self.hardware_interface.refresh_material_cache()
-
- # 重新同步资源
- if self.resource_synchronizer:
- self.resource_synchronizer.sync_from_external()
-
- logger.info("工作站重置完成")
- return {
- "success": True,
- "message": "工作站重置成功",
- "action": "reset_workstation"
- }
-
- except Exception as e:
- error_msg = f"重置工作站失败: {str(e)}"
- logger.error(error_msg)
- return {
- "success": False,
- "message": error_msg,
- "action": "reset_workstation"
- }
-
- # ==================== HTTP 报送处理方法 ====================
-
- def process_step_finish_report(self, report_request) -> Dict[str, Any]:
- """处理步骤完成报送
-
- Args:
- report_request: WorkstationReportRequest 对象，包含步骤完成信息
-
- Returns:
- Dict[str, Any]: 处理结果
- """
- try:
- data = report_request.data
- logger.info(f"[步骤完成报送] 订单: {data.get('orderCode')}, 步骤: {data.get('stepName')}")
- logger.info(f" 样品ID: {data.get('sampleId')}")
- logger.info(f" 开始时间: {data.get('startTime')}")
- logger.info(f" 结束时间: {data.get('endTime')}")
-
- # TODO: 根据实际业务需求处理步骤完成逻辑
- # 例如：更新数据库、触发后续流程等
-
- return {
- "processed": True,
- "step_id": data.get('stepId'),
- "timestamp": datetime.now().isoformat()
- }
-
- except Exception as e:
- logger.error(f"处理步骤完成报送失败: {e}")
- return {"processed": False, "error": str(e)}
-
- def process_sample_finish_report(self, report_request) -> Dict[str, Any]:
- """处理通量完成报送
-
- Args:
- report_request: WorkstationReportRequest 对象，包含通量完成信息
-
- Returns:
- Dict[str, Any]: 处理结果
- """
- try:
- data = report_request.data
- status_names = {
- "0": "待生产", "2": "进样", "10": "开始",
- "20": "完成", "-2": "异常停止", "-3": "人工停止"
- }
- status_desc = status_names.get(str(data.get('status')), f"状态{data.get('status')}")
-
- logger.info(f"[通量完成报送] 订单: {data.get('orderCode')}, 样品: {data.get('sampleId')}")
- logger.info(f" 状态: {status_desc}")
- logger.info(f" 开始时间: {data.get('startTime')}")
- logger.info(f" 结束时间: {data.get('endTime')}")
-
- # TODO: 根据实际业务需求处理通量完成逻辑
-
- return {
- "processed": True,
- "sample_id": data.get('sampleId'),
- "status": data.get('status'),
- "timestamp": datetime.now().isoformat()
- }
-
- except Exception as e:
- logger.error(f"处理通量完成报送失败: {e}")
- return {"processed": False, "error": str(e)}
-
- def process_order_finish_report(self, report_request, used_materials: List) -> Dict[str, Any]:
- """处理任务完成报送
-
- Args:
- report_request: WorkstationReportRequest 对象，包含任务完成信息
- used_materials: 物料使用记录列表
-
- Returns:
- Dict[str, Any]: 处理结果
- """
- try:
- data = report_request.data
- status_names = {"30": "完成", "-11": "异常停止", "-12": "人工停止"}
- status_desc = status_names.get(str(data.get('status')), f"状态{data.get('status')}")
-
- logger.info(f"[任务完成报送] 订单: {data.get('orderCode')} - {data.get('orderName')}")
- logger.info(f" 状态: {status_desc}")
- logger.info(f" 开始时间: {data.get('startTime')}")
- logger.info(f" 结束时间: {data.get('endTime')}")
- logger.info(f" 使用物料数量: {len(used_materials)}")
-
- # 记录物料使用情况
- for material in used_materials:
- logger.debug(f" 物料: {material.materialId}, 用量: {material.usedQuantity}")
-
- # TODO: 根据实际业务需求处理任务完成逻辑
- # 例如：更新物料库存、生成报表等
-
- return {
- "processed": True,
- "order_code": data.get('orderCode'),
- "status": data.get('status'),
- "materials_count": len(used_materials),
- "timestamp": datetime.now().isoformat()
- }
-
- except Exception as e:
- logger.error(f"处理任务完成报送失败: {e}")
- return {"processed": False, "error": str(e)}
-
- def process_material_change_report(self, report_data: Dict[str, Any]) -> Dict[str, Any]:
- """处理物料变更报送
-
- Args:
- report_data: 物料变更数据
-
- Returns:
- Dict[str, Any]: 处理结果
- """
- try:
- logger.info(f"[物料变更报送] 工作站: {report_data.get('workstation_id')}")
- logger.info(f" 资源ID: {report_data.get('resource_id')}")
- logger.info(f" 变更类型: {report_data.get('change_type')}")
- logger.info(f" 时间戳: {report_data.get('timestamp')}")
-
- # TODO: 根据实际业务需求处理物料变更逻辑
- # 例如：同步到资源树、更新Bioyond系统等
-
- return {
- "processed": True,
- "resource_id": report_data.get('resource_id'),
- "change_type": report_data.get('change_type'),
- "timestamp": datetime.now().isoformat()
- }
-
- except Exception as e:
- logger.error(f"处理物料变更报送失败: {e}")
- return {"processed": False, "error": str(e)}
-
-
- def handle_external_error(self, error_data: Dict[str, Any]) -> Dict[str, Any]:
- """处理错误处理报送
-
- Args:
- error_data: 错误数据（可能是奔曜格式或标准格式）
-
- Returns:
- Dict[str, Any]: 处理结果
- """
- try:
- # 检查是否为奔曜格式
- if 'task' in error_data and 'code' in error_data:
- # 奔曜格式
- logger.error(f"[错误处理报送-奔曜] 任务: {error_data.get('task')}")
- logger.error(f" 错误代码: {error_data.get('code')}")
- logger.error(f" 错误信息: {error_data.get('message', '无')}")
- error_type = "bioyond_error"
- else:
- # 标准格式
- logger.error(f"[错误处理报送] 工作站: {error_data.get('workstation_id')}")
- logger.error(f" 错误类型: {error_data.get('error_type')}")
- logger.error(f" 错误信息: {error_data.get('error_message')}")
- error_type = error_data.get('error_type', 'unknown')
-
- # TODO: 根据实际业务需求处理错误
- # 例如：记录日志、发送告警、触发恢复流程等
-
- return {
- "handled": True,
- "error_type": error_type,
- "timestamp": datetime.now().isoformat()
- }
-
- except Exception as e:
- logger.error(f"处理错误报送失败: {e}")
- return {"handled": False, "error": str(e)}
-
- # ==================== 文件加载与其他功能 ====================
-
- def load_bioyond_data_from_file(self, file_path: str) -> bool:
- """从文件加载Bioyond数据（用于测试）"""
- try:
- with open(file_path, "r", encoding="utf-8") as f:
- bioyond_data = json.load(f)
-
- logger.info(f"从文件加载Bioyond数据: {file_path}")
-
- # 转换为UniLab格式
- unilab_resources = resource_bioyond_to_plr(
- bioyond_data,
- type_mapping=self.bioyond_config["material_type_mappings"],
- deck=self.deck
- )
-
- logger.info(f"成功加载 {len(unilab_resources)} 个资源")
- return True
-
- except Exception as e:
- logger.error(f"从文件加载Bioyond数据失败: {e}")
- return False
-
-
-# 使用示例
-def create_bioyond_workstation_example():
- """创建Bioyond工作站示例"""
-
- # 配置参数
- device_id = "bioyond_workstation_001"
-
- # 子资源配置
- children = {
- "plate_1": {
- "name": "plate_1",
- "type": "plate",
- "position": {"x": 100, "y": 100, "z": 0},
- "config": {
- "size_x": 127.76,
- "size_y": 85.48,
- "size_z": 14.35,
- "model": "Generic 96 Well Plate"
- }
- }
- }
-
- # Bioyond配置
- bioyond_config = {
- "base_url": "http://bioyond.example.com/api",
- "api_key": "your_api_key_here",
- "sync_interval": 60, # 60秒同步一次
- "timeout": 30
- }
-
- # Deck配置
- deck_config = {
- "size_x": 1000.0,
- "size_y": 1000.0,
- "size_z": 100.0,
- "model": "BioyondDeck"
- }
-
- # 创建工作站
- workstation = BioyondWorkstation(
- station_resource=deck_config,
- bioyond_config=bioyond_config,
- deck_config=deck_config,
- )
-
- return workstation
-
-
-if __name__ == "__main__":
- pass
diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
deleted file mode 100644
index f663a217..00000000
--- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
+++ /dev/null
@@ -1,1289 +0,0 @@
-"""
-纽扣电池组装工作站物料类定义
-Button Battery Assembly Station Resource Classes
-"""
-
-from __future__ import annotations
-
-from collections import OrderedDict
-from typing import Any, Dict, List, Optional, TypedDict, Union, cast
-
-from pylabrobot.resources.coordinate import Coordinate
-from pylabrobot.resources.container import Container
-from pylabrobot.resources.deck import Deck
-from pylabrobot.resources.itemized_resource import ItemizedResource
-from pylabrobot.resources.resource import Resource
-from pylabrobot.resources.resource_stack import ResourceStack
-from pylabrobot.resources.tip_rack import TipRack, TipSpot
-from pylabrobot.resources.trash import Trash
-from pylabrobot.resources.utils import create_ordered_items_2d
-
-
-class ElectrodeSheetState(TypedDict):
- diameter: float # 直径 (mm)
- thickness: float # 厚度 (mm)
- mass: float # 质量 (g)
- material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）
- info: Optional[str] # 附加信息
-
-class ElectrodeSheet(Resource):
- """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
-
- def __init__(
- self,
- name: str = "极片",
- size_x=10,
- size_y=10,
- size_z=10,
- category: str = "electrode_sheet",
- model: Optional[str] = None,
- ):
- """初始化极片
-
- Args:
- name: 极片名称
- category: 类别
- model: 型号
- """
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- category=category,
- model=model,
- )
- self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
- diameter=14,
- thickness=0.1,
- mass=0.5,
- material_type="copper",
- info=None
- )
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
- #序列化
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
-
-# TODO: 这个应该只能放一个极片
-class MaterialHoleState(TypedDict):
- diameter: int
- depth: int
- max_sheets: int
- info: Optional[str] # 附加信息
-
-class MaterialHole(Resource):
- """料板洞位类"""
- children: List[ElectrodeSheet] = []
-
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- category: str = "material_hole",
- **kwargs
- ):
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- category=category,
- )
- self._unilabos_state: MaterialHoleState = MaterialHoleState(
- diameter=20,
- depth=10,
- max_sheets=1,
- info=None
- )
-
- def get_all_sheet_info(self):
- info_list = []
- for sheet in self.children:
- info_list.append(sheet._unilabos_state["info"])
- return info_list
-
- #这个函数函数好像没用，一般不会集中赋值质量
- def set_all_sheet_mass(self):
- for sheet in self.children:
- sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
- #移动极片前先取出对象
- def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
- for sheet in self.children:
- if sheet.name == name:
- return sheet
- return None
-
- def has_electrode_sheet(self) -> bool:
- """检查洞位是否有极片"""
- return len(self.children) > 0
-
- def assign_child_resource(
- self,
- resource: ElectrodeSheet,
- location: Optional[Coordinate],
- reassign: bool = True,
- ):
- """放置极片"""
- # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
- if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
- raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
- if len(self.children) >= self._unilabos_state["max_sheets"]:
- raise ValueError(f"洞位已满，无法放置更多极片")
- super().assign_child_resource(resource, location, reassign)
-
- # 根据children的编号取物料对象。
- def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
- return self.children[index]
-
-
-
-class MaterialPlateState(TypedDict):
- hole_spacing_x: float
- hole_spacing_y: float
- hole_diameter: float
- info: Optional[str] # 附加信息
-
-
-
-class MaterialPlate(ItemizedResource[MaterialHole]):
- """料板类 - 4x4个洞位，每个洞位放1个极片"""
-
- children: List[MaterialHole]
-
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- ordered_items: Optional[Dict[str, MaterialHole]] = None,
- ordering: Optional[OrderedDict[str, str]] = None,
- category: str = "material_plate",
- model: Optional[str] = None,
- fill: bool = False
- ):
- """初始化料板
-
- 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
- """
- self._unilabos_state: MaterialPlateState = MaterialPlateState(
- hole_spacing_x=24.0,
- hole_spacing_y=24.0,
- hole_diameter=20.0,
- info="",
- )
- # 创建4x4的洞位
- # TODO: 这里要改，对应不同形状
- 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
- 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,
- )
- 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
- holes = create_ordered_items_2d(
- klass=MaterialHole,
- num_items_x=4,
- num_items_y=4,
- dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
- dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
- dz=self._size_z,
- item_dx=self._unilabos_state["hole_spacing_x"],
- item_dy=self._unilabos_state["hole_spacing_y"],
- size_x = 1,
- size_y = 1,
- size_z = 1,
- )
- for item, original_item in zip(holes.items(), self.children):
- original_item.location = item[1].location
-
-
-class PlateSlot(ResourceStack):
- """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
-
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- max_plates: int = 8,
- category: str = "plate_slot",
- model: Optional[str] = None
- ):
- """初始化板槽位
-
- Args:
- name: 槽位名称
- max_plates: 最大板数量
- category: 类别
- """
- super().__init__(
- name=name,
- direction="z", # Z方向堆叠
- resources=[],
- )
- self.max_plates = max_plates
- self.category = category
-
- def can_add_plate(self) -> bool:
- """检查是否可以添加板"""
- return len(self.children) < self.max_plates
-
- def add_plate(self, plate: MaterialPlate) -> None:
- """添加料板"""
- if not self.can_add_plate():
- raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
- self.assign_child_resource(plate)
-
- def get_top_plate(self) -> MaterialPlate:
- """获取最上方的板"""
- if len(self.children) == 0:
- raise ValueError(f"槽位 {self.name} 为空")
- return cast(MaterialPlate, self.get_top_item())
-
- def take_top_plate(self) -> MaterialPlate:
- """取出最上方的板"""
- top_plate = self.get_top_plate()
- self.unassign_child_resource(top_plate)
- return top_plate
-
- def can_access_for_picking(self) -> bool:
- """检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
- return len(self.children) > 0
-
- def serialize(self) -> dict:
- return {
- **super().serialize(),
- "max_plates": self.max_plates,
- }
-
-
-class ClipMagazineHole(Container):
- """子弹夹洞位类"""
- children: List[ElectrodeSheet] = []
- def __init__(
- self,
- name: str,
- diameter: float,
- depth: float,
- category: str = "clip_magazine_hole",
- ):
- """初始化子弹夹洞位
-
- Args:
- name: 洞位名称
- diameter: 洞直径 (mm)
- depth: 洞深度 (mm)
- category: 类别
- """
- super().__init__(
- name=name,
- size_x=diameter,
- size_y=diameter,
- size_z=depth,
- category=category,
- )
- self.diameter = diameter
- self.depth = depth
-
- def can_add_sheet(self, sheet: ElectrodeSheet) -> bool:
- """检查是否可以添加极片
-
- 根据洞的深度和极片的厚度来判断是否可以添加极片
- """
- # 检查极片直径是否适合洞的直径
- if sheet._unilabos_state["diameter"] > self.diameter:
- return False
-
- # 计算当前已添加极片的总厚度
- current_thickness = sum(s._unilabos_state["thickness"] for s in self.children)
-
- # 检查添加新极片后总厚度是否超过洞的深度
- if current_thickness + sheet._unilabos_state["thickness"] > self.depth:
- return False
-
- return True
-
-
- def assign_child_resource(
- self,
- resource: ElectrodeSheet,
- location: Optional[Coordinate] = None,
- reassign: bool = True,
- ):
- """放置极片到洞位中
-
- Args:
- resource: 要放置的极片
- location: 极片在洞位中的位置（对于洞位，通常为None）
- reassign: 是否允许重新分配
- """
- # 检查是否可以添加极片
- if not self.can_add_sheet(resource):
- raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配")
-
- # 调用父类方法实际执行分配
- super().assign_child_resource(resource, location, reassign)
-
- def unassign_child_resource(self, resource: ElectrodeSheet):
- """从洞位中移除极片
-
- Args:
- resource: 要移除的极片
- """
- if resource not in self.children:
- raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中")
-
- # 调用父类方法实际执行移除
- super().unassign_child_resource(resource)
-
-
-
- def serialize_state(self) -> Dict[str, Any]:
- return {
- "sheet_count": len(self.children),
- "sheets": [sheet.serialize() for sheet in self.children],
- }
-class ClipMagazine_four(ItemizedResource[ClipMagazineHole]):
- """子弹夹类 - 有4个洞位，每个洞位放多个极片"""
- children: List[ClipMagazineHole]
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- hole_diameter: float = 14.0,
- hole_depth: float = 10.0,
- hole_spacing: float = 25.0,
- max_sheets_per_hole: int = 100,
- category: str = "clip_magazine_four",
- model: Optional[str] = None,
- ):
- """初始化子弹夹
-
- Args:
- name: 子弹夹名称
- 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: 洞位间距 (mm)
- max_sheets_per_hole: 每个洞位最大极片数量
- category: 类别
- model: 型号
- """
- # 创建4个洞位，排成2x2布局
- holes = create_ordered_items_2d(
- klass=ClipMagazineHole,
- num_items_x=2,
- num_items_y=2,
- dx=(size_x - 2 * hole_spacing) / 2, # 居中
- dy=(size_y - hole_spacing) / 2, # 居中
- dz=size_z - 0,
- item_dx=hole_spacing,
- item_dy=hole_spacing,
- diameter=hole_diameter,
- depth=hole_depth,
- )
-
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- ordered_items=holes,
- category=category,
- model=model,
- )
-
- # 保存洞位的直径和深度
- self.hole_diameter = hole_diameter
- self.hole_depth = hole_depth
- self.max_sheets_per_hole = max_sheets_per_hole
-
- def serialize(self) -> dict:
- return {
- **super().serialize(),
- "hole_diameter": self.hole_diameter,
- "hole_depth": self.hole_depth,
- "max_sheets_per_hole": self.max_sheets_per_hole,
- }
-# TODO: 这个要改
-class ClipMagazine(ItemizedResource[ClipMagazineHole]):
- """子弹夹类 - 有6个洞位，每个洞位放多个极片"""
- children: List[ClipMagazineHole]
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- hole_diameter: float = 14.0,
- hole_depth: float = 10.0,
- hole_spacing: float = 25.0,
- max_sheets_per_hole: int = 100,
- category: str = "clip_magazine",
- model: Optional[str] = None,
- ):
- """初始化子弹夹
-
- Args:
- name: 子弹夹名称
- 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: 洞位间距 (mm)
- max_sheets_per_hole: 每个洞位最大极片数量
- category: 类别
- model: 型号
- """
- # 创建6个洞位，排成2x3布局
- holes = create_ordered_items_2d(
- klass=ClipMagazineHole,
- num_items_x=3,
- num_items_y=2,
- dx=(size_x - 2 * hole_spacing) / 2, # 居中
- dy=(size_y - hole_spacing) / 2, # 居中
- dz=size_z - 0,
- item_dx=hole_spacing,
- item_dy=hole_spacing,
- diameter=hole_diameter,
- depth=hole_depth,
- )
-
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- ordered_items=holes,
- category=category,
- model=model,
- )
-
- # 保存洞位的直径和深度
- self.hole_diameter = hole_diameter
- self.hole_depth = hole_depth
- self.max_sheets_per_hole = max_sheets_per_hole
-
- def serialize(self) -> dict:
- return {
- **super().serialize(),
- "hole_diameter": self.hole_diameter,
- "hole_depth": self.hole_depth,
- "max_sheets_per_hole": self.max_sheets_per_hole,
- }
-#是一种类型注解，不用self
-class BatteryState(TypedDict):
- """电池状态字典"""
- diameter: float
- height: float
-
- electrolyte_name: str
- electrolyte_volume: float
-
-class Battery(Resource):
- """电池类 - 可容纳极片"""
- children: List[ElectrodeSheet] = []
-
- def __init__(
- self,
- name: str,
- category: str = "battery",
- ):
- """初始化电池
-
- Args:
- name: 电池名称
- diameter: 直径 (mm)
- height: 高度 (mm)
- max_volume: 最大容量 (μL)
- barcode: 二维码编号
- category: 类别
- model: 型号
- """
- super().__init__(
- name=name,
- size_x=1,
- size_y=1,
- size_z=1,
- category=category,
- )
- self._unilabos_state: BatteryState = BatteryState()
-
- def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
- to_add_name = bottle._unilabos_state["electrolyte_name"]
- if bottle.aspirate_electrolyte(10):
- if self.add_electrolyte(to_add_name, 10):
- pass
- else:
- bottle._unilabos_state["electrolyte_volume"] += 10
-
- def set_electrolyte(self, name: str, volume: float) -> None:
- """设置电解液信息"""
- self._unilabos_state["electrolyte_name"] = name
- self._unilabos_state["electrolyte_volume"] = volume
- #这个应该没用，不会有加了后再加的事情
- def add_electrolyte(self, name: str, volume: float) -> bool:
- """添加电解液信息"""
- if name != self._unilabos_state["electrolyte_name"]:
- return False
- self._unilabos_state["electrolyte_volume"] += volume
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
-
-# 电解液作为属性放进去
-
-class BatteryPressSlotState(TypedDict):
- """电池状态字典"""
- diameter: float =20.0
- depth: float = 4.0
-
-class BatteryPressSlot(Resource):
- """电池压制槽类 - 设备，可容纳一个电池"""
- children: List[Battery] = []
-
- def __init__(
- self,
- name: str = "BatteryPressSlot",
- category: str = "battery_press_slot",
- ):
- """初始化电池压制槽
-
- Args:
- name: 压制槽名称
- diameter: 直径 (mm)
- depth: 深度 (mm)
- category: 类别
- model: 型号
- """
- super().__init__(
- name=name,
- size_x=10,
- size_y=12,
- size_z=13,
- category=category,
- )
- self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
-
- def has_battery(self) -> bool:
- """检查是否有电池"""
- return len(self.children) > 0
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
-
- def assign_child_resource(
- self,
- resource: Battery,
- location: Optional[Coordinate],
- reassign: bool = True,
- ):
- """放置极片"""
- if self.has_battery():
- raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
- super().assign_child_resource(resource, location, reassign)
-
- # 根据children的编号取物料对象。
- def get_battery_info(self, index: int) -> Battery:
- return self.children[0]
-
-class TipBox64State(TypedDict):
- """电池状态字典"""
- tip_diameter: float = 5.0
- tip_length: float = 50.0
- with_tips: bool = True
-
-class TipBox64(TipRack):
- """64孔枪头盒类"""
-
- children: List[TipSpot] = []
- def __init__(
- self,
- name: str,
- size_x: float = 127.8,
- size_y: float = 85.5,
- size_z: float = 60.0,
- category: str = "tip_box_64",
- model: Optional[str] = None,
- ):
- """初始化64孔枪头盒
-
- Args:
- name: 枪头盒名称
- size_x: 长度 (mm)
- size_y: 宽度 (mm)
- size_z: 高度 (mm)
- tip_diameter: 枪头直径 (mm)
- tip_length: 枪头长度 (mm)
- category: 类别
- model: 型号
- with_tips: 是否带枪头
- """
- from pylabrobot.resources.tip import Tip
-
- # 创建8x8=64个枪头位
- def make_tip():
- return Tip(
- has_filter=False,
- total_tip_length=20.0,
- maximal_volume=1000, # 1mL
- fitting_depth=8.0,
- )
-
- tip_spots = create_ordered_items_2d(
- klass=TipSpot,
- num_items_x=8,
- num_items_y=8,
- dx=8.0,
- dy=8.0,
- dz=0.0,
- item_dx=9.0,
- item_dy=9.0,
- size_x=10,
- size_y=10,
- size_z=0.0,
- make_tip=make_tip,
- )
- self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
- # 记录网格参数用于前端渲染
- self._grid_params = {
- "num_items_x": 8,
- "num_items_y": 8,
- "dx": 8.0,
- "dy": 8.0,
- "item_dx": 9.0,
- "item_dy": 9.0,
- }
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- ordered_items=tip_spots,
- category=category,
- model=model,
- with_tips=True,
- )
-
- def serialize(self) -> dict:
- return {
- **super().serialize(),
- **self._grid_params,
- }
-
-
-
-class WasteTipBoxstate(TypedDict):
- """"废枪头盒状态字典"""
- max_tips: int = 100
- tip_count: int = 0
-
-#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
-class WasteTipBox(Trash):
- """废枪头盒类 - 100个枪头容量"""
-
- def __init__(
- self,
- name: str,
- size_x: float = 127.8,
- size_y: float = 85.5,
- size_z: float = 60.0,
- category: str = "waste_tip_box",
- model: Optional[str] = None,
- ):
- """初始化废枪头盒
-
- Args:
- name: 废枪头盒名称
- size_x: 长度 (mm)
- size_y: 宽度 (mm)
- size_z: 高度 (mm)
- max_tips: 最大枪头容量
- category: 类别
- model: 型号
- """
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- category=category,
- model=model,
- )
- self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
-
- def add_tip(self) -> None:
- """添加废枪头"""
- if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
- raise ValueError(f"废枪头盒 {self.name} 已满")
- self._unilabos_state["tip_count"] += 1
-
- def get_tip_count(self) -> int:
- """获取枪头数量"""
- return self._unilabos_state["tip_count"]
-
- def empty(self) -> None:
- """清空废枪头盒"""
- self._unilabos_state["tip_count"] = 0
-
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
-
-
-class BottleRackState(TypedDict):
- """ bottle_diameter: 瓶子直径 (mm)
- bottle_height: 瓶子高度 (mm)
- position_spacing: 位置间距 (mm)"""
- bottle_diameter: float
- bottle_height: float
- name_to_index: dict
-
-
-class BottleRackState(TypedDict):
- """ bottle_diameter: 瓶子直径 (mm)
- bottle_height: 瓶子高度 (mm)
- position_spacing: 位置间距 (mm)"""
- bottle_diameter: float
- bottle_height: float
- position_spacing: float
- name_to_index: dict
-
-
-class BottleRack(Resource):
- """瓶架类 - 12个待配位置+12个已配位置"""
- children: List[Resource] = []
-
- def __init__(
- self,
- name: str,
- size_x: float,
- size_y: float,
- size_z: float,
- category: str = "bottle_rack",
- model: Optional[str] = None,
- num_items_x: int = 3,
- num_items_y: int = 4,
- position_spacing: float = 35.0,
- orientation: str = "horizontal",
- padding_x: float = 20.0,
- padding_y: float = 20.0,
- ):
- """初始化瓶架
-
- Args:
- name: 瓶架名称
- size_x: 长度 (mm)
- size_y: 宽度 (mm)
- size_z: 高度 (mm)
- category: 类别
- model: 型号
- """
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- category=category,
- model=model,
- )
- # 初始化状态
- self._unilabos_state: BottleRackState = BottleRackState(
- bottle_diameter=30.0,
- bottle_height=100.0,
- position_spacing=position_spacing,
- name_to_index={},
- )
- # 基于网格生成瓶位坐标映射（居中摆放）
- # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥）
- origin_x = padding_x
- origin_y = padding_y
- self.index_to_pos = {}
- for j in range(num_items_y):
- for i in range(num_items_x):
- idx = j * num_items_x + i
- if orientation == "vertical":
- # 纵向：沿 y 方向优先排列
- self.index_to_pos[idx] = Coordinate(
- x=origin_x + j * position_spacing,
- y=origin_y + i * position_spacing,
- z=0,
- )
- else:
- # 横向（默认）：沿 x 方向优先排列
- self.index_to_pos[idx] = Coordinate(
- x=origin_x + i * position_spacing,
- y=origin_y + j * position_spacing,
- z=0,
- )
- self.name_to_index = {}
- self.name_to_pos = {}
- self.num_items_x = num_items_x
- self.num_items_y = num_items_y
- self.orientation = orientation
- self.padding_x = padding_x
- self.padding_y = padding_y
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(
- self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
-
- # TODO: 这里有些问题要重新写一下
- def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True):
- capacity = self.num_items_x * self.num_items_y
- assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子"
- index = len(self.children)
- location = self.index_to_pos.get(index, Coordinate.zero())
- self.name_to_pos[resource.name] = location
- self.name_to_index[resource.name] = index
- return super().assign_child_resource(resource, location, reassign)
-
- def assign_child_resource(self, resource: Resource, index: int):
- capacity = self.num_items_x * self.num_items_y
- assert 0 <= index < capacity, "无效的瓶子索引"
- self.name_to_index[resource.name] = index
- location = self.index_to_pos[index]
- return super().assign_child_resource(resource, location)
-
- def unassign_child_resource(self, resource: Bottle):
- super().unassign_child_resource(resource)
- self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
-
- def serialize(self) -> dict:
- return {
- **super().serialize(),
- "num_items_x": self.num_items_x,
- "num_items_y": self.num_items_y,
- "position_spacing": self._unilabos_state.get("position_spacing", 35.0),
- "orientation": self.orientation,
- "padding_x": self.padding_x,
- "padding_y": self.padding_y,
- }
-
-
-class BottleState(TypedDict):
- diameter: float
- height: float
- electrolyte_name: str
- electrolyte_volume: float
- max_volume: float
-
-class Bottle(Resource):
- """瓶子类 - 容纳电解液"""
-
- def __init__(
- self,
- name: str,
- category: str = "bottle",
- ):
- """初始化瓶子
-
- Args:
- name: 瓶子名称
- diameter: 直径 (mm)
- height: 高度 (mm)
- max_volume: 最大体积 (μL)
- barcode: 二维码
- category: 类别
- model: 型号
- """
- super().__init__(
- name=name,
- size_x=1,
- size_y=1,
- size_z=1,
- category=category,
- )
- self._unilabos_state: BottleState = BottleState()
-
- def aspirate_electrolyte(self, volume: float) -> bool:
- current_volume = self._unilabos_state["electrolyte_volume"]
- assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available."
- self._unilabos_state["electrolyte_volume"] -= volume
- return True
-
- def load_state(self, state: Dict[str, Any]) -> None:
- """格式不变"""
- super().load_state(state)
- self._unilabos_state = state
-
- def serialize_state(self) -> Dict[str, Dict[str, Any]]:
- """格式不变"""
- data = super().serialize_state()
- data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
- return data
-
-class CoincellDeck(Deck):
- """纽扣电池组装工作站台面类"""
-
- def __init__(
- self,
- name: str = "coin_cell_deck",
- size_x: float = 1620.0, # 3.66m
- size_y: float = 1270.0, # 1.23m
- size_z: float = 500.0,
- origin: Coordinate = Coordinate(0, 0, 0),
- category: str = "coin_cell_deck",
- ):
- """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) - 3.66m
- size_y: 宽度 (mm) - 1.23m
- size_z: 高度 (mm)
- origin: 原点坐标
- category: 类别
- """
- super().__init__(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- origin=origin,
- category=category,
- )
-
-#if __name__ == "__main__":
-# # 转移极片的测试代码
-# deck = CoincellDeck("coin_cell_deck")
-# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8)
-# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0))
-#
-# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True)
-# for i, hole in enumerate(plate_1.children):
-# sheet = ElectrodeSheet(f"hole_{i}_sheet_1")
-# sheet._unilabos_state = {
-# "diameter": 14,
-# "info": "NMC",
-# "mass": 5.0,
-# "material_type": "positive_electrode",
-# "thickness": 0.1
-# }
-# hole._unilabos_state = {
-# "depth": 1.0,
-# "diameter": 14,
-# "info": "",
-# "max_sheets": 1
-# }
-# hole.assign_child_resource(sheet, Coordinate.zero())
-# plate_1._unilabos_state = {
-# "hole_spacing_x": 20.0,
-# "hole_spacing_y": 20.0,
-# "hole_diameter": 5,
-# "info": "这是第一块料板"
-# }
-# plate_1.update_locations()
-# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero())
-# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1)
-# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0))
-#
-# from unilabos.resources.graphio import *
-# A = tree_to_list([resource_plr_to_ulab(deck)])
-# with open("test.json", "w") as f:
-# json.dump(A, f)
-#
-#
-#def get_plate_with_14mm_hole(name=""):
-# plate = MaterialPlate(name=name)
-# for i in range(4):
-# for j in range(4):
-# hole = MaterialHole(f"{i+1}x{j+1}")
-# hole._unilabos_state["diameter"] = 14
-# hole._unilabos_state["max_sheets"] = 1
-# plate.assign_child_resource(hole)
-# return plate
-
-def create_a_liaopan():
- liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
- for i in range(16):
- jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1)
- liaopan1.children[i].assign_child_resource(jipian, location=None)
- return liaopan
-
-def create_a_coin_cell_deck():
- deck = Deck(size_x=1200,
- size_y=800,
- size_z=900)
-
- #liaopan = TipBox64(name="liaopan")
-
- #创建一个4*4的物料板
- liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
- #把物料板放到桌子上
- deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))
- #创建一个极片
- for i in range(16):
- jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1)
- liaopan1.children[i].assign_child_resource(jipian, location=None)
- #创建一个4*4的物料板
- liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
- #把物料板放到桌子上
- deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))
-
- #创建一个4*4的物料板
- liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)
- #把物料板放到桌子上
- deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0))
-
- print(deck)
-
- return deck
-
-
-import json
-
-if __name__ == "__main__":
- electrode1 = BatteryPressSlot()
- #print(electrode1.get_size_x())
- #print(electrode1.get_size_y())
- #print(electrode1.get_size_z())
- #jipian = ElectrodeSheet()
- #jipian._unilabos_state["diameter"] = 18
- #print(jipian.serialize())
- #print(jipian.serialize_state())
-
- deck = CoincellDeck()
- """======================================子弹夹============================================"""
- zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0))
- zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0))
- zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0))
- zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0))
- zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0))
- zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0))
- zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0))
- zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10)
- deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0))
- for i in range(4):
- jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia2.children[i].assign_child_resource(jipian, location=None)
- for i in range(4):
- jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia.children[i].assign_child_resource(jipian2, location=None)
- for i in range(6):
- jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None)
- for i in range(6):
- jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None)
- for i in range(6):
- jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None)
- for i in range(6):
- jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None)
- for i in range(6):
- jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None)
- for i in range(6):
- jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None)
- """======================================子弹夹============================================"""
- #liaopan = TipBox64(name="liaopan")
- """======================================物料板============================================"""
- #创建一个4*4的物料板
- liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True)
- deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0))
- for i in range(16):
- jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- liaopan1.children[i].assign_child_resource(jipian_1, location=None)
-
- liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True)
- deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0))
-
- liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True)
- deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0))
-
- liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True)
- deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0))
- for i in range(16):
- jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
- liaopan4.children[i].assign_child_resource(jipian_4, location=None)
- liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True)
- deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0))
- liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True)
- deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0))
- #liaopan.children[3].assign_child_resource(jipian, location=None)
- """======================================物料板============================================"""
- """======================================瓶架，移液枪============================================"""
- # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
- bottle_rack_3x4 = BottleRack(
- name="bottle_rack_3x4",
- size_x=210.0,
- size_y=140.0,
- size_z=100.0,
- num_items_x=3,
- num_items_y=4,
- position_spacing=35.0,
- orientation="vertical",
- )
- deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0))
-
- bottle_rack_6x2 = BottleRack(
- name="bottle_rack_6x2",
- size_x=120.0,
- size_y=250.0,
- size_z=100.0,
- num_items_x=6,
- num_items_y=2,
- position_spacing=35.0,
- orientation="vertical",
- )
- deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0))
-
- bottle_rack_6x2_2 = BottleRack(
- name="bottle_rack_6x2_2",
- size_x=120.0,
- size_y=250.0,
- size_z=100.0,
- num_items_x=6,
- num_items_y=2,
- position_spacing=35.0,
- orientation="vertical",
- )
- deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0))
-
-
- # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位
- for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y):
- sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1)
- bottle_rack_3x4.assign_child_resource(sheet, index=idx)
-
- for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y):
- sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1)
- bottle_rack_6x2.assign_child_resource(sheet, index=idx)
-
- tip_box = TipBox64(name="tip_box_64")
- deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0))
-
- waste_tip_box = WasteTipBox(name="waste_tip_box")
- deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0))
- """======================================瓶架，移液枪============================================"""
- print(deck)
-
-
- from unilabos.resources.graphio import convert_resources_from_type
- from unilabos.config.config import BasicConfig
- BasicConfig.ak = "56bbed5b-6e30-438c-b06d-f69eaa63bb45"
- BasicConfig.sk = "238222fe-0bf7-4350-a426-e5ced8011dcf"
- from unilabos.app.web.client import http_client
-
- resources = convert_resources_from_type([deck], [Resource])
-
- # 检查序列化后的资源
-
- json.dump({"nodes": resources, "links": []}, open("button_battery_decks_unilab.json", "w"), indent=2)
-
-
- #print(resources)
- http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-
- http_client.resource_add(resources)
\ No newline at end of file
diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
deleted file mode 100644
index 4758bdda..00000000
--- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
+++ /dev/null
@@ -1,1142 +0,0 @@
-import csv
-import json
-import os
-import threading
-import time
-from datetime import datetime
-from typing import Any, Dict, Optional
-from pylabrobot.resources import Resource as PLRResource
-from unilabos_msgs.msg import Resource
-from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
-from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
-from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
-from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
-from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-
-#构建物料系统
-
-class CoinCellAssemblyWorkstation(WorkstationBase):
- def __init__(
- self,
- deck: CoincellDeck,
- address: str = "192.168.1.20",
- port: str = "502",
- debug_mode: bool = True,
- *args,
- **kwargs,
- ):
- super().__init__(
- #桌子
- deck=deck,
- *args,
- **kwargs,
- )
- self.debug_mode = debug_mode
- self.deck = deck
- """ 连接初始化 """
- modbus_client = TCPClient(addr=address, port=port)
- print("modbus_client", modbus_client)
- if not debug_mode:
- modbus_client.client.connect()
- count = 100
- while count >0:
- count -=1
- if modbus_client.client.is_socket_open():
- break
- time.sleep(2)
- if not modbus_client.client.is_socket_open():
- raise ValueError('modbus tcp connection failed')
- else:
- print("测试模式，跳过连接")
-
- """ 工站的配置 """
- self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
- self.client = modbus_client.register_node_list(self.nodes)
- self.success = False
- self.allow_data_read = False #允许读取函数运行标志位
- self.csv_export_thread = None
- self.csv_export_running = False
- self.csv_export_file = None
- #创建一个物料台面，包含两个极片板
- #self.deck = create_a_coin_cell_deck()
-
- #self._ros_node.update_resource(self.deck)
-
- #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
- # "resources": [self.deck]
- #})
-
-
- def post_init(self, ros_node: ROS2WorkstationNode):
- self._ros_node = ros_node
- #self.deck = create_a_coin_cell_deck()
- ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
- "resources": [self.deck]
- })
-
- # 批量操作在这里写
- async def change_hole_sheet_to_2(self, hole: MaterialHole):
- hole._unilabos_state["max_sheets"] = 2
- return await self._ros_node.update_resource(hole)
-
-
- async def fill_plate(self):
- plate_1: MaterialPlate = self.deck.children[0].children[0]
- #plate_1
- return await self._ros_node.update_resource(plate_1)
-
- #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"):
- # """启动工作流"""
- # self.current_workflow_status = WorkflowStatus.RUNNING
- # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}")
-#
- # # TODO: 实现工作流逻辑
-#
- # anode_sheet = self.deck.get_resource("anode_sheet")
-
- """ Action逻辑代码 """
- def _sys_start_cmd(self, cmd=None):
- """设备启动命令 (可读写)"""
- if cmd is not None: # 写入模式
- self.success = False
- node = self.client.use_node('COIL_SYS_START_CMD')
- ret = node.write(cmd)
- print(ret)
- self.success = True
- return self.success
- else: # 读取模式
- cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1)
- return cmd_feedback[0]
-
- def _sys_stop_cmd(self, cmd=None):
- """设备停止命令 (可读写)"""
- if cmd is not None: # 写入模式
- self.success = False
- node = self.client.use_node('COIL_SYS_STOP_CMD')
- node.write(cmd)
- self.success = True
- return self.success
- else: # 读取模式
- cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1)
- return cmd_feedback[0]
-
- def _sys_reset_cmd(self, cmd=None):
- """设备复位命令 (可读写)"""
- if cmd is not None:
- self.success = False
- self.client.use_node('COIL_SYS_RESET_CMD').write(cmd)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1)
- return cmd_feedback[0]
-
- def _sys_hand_cmd(self, cmd=None):
- """手动模式命令 (可读写)"""
- if cmd is not None:
- self.success = False
- self.client.use_node('COIL_SYS_HAND_CMD').write(cmd)
- self.success = True
- print("步骤0")
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1)
- return cmd_feedback[0]
-
- def _sys_auto_cmd(self, cmd=None):
- """自动模式命令 (可读写)"""
- if cmd is not None:
- self.success = False
- self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1)
- return cmd_feedback[0]
-
- def _sys_init_cmd(self, cmd=None):
- """初始化命令 (可读写)"""
- if cmd is not None:
- self.success = False
- self.client.use_node('COIL_SYS_INIT_CMD').write(cmd)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1)
- return cmd_feedback[0]
-
- def _unilab_send_msg_succ_cmd(self, cmd=None):
- """UNILAB发送配方完毕 (可读写)"""
- if cmd is not None:
- self.success = False
- self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1)
- return cmd_feedback[0]
-
- def _unilab_rec_msg_succ_cmd(self, cmd=None):
- """UNILAB接收测试电池数据完毕 (可读写)"""
- if cmd is not None:
- self.success = False
- self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1)
- return cmd_feedback
-
-
- # ====================== 命令类指令（REG_x_） ======================
- def _unilab_send_msg_electrolyte_num(self, num=None):
- """UNILAB写电解液使用瓶数(可读写)"""
- if num is not None:
- self.success = False
- ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num)
- print(ret)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1)
- return cmd_feedback[0]
-
- def _unilab_send_msg_electrolyte_use_num(self, use_num=None):
- """UNILAB写单次电解液使用瓶数(可读写)"""
- if use_num is not None:
- self.success = False
- self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num)
- self.success = True
- return self.success
- else:
- return False
-
- def _unilab_send_msg_assembly_type(self, num=None):
- """UNILAB写组装参数"""
- if num is not None:
- self.success = False
- self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1)
- return cmd_feedback[0]
-
- def _unilab_send_msg_electrolyte_vol(self, vol=None):
- """UNILAB写电解液吸取量参数"""
- if vol is not None:
- self.success = False
- self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE)
- return cmd_feedback[0]
-
- def _unilab_send_msg_assembly_pressure(self, vol=None):
- """UNILAB写电池压制力"""
- if vol is not None:
- self.success = False
- self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE)
- return cmd_feedback[0]
-
- # ==================== 0905新增内容（COIL_x_STATUS） ====================
- def _unilab_send_electrolyte_bottle_num(self, num=None):
- """UNILAB发送电解液瓶数完毕"""
- if num is not None:
- self.success = False
- self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1)
- return cmd_feedback[0]
-
- def _unilab_rece_electrolyte_bottle_num(self, num=None):
- """设备请求接受电解液瓶数"""
- if num is not None:
- self.success = False
- self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1)
- return cmd_feedback[0]
-
- def _reg_msg_electrolyte_num(self, num=None):
- """电解液已使用瓶数"""
- if num is not None:
- self.success = False
- self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1)
- return cmd_feedback[0]
-
- def _reg_data_electrolyte_use_num(self, num=None):
- """单瓶电解液完成组装数"""
- if num is not None:
- self.success = False
- self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1)
- return cmd_feedback[0]
-
- def _unilab_send_finished_cmd(self, num=None):
- """Unilab发送已知一组组装完成信号"""
- if num is not None:
- self.success = False
- self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1)
- return cmd_feedback[0]
-
- def _unilab_rece_finished_cmd(self, num=None):
- """Unilab接收已知一组组装完成信号"""
- if num is not None:
- self.success = False
- self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num)
- self.success = True
- return self.success
- else:
- cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1)
- return cmd_feedback[0]
-
-
-
- # ==================== 状态类属性（COIL_x_STATUS） ====================
- def _sys_start_status(self) -> bool:
- """设备启动中( BOOL)"""
- status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1)
- return status[0]
-
- def _sys_stop_status(self) -> bool:
- """设备停止中( BOOL)"""
- status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1)
- return status[0]
-
- def _sys_reset_status(self) -> bool:
- """设备复位中( BOOL)"""
- status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1)
- return status[0]
-
- def _sys_init_status(self) -> bool:
- """设备初始化完成( BOOL)"""
- status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1)
- return status[0]
-
- # 查找资源
- def modify_deck_name(self, resource_name: str):
- # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name})
- # print(f"!!! figure_res: {type(figure_res)}")
- self.deck.children[1]
- return
-
- @property
- def sys_status(self) -> str:
- if self.debug_mode:
- return "设备调试模式"
- if self._sys_start_status():
- return "设备启动中"
- elif self._sys_stop_status():
- return "设备停止中"
- elif self._sys_reset_status():
- return "设备复位中"
- elif self._sys_init_status():
- return "设备初始化中"
- else:
- return "未知状态"
-
- def _sys_hand_status(self) -> bool:
- """设备手动模式( BOOL)"""
- status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1)
- return status[0]
-
- def _sys_auto_status(self) -> bool:
- """设备自动模式( BOOL)"""
- status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1)
- return status[0]
-
- @property
- def sys_mode(self) -> str:
- if self.debug_mode:
- return "设备调试模式"
- if self._sys_hand_status():
- return "设备手动模式"
- elif self._sys_auto_status():
- return "设备自动模式"
- else:
- return "未知模式"
-
- @property
- def request_rec_msg_status(self) -> bool:
- """设备请求接受配方( BOOL)"""
- if self.debug_mode:
- return True
- status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1)
- return status[0]
-
- @property
- def request_send_msg_status(self) -> bool:
- """设备请求发送测试数据( BOOL)"""
- if self.debug_mode:
- return True
- status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1)
- return status[0]
-
- # ======================= 其他属性（特殊功能） ========================
- '''
- @property
- def warning_1(self) -> bool:
- status, read_err = self.client.use_node('COIL_WARNING_1').read(1)
- return status[0]
- '''
- # ===================== 生产数据区 ======================
-
- @property
- def data_assembly_coin_cell_num(self) -> int:
- """已完成电池数量 (INT16)"""
- if self.debug_mode:
- return 0
- num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1)
- return num
-
- @property
- def data_assembly_time(self) -> float:
- """单颗电池组装时间 (秒, REAL/FLOAT32)"""
- if self.debug_mode:
- return 0
- time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE)
- return time
-
- @property
- def data_open_circuit_voltage(self) -> float:
- """开路电压值 (FLOAT32)"""
- if self.debug_mode:
- return 0
- vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE)
- return vol
-
- @property
- def data_axis_x_pos(self) -> float:
- """分液X轴当前位置 (FLOAT32)"""
- if self.debug_mode:
- return 0
- pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE)
- return pos
-
- @property
- def data_axis_y_pos(self) -> float:
- """分液Y轴当前位置 (FLOAT32)"""
- if self.debug_mode:
- return 0
- pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE)
- return pos
-
- @property
- def data_axis_z_pos(self) -> float:
- """分液Z轴当前位置 (FLOAT32)"""
- if self.debug_mode:
- return 0
- pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE)
- return pos
-
- @property
- def data_pole_weight(self) -> float:
- """当前电池正极片称重数据 (FLOAT32)"""
- if self.debug_mode:
- return 0
- weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE)
- return weight
-
- @property
- def data_assembly_pressure(self) -> int:
- """当前电池压制力 (INT16)"""
- if self.debug_mode:
- return 0
- pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
- return pressure
-
- @property
- def data_electrolyte_volume(self) -> int:
- """当前电解液加注量 (INT16)"""
- if self.debug_mode:
- return 0
- vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1)
- return vol
-
- @property
- def data_coin_num(self) -> int:
- """当前电池数量 (INT16)"""
- if self.debug_mode:
- return 0
- num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1)
- return num
-
- @property
- def data_coin_cell_code(self) -> str:
- """电池二维码序列号 (STRING)"""
- try:
- # 尝试不同的字节序读取
- code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE)
- print(code_little)
- clean_code = code_little[-8:][::-1]
- return clean_code
- except Exception as e:
- print(f"读取电池二维码失败: {e}")
- return "N/A"
-
-
- @property
- def data_electrolyte_code(self) -> str:
- try:
- # 尝试不同的字节序读取
- code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE)
- print(code_little)
- clean_code = code_little[-8:][::-1]
- return clean_code
- except Exception as e:
- print(f"读取电解液二维码失败: {e}")
- return "N/A"
-
- # ===================== 环境监控区 ======================
- @property
- def data_glove_box_pressure(self) -> float:
- """手套箱压力 (bar, FLOAT32)"""
- if self.debug_mode:
- return 0
- status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE)
- return status
-
- @property
- def data_glove_box_o2_content(self) -> float:
- """手套箱氧含量 (ppm, FLOAT32)"""
- if self.debug_mode:
- return 0
- value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE)
- return value
-
- @property
- def data_glove_box_water_content(self) -> float:
- """手套箱水含量 (ppm, FLOAT32)"""
- if self.debug_mode:
- return 0
- value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE)
- return value
-
-# @property
-# def data_stack_vision_code(self) -> int:
-# """物料堆叠复检图片编码 (INT16)"""
-# if self.debug_mode:
-# return 0
-# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1)
-# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type
-# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code))
-# #print(code.type)
-# # print(read_err)
-# return int(code)
-
- def func_pack_device_init(self):
- #切换手动模式
- print("切换手动模式")
- self._sys_hand_cmd(True)
- time.sleep(1)
- while (self._sys_hand_status()) == False:
- print("waiting for hand_cmd")
- time.sleep(1)
- #设备初始化
- self._sys_init_cmd(True)
- time.sleep(1)
- #sys_init_status为bool值，不加括号
- while (self._sys_init_status())== False:
- print("waiting for init_cmd")
- time.sleep(1)
- #手动按钮置回False
- self._sys_hand_cmd(False)
- time.sleep(1)
- while (self._sys_hand_cmd()) == True:
- print("waiting for hand_cmd to False")
- time.sleep(1)
- #初始化命令置回False
- self._sys_init_cmd(False)
- time.sleep(1)
- while (self._sys_init_cmd()) == True:
- print("waiting for init_cmd to False")
- time.sleep(1)
-
- def func_pack_device_auto(self):
- #切换自动
- print("切换自动模式")
- self._sys_auto_cmd(True)
- time.sleep(1)
- while (self._sys_auto_status()) == False:
- print("waiting for auto_status")
- time.sleep(1)
- #自动按钮置False
- self._sys_auto_cmd(False)
- time.sleep(1)
- while (self._sys_auto_cmd()) == True:
- print("waiting for auto_cmd")
- time.sleep(1)
-
- def func_pack_device_start(self):
- #切换自动
- print("启动")
- self._sys_start_cmd(True)
- time.sleep(1)
- while (self._sys_start_status()) == False:
- print("waiting for start_status")
- time.sleep(1)
- #自动按钮置False
- self._sys_start_cmd(False)
- time.sleep(1)
- while (self._sys_start_cmd()) == True:
- print("waiting for start_cmd")
- time.sleep(1)
-
- def func_pack_send_bottle_num(self, bottle_num: int):
- #发送电解液平台数
- print("启动")
- while (self._unilab_rece_electrolyte_bottle_num()) == False:
- print("waiting for rece_electrolyte_bottle_num to True")
- # self.client.use_node('8520').write(True)
- time.sleep(1)
- #发送电解液瓶数为2
- self._reg_msg_electrolyte_num(bottle_num)
- time.sleep(1)
- #完成信号置True
- self._unilab_send_electrolyte_bottle_num(True)
- time.sleep(1)
- #检测到依华已接收
- while (self._unilab_rece_electrolyte_bottle_num()) == True:
- print("waiting for rece_electrolyte_bottle_num to False")
- time.sleep(1)
- #完成信号置False
- self._unilab_send_electrolyte_bottle_num(False)
- time.sleep(1)
- #自动按钮置False
-
-
- # 下发参数
- #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool:
- # """UNILAB写参数"""
- # while (self.request_rec_msg_status) == False:
- # print("wait for res_msg")
- # time.sleep(1)
- # self.success = False
- # self._unilab_send_msg_electrolyte_num(elec_num)
- # time.sleep(1)
- # self._unilab_send_msg_electrolyte_use_num(elec_use_num)
- # time.sleep(1)
- # self._unilab_send_msg_electrolyte_vol(elec_vol)
- # time.sleep(1)
- # self._unilab_send_msg_assembly_type(assembly_type)
- # time.sleep(1)
- # self._unilab_send_msg_assembly_pressure(assembly_pressure)
- # time.sleep(1)
- # self._unilab_send_msg_succ_cmd(True)
- # time.sleep(1)
- # self._unilab_send_msg_succ_cmd(False)
- # #将允许读取标志位置True
- # self.allow_data_read = True
- # self.success = True
- # return self.success
-
- def func_pack_send_msg_cmd(self, elec_use_num) -> bool:
- """UNILAB写参数"""
- while (self.request_rec_msg_status) == False:
- print("wait for request_rec_msg_status to True")
- time.sleep(1)
- self.success = False
- #self._unilab_send_msg_electrolyte_num(elec_num)
- time.sleep(1)
- self._unilab_send_msg_electrolyte_use_num(elec_use_num)
- time.sleep(1)
- self._unilab_send_msg_succ_cmd(True)
- time.sleep(1)
- while (self.request_rec_msg_status) == True:
- print("wait for request_rec_msg_status to False")
- time.sleep(1)
- self._unilab_send_msg_succ_cmd(False)
- #将允许读取标志位置True
- self.allow_data_read = True
- self.success = True
- return self.success
-
- def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool:
- """UNILAB读参数"""
- while self.request_send_msg_status == False:
- print("waiting for send_read_msg_status to True")
- time.sleep(1)
- data_open_circuit_voltage = self.data_open_circuit_voltage
- data_pole_weight = self.data_pole_weight
- 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_electrolyte_code = self.data_electrolyte_code
- data_coin_cell_code = self.data_coin_cell_code
- print("data_open_circuit_voltage", data_open_circuit_voltage)
- print("data_pole_weight", data_pole_weight)
- print("data_assembly_time", data_assembly_time)
- print("data_assembly_pressure", data_assembly_pressure)
- print("data_electrolyte_volume", data_electrolyte_volume)
- print("data_coin_num", data_coin_num)
- print("data_electrolyte_code", data_electrolyte_code)
- print("data_coin_cell_code", data_coin_cell_code)
- #接收完信息后，读取完毕标志位置True
- self._unilab_rec_msg_succ_cmd(True)
- time.sleep(1)
- #等待允许读取标志位置False
- while self.request_send_msg_status == True:
- print("waiting for send_msg_status to False")
- time.sleep(1)
- self._unilab_rec_msg_succ_cmd(False)
- time.sleep(1)
- #将允许读取标志位置True
- 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")
- #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
- if not os.path.exists(self.csv_export_file):
- #创建一个表头
- with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile:
- writer = csv.writer(csvfile)
- writer.writerow([
- 'Time', 'open_circuit_voltage', 'pole_weight',
- 'assembly_time', 'assembly_pressure', 'electrolyte_volume',
- 'coin_num', 'electrolyte_code', 'coin_cell_code'
- ])
- #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)
- 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
- ])
- #立刻写入磁盘
- csvfile.flush()
- self.success = True
- return self.success
-
-
-
- def func_pack_send_finished_cmd(self) -> bool:
- """UNILAB写参数"""
- while (self._unilab_rece_finished_cmd()) == False:
- print("wait for rece_finished_cmd to True")
- time.sleep(1)
- self.success = False
- self._unilab_send_finished_cmd(True)
- time.sleep(1)
- while (self._unilab_rece_finished_cmd()) == True:
- print("wait for rece_finished_cmd to False")
- time.sleep(1)
- self._unilab_send_finished_cmd(False)
- #将允许读取标志位置True
- self.success = True
- return self.success
-
-
-
- def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool:
- summary_csv_file = os.path.join(file_path, "duandian.csv")
- # 如果断点文件存在，先读取之前的进度
- if os.path.exists(summary_csv_file):
- read_status_flag = True
- with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile:
- reader = csv.reader(csvfile)
- header = next(reader) # 跳过标题行
- data_row = next(reader) # 读取数据行
- if len(data_row) >= 2:
- elec_num_r = int(data_row[0])
- elec_use_num_r = int(data_row[1])
- elec_num_N = int(data_row[2])
- elec_use_num_N = int(data_row[3])
- coin_num_N = int(data_row[4])
- if elec_num_r == elec_num and elec_use_num_r == elec_use_num:
- print("断点文件与当前任务匹配，继续")
- else:
- print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件")
- return False
- print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}")
-
- else:
- read_status_flag = False
- print("未找到断点文件，从头开始")
- elec_num_N = 0
- elec_use_num_N = 0
- coin_num_N = 0
-
- print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}")
-
-
- #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。
- if read_status_flag == False:
- #初始化
- self.func_pack_device_init()
- #切换自动
- self.func_pack_device_auto()
- #启动，小车收回
- self.func_pack_device_start()
- #发送电解液瓶数量，启动搬运,多搬运没事
- self.func_pack_send_bottle_num(elec_num)
- last_i = elec_num_N
- last_j = elec_use_num_N
- for i in range(last_i, elec_num):
- print(f"开始第{last_i+i+1}瓶电解液的组装")
- #第一个循环从上次断点继续，后续循环从0开始
- j_start = last_j if i == last_i else 0
- self.func_pack_send_msg_cmd(elec_use_num-j_start)
-
- for j in range(j_start, elec_use_num):
- print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装")
- #读取电池组装数据并存入csv
- self.func_pack_get_msg_cmd(file_path)
- time.sleep(1)
-
- #这里定义物料系统
- # 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
- liaopan1 = self.deck.get_resource("liaopan1")
- liaopan4 = self.deck.get_resource("liaopan4")
- jipian1 = liaopan1.children[coin_num_N].children[0]
- jipian4 = liaopan4.children[coin_num_N].children[0]
- #print(jipian1)
- #从料盘上去物料解绑后放到另一盘上
- jipian1.parent.unassign_child_resource(jipian1)
- jipian4.parent.unassign_child_resource(jipian4)
-
- #print(jipian2.parent)
- battery = Battery(name = f"battery_{coin_num_N}")
- battery.assign_child_resource(jipian1, location=None)
- battery.assign_child_resource(jipian4, location=None)
-
- zidanjia6 = self.deck.get_resource("zi_dan_jia6")
-
- zidanjia6.children[0].assign_child_resource(battery, location=None)
-
-
- # 生成断点文件
- # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件
- timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
- with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile:
- writer = csv.writer(csvfile)
- writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp'])
- writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp])
- csvfile.flush()
- coin_num_N += 1
- elec_use_num_N += 1
- elec_num_N += 1
- elec_use_num_N = 0
-
- #循环正常结束，则删除断点文件
- os.remove(summary_csv_file)
- #全部完成后等待依华发送完成信号
- self.func_pack_send_finished_cmd()
-
-
- def func_pack_device_stop(self) -> bool:
- """打包指令：设备停止"""
- for i in range(3):
- time.sleep(2)
- print(f"输出{i}")
- #print("_sys_hand_cmd", self._sys_hand_cmd())
- #time.sleep(1)
- #print("_sys_hand_status", self._sys_hand_status())
- #time.sleep(1)
- #print("_sys_init_cmd", self._sys_init_cmd())
- #time.sleep(1)
- #print("_sys_init_status", self._sys_init_status())
- #time.sleep(1)
- #print("_sys_auto_status", self._sys_auto_status())
- #time.sleep(1)
- #print("data_axis_y_pos", self.data_axis_y_pos)
- #time.sleep(1)
- #self.success = False
- #with open('action_device_stop.json', 'r', encoding='utf-8') as f:
- # action_json = json.load(f)
- #self.client.execute_procedure_from_json(action_json)
- #self.success = True
- #return self.success
-
- def fun_wuliao_test(self) -> bool:
- #找到data_init中构建的2个物料盘
- #liaopan1 = self.deck.get_resource("liaopan1")
- #liaopan4 = self.deck.get_resource("liaopan4")
- #for coin_num_N in range(16):
- # liaopan1 = self.deck.get_resource("liaopan1")
- # liaopan4 = self.deck.get_resource("liaopan4")
- # jipian1 = liaopan1.children[coin_num_N].children[0]
- # jipian4 = liaopan4.children[coin_num_N].children[0]
- # #print(jipian1)
- # #从料盘上去物料解绑后放到另一盘上
- # jipian1.parent.unassign_child_resource(jipian1)
- # jipian4.parent.unassign_child_resource(jipian4)
- #
- # #print(jipian2.parent)
- # battery = Battery(name = f"battery_{coin_num_N}")
- # battery.assign_child_resource(jipian1, location=None)
- # battery.assign_child_resource(jipian4, location=None)
- #
- # zidanjia6 = self.deck.get_resource("zi_dan_jia6")
- # zidanjia6.children[0].assign_child_resource(battery, location=None)
- # ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
- # "resources": [self.deck]
- # })
- # time.sleep(2)
- for i in range(20):
- print(f"输出{i}")
- time.sleep(2)
-
-
- # 数据读取与输出
- def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
- # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
- if self.csv_export_running:
- return False, "读取已在运行中"
-
- #若不存在该目录则创建
- if not os.path.exists(file_path):
- os.makedirs(file_path)
- print(f"创建目录: {file_path}")
-
- # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件
- while self.allow_data_read:
-
- #函数运行标志位，确保只同时启动一个导出函数
- self.csv_export_running = True
-
- #等待接收结果标志位置True
- while self.request_send_msg_status == False:
- print("waiting for send_msg_status to True")
- time.sleep(1)
- #日期时间戳用于按天存放csv文件
- 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")
- #生成输出文件的变量
- self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv")
-
- #接收信息
- data_open_circuit_voltage = self.data_open_circuit_voltage
- data_pole_weight = self.data_pole_weight
- 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_electrolyte_code = self.data_electrolyte_code
- data_coin_cell_code = self.data_coin_cell_code
- # 电解液瓶位置
- elec_bottle_site = 2
- # 极片夹取位置(应当通过寄存器读光标)
- Pos_elec_site = 0
- Al_elec_site = 0
- Gasket_site = 0
-
- #接收完信息后，读取完毕标志位置True
- self._unilab_rec_msg_succ_cmd()# = True
- #等待允许读取标志位置False
- while self.request_send_msg_status == True:
- print("waiting for send_msg_status to False")
- time.sleep(1)
- self._unilab_rec_msg_succ_cmd()# = False
-
- #此处操作物料信息（如果中途报错停止，如何）
- #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料）
- #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可）
-
- #物料读取操作写在这里
- #在这里进行物料调取
- #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取）
- # transfer_bottle(deck, elec_bottle_site)
- # #找到电解液瓶的对象
- # electrolyte_rack = deck.get_resource("electrolyte_rack")
- # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site]
- # # TODO: 瓶子取液体操作需要加入
-#
-#
- # #找到压制工站对应的对象
- # battery_press_slot = deck.get_resource("battery_press_1")
- # #创建一个新电池
- # test_battery = Battery(
- # name=f"test_battery_{data_coin_num}",
- # diameter=20.0, # 与压制槽直径匹配
- # height=3.0, # 电池高度
- # max_volume=100.0, # 100μL容量
- # barcode=data_coin_cell_code, # 电池条码
- # )
- # if battery_press_slot.has_battery():
- # return False, "压制工站已有电池，无法放置新电池"
- # #在压制位放置电池
- # battery_press_slot.place_battery(test_battery)
- # #从第一个子弹夹中取料
- # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site)
- # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site)
- # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site)
- #
- # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片
- # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片
- # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中
- # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池")
- # else:
- # print("子弹夹洞位0没有极片")
-#
- # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片
- # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片
- # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中
- # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池")
- # else:
- # print("子弹夹洞位0没有极片")
-#
- # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片
- # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片
- # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中
- # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池")
- # else:
- # print("子弹夹洞位0没有极片")
- #
- # #把电解液从瓶中取到电池夹子中
- # battery_site = deck.get_resource("battery_press_1")
- # clip_magazine_battery = deck.get_resource("clip_magazine_battery")
- # if battery_site.has_battery():
- # battery = battery_site.take_battery() #从压制槽取出电池
- # clip_magazine_battery.add_battery(battery) #从压制槽取出电池
-#
-#
-#
-#
- # # 保存配置到文件
- # self.deck.save("button_battery_station_layout.json", indent=2)
- # print("\n台面配置已保存到: button_battery_station_layout.json")
- #
- # # 保存状态到文件
- # self.deck.save_state_to_file("button_battery_station_state.json", indent=2)
- # print("台面状态已保存到: button_battery_station_state.json")
-
-
-
-
-
-
- #将数据写入csv中
- #如当前目录下无同名文件则新建一个csv用于存放数据
- if not os.path.exists(self.csv_export_file):
- #创建一个表头
- with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile:
- writer = csv.writer(csvfile)
- writer.writerow([
- 'Time', 'open_circuit_voltage', 'pole_weight',
- 'assembly_time', 'assembly_pressure', 'electrolyte_volume',
- 'coin_num', 'electrolyte_code', 'coin_cell_code'
- ])
- #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)
- 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
- ])
- #立刻写入磁盘
- csvfile.flush()
-
- # 只要不在自动模式运行中，就将允许标志位置False
- if self.sys_auto_status == False or self.sys_start_status == False:
- self.allow_data_read = False
- self.csv_export_running = False
- time.sleep(1)
-
- def func_stop_read_data(self):
- """停止CSV导出"""
- if not self.csv_export_running:
- return False, "read data未在运行"
-
- self.csv_export_running = False
- self.allow_data_read = False
-
- if self.csv_export_thread and self.csv_export_thread.is_alive():
- self.csv_export_thread.join(timeout=5)
-
- def func_get_csv_export_status(self):
- """获取CSV导出状态"""
- return {
- 'allow_read': self.allow_data_read,
- 'running': self.csv_export_running,
- 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False
- }
-
-
- '''
- # ===================== 物料管理区 ======================
- @property
- def data_material_inventory(self) -> int:
- """主物料库存 (数量, INT16)"""
- inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1)
- return inventory
-
- @property
- def data_tips_inventory(self) -> int:
- """移液枪头库存 (数量, INT16)"""
- inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1)
- return inventory
-
- '''
-
-
-if __name__ == "__main__":
- from pylabrobot.resources import Resource
- Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True)
- #Coin_Cell.func_pack_device_init()
- #Coin_Cell.func_pack_device_auto()
- #Coin_Cell.func_pack_device_start()
- #Coin_Cell.func_pack_send_bottle_num(2)
- #Coin_Cell.func_pack_send_msg_cmd(2)
- #Coin_Cell.func_pack_get_msg_cmd()
- #Coin_Cell.func_pack_get_msg_cmd()
- #Coin_Cell.func_pack_send_finished_cmd()
-#
- #Coin_Cell.func_allpack_cmd(3, 2)
- #print(Coin_Cell.data_stack_vision_code)
- #print("success")
- #创建一个物料台面
-
- #deck = create_a_coin_cell_deck()
-
- ##在台面上找到料盘和极片
- #liaopan1 = deck.get_resource("liaopan1")
- #liaopan2 = deck.get_resource("liaopan2")
- #jipian1 = liaopan1.children[1].children[0]
-#
- ##print(jipian1)
- ##把物料解绑后放到另一盘上
- #jipian1.parent.unassign_child_resource(jipian1)
- #liaopan2.children[1].assign_child_resource(jipian1, location=None)
- ##print(jipian2.parent)
- from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
-
- with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f:
- bioyond_resources_unilab = json.load(f)
- print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
- ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
- print(f"转换结果类型: {type(ulab_resources)}")
- print(ulab_resources)
-
diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
deleted file mode 100644
index 7e371327..00000000
--- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
+++ /dev/null
@@ -1,14472 +0,0 @@
-{
- "nodes": [
- {
- "id": "BatteryStation",
- "name": "扣电工作站",
- "children": [
- "coin_cell_deck"
- ],
- "parent": null,
- "type": "device",
- "class": "bettery_station_registry",
- "position": {
- "x": 600,
- "y": 400,
- "z": 0
- },
- "config": {
- "debug_mode": false,
- "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定",
- "protocol_type": [],
- "deck": {
- "data": {
- "_resource_child_name": "coin_cell_deck",
- "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck"
- }
- },
-
- "address": "192.168.1.20",
- "port": 502
- },
- "data": {}
- },
- {
- "id": "coin_cell_deck",
- "name": "coin_cell_deck",
- "sample_id": null,
- "children": [
- "zi_dan_jia",
- "zi_dan_jia2",
- "zi_dan_jia3",
- "zi_dan_jia4",
- "zi_dan_jia5",
- "zi_dan_jia6",
- "zi_dan_jia7",
- "zi_dan_jia8",
- "liaopan1",
- "liaopan2",
- "liaopan3",
- "liaopan4",
- "liaopan5",
- "liaopan6",
- "bottle_rack_3x4",
- "bottle_rack_6x2",
- "bottle_rack_6x2_2",
- "tip_box_64",
- "waste_tip_box"
- ],
- "parent": null,
- "type": "container",
- "class": "",
- "position": {
- "x": 0,
- "y": 0,
- "z": 0
- },
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- "position": {
- "x": 71.0,
- "y": 35.0,
- "z": 0.0
- },
- "config": {
- "type": "TipSpot",
- "size_x": 10,
- "size_y": 10,
- "size_z": 0.0,
- "rotation": {
- "x": 0,
- "y": 0,
- "z": 0,
- "type": "Rotation"
- },
- "category": "tip_spot",
- "model": null,
- "barcode": null,
- "prototype_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- },
- "data": {
- "tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- },
- "tip_state": {
- "liquids": [],
- "pending_liquids": [],
- "liquid_history": []
- },
- "pending_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- }
- },
- {
- "id": "tip_box_64_tipspot_7_5",
- "name": "tip_box_64_tipspot_7_5",
- "sample_id": null,
- "children": [],
- "parent": "tip_box_64",
- "type": "container",
- "class": "",
- "position": {
- "x": 71.0,
- "y": 26.0,
- "z": 0.0
- },
- "config": {
- "type": "TipSpot",
- "size_x": 10,
- "size_y": 10,
- "size_z": 0.0,
- "rotation": {
- "x": 0,
- "y": 0,
- "z": 0,
- "type": "Rotation"
- },
- "category": "tip_spot",
- "model": null,
- "barcode": null,
- "prototype_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- },
- "data": {
- "tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- },
- "tip_state": {
- "liquids": [],
- "pending_liquids": [],
- "liquid_history": []
- },
- "pending_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- }
- },
- {
- "id": "tip_box_64_tipspot_7_6",
- "name": "tip_box_64_tipspot_7_6",
- "sample_id": null,
- "children": [],
- "parent": "tip_box_64",
- "type": "container",
- "class": "",
- "position": {
- "x": 71.0,
- "y": 17.0,
- "z": 0.0
- },
- "config": {
- "type": "TipSpot",
- "size_x": 10,
- "size_y": 10,
- "size_z": 0.0,
- "rotation": {
- "x": 0,
- "y": 0,
- "z": 0,
- "type": "Rotation"
- },
- "category": "tip_spot",
- "model": null,
- "barcode": null,
- "prototype_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- },
- "data": {
- "tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- },
- "tip_state": {
- "liquids": [],
- "pending_liquids": [],
- "liquid_history": []
- },
- "pending_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- }
- },
- {
- "id": "tip_box_64_tipspot_7_7",
- "name": "tip_box_64_tipspot_7_7",
- "sample_id": null,
- "children": [],
- "parent": "tip_box_64",
- "type": "container",
- "class": "",
- "position": {
- "x": 71.0,
- "y": 8.0,
- "z": 0.0
- },
- "config": {
- "type": "TipSpot",
- "size_x": 10,
- "size_y": 10,
- "size_z": 0.0,
- "rotation": {
- "x": 0,
- "y": 0,
- "z": 0,
- "type": "Rotation"
- },
- "category": "tip_spot",
- "model": null,
- "barcode": null,
- "prototype_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- },
- "data": {
- "tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- },
- "tip_state": {
- "liquids": [],
- "pending_liquids": [],
- "liquid_history": []
- },
- "pending_tip": {
- "type": "Tip",
- "total_tip_length": 20.0,
- "has_filter": false,
- "maximal_volume": 1000,
- "fitting_depth": 8.0
- }
- }
- },
- {
- "id": "waste_tip_box",
- "name": "waste_tip_box",
- "sample_id": null,
- "children": [],
- "parent": "coin_cell_deck",
- "type": "container",
- "class": "",
- "position": {
- "x": 300,
- "y": 200,
- "z": 0
- },
- "config": {
- "type": "WasteTipBox",
- "size_x": 127.8,
- "size_y": 85.5,
- "size_z": 60.0,
- "rotation": {
- "x": 0,
- "y": 0,
- "z": 0,
- "type": "Rotation"
- },
- "category": "waste_tip_box",
- "model": null,
- "barcode": null,
- "max_volume": "Infinity",
- "material_z_thickness": 0,
- "compute_volume_from_height": null,
- "compute_height_from_volume": null
- },
- "data": {
- "liquids": [],
- "pending_liquids": [],
- "liquid_history": []
- }
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/workstation/post_process/__init__.py b/unilabos/devices/workstation/post_process/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/workstation/post_process/bottles.py b/unilabos/devices/workstation/post_process/bottles.py
deleted file mode 100644
index 6eccdec0..00000000
--- a/unilabos/devices/workstation/post_process/bottles.py
+++ /dev/null
@@ -1,20 +0,0 @@
-from unilabos.resources.itemized_carrier import Bottle
-
-
-def POST_PROCESS_PolymerStation_Reagent_Bottle(
- name: str,
- diameter: float = 70.0,
- height: float = 120.0,
- max_volume: float = 500000.0, # 500mL
- barcode: str = None,
-) -> Bottle:
- """创建试剂瓶"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="POST_PROCESS_PolymerStation_Reagent_Bottle",
- )
-
diff --git a/unilabos/devices/workstation/post_process/decks.py b/unilabos/devices/workstation/post_process/decks.py
deleted file mode 100644
index 4f7292cb..00000000
--- a/unilabos/devices/workstation/post_process/decks.py
+++ /dev/null
@@ -1,46 +0,0 @@
-from os import name
-from pylabrobot.resources import Deck, Coordinate, Rotation
-
-from unilabos.devices.workstation.post_process.warehouses import (
- post_process_warehouse_4x3x1,
- post_process_warehouse_4x3x1_2,
-)
-
-
-
-class post_process_deck(Deck):
- def __init__(
- self,
- name: str = "post_process_deck",
- size_x: float = 2000.0,
- size_y: float = 1000.0,
- size_z: float = 2670.0,
- category: str = "deck",
- setup: bool = True,
- ) -> None:
- super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0)
- if setup:
- self.setup()
-
- def setup(self) -> None:
- # 添加仓库
- self.warehouses = {
- "原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"),
- "反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"),
-
- }
- # warehouse 的位置
- self.warehouse_locations = {
- "原料罐堆栈": Coordinate(350.0, 55.0, 0.0),
- "反应罐堆栈": Coordinate(1000.0, 55.0, 0.0),
-
- }
-
- for warehouse_name, warehouse in self.warehouses.items():
- self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
-
-
-
-
-
diff --git a/unilabos/devices/workstation/post_process/opcua_huairou.json b/unilabos/devices/workstation/post_process/opcua_huairou.json
deleted file mode 100644
index ac6a6378..00000000
--- a/unilabos/devices/workstation/post_process/opcua_huairou.json
+++ /dev/null
@@ -1,157 +0,0 @@
-{
- "register_node_list_from_csv_path": {
- "path": "opcua_nodes_huairou.csv"
- },
- "create_flow": [
- {
- "name": "trigger_grab_action",
- "description": "触发反应罐及原料罐抓取动作",
- "parameters": ["reaction_tank_number", "raw_tank_number"],
- "action": [
- {
- "init_function": {
- "func_name": "init_grab_params",
- "write_nodes": ["reaction_tank_number", "raw_tank_number"]
- },
- "start_function": {
- "func_name": "start_grab",
- "write_nodes": {"grab_trigger": true},
- "condition_nodes": ["grab_complete"],
- "stop_condition_expression": "grab_complete == True",
- "timeout_seconds": 999999.0
- },
- "stop_function": {
- "func_name": "stop_grab",
- "write_nodes": {"grab_trigger": false}
- }
- }
- ]
- },
- {
- "name": "trigger_post_processing",
- "description": "触发后处理动作",
- "parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
- "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
- "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
- "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
- "pre_filtration_mixing_time","atomization_pressure_kpa"],
- "action": [
- {
- "init_function": {
- "func_name": "init_post_processing_params",
- "write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
- "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
- "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
- "first_powder_wash_count","second_powder_wash_count","initial_water_amount",
- "pre_filtration_mixing_time","atomization_pressure_kpa"]
- },
- "start_function": {
- "func_name": "start_post_processing",
- "write_nodes": {"post_process_trigger": true},
- "condition_nodes": ["post_process_complete"],
- "stop_condition_expression": "post_process_complete == True",
- "timeout_seconds": 999999.0
- },
- "stop_function": {
- "func_name": "stop_post_processing",
- "write_nodes": {"post_process_trigger": false}
- }
- }
- ]
- },
- {
- "name": "trigger_cleaning_action",
- "description": "触发清洗及管路吹气动作",
- "parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
- "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
- "nmp_pump_cleaning_suction_count",
- "nmp_inner_wall_cleaning_waste_time",
- "nmp_stirrer_cleaning_injection",
- "nmp_stirrer_cleaning_count",
- "nmp_stirrer_cleaning_wait_time",
- "nmp_stirrer_cleaning_waste_time",
- "water_outer_wall_cleaning_injection",
- "water_outer_wall_cleaning_count",
- "water_outer_wall_cleaning_wait_time",
- "water_outer_wall_cleaning_waste_time",
- "water_inner_wall_cleaning_injection",
- "water_inner_wall_cleaning_count",
- "water_pump_cleaning_suction_count",
- "water_inner_wall_cleaning_waste_time",
- "water_stirrer_cleaning_injection",
- "water_stirrer_cleaning_count",
- "water_stirrer_cleaning_wait_time",
- "water_stirrer_cleaning_waste_time",
- "acetone_outer_wall_cleaning_injection",
- "acetone_outer_wall_cleaning_count",
- "acetone_outer_wall_cleaning_wait_time",
- "acetone_outer_wall_cleaning_waste_time",
- "acetone_inner_wall_cleaning_injection",
- "acetone_inner_wall_cleaning_count",
- "acetone_pump_cleaning_suction_count",
- "acetone_inner_wall_cleaning_waste_time",
- "acetone_stirrer_cleaning_injection",
- "acetone_stirrer_cleaning_count",
- "acetone_stirrer_cleaning_wait_time",
- "acetone_stirrer_cleaning_waste_time",
- "pipe_blowing_time",
- "injection_pump_forward_empty_suction_count",
- "injection_pump_reverse_empty_suction_count",
- "filtration_liquid_selection"],
- "action": [
- {
- "init_function": {
- "func_name": "init_cleaning_params",
- "write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
- "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
- "nmp_pump_cleaning_suction_count",
- "nmp_inner_wall_cleaning_waste_time",
- "nmp_stirrer_cleaning_injection",
- "nmp_stirrer_cleaning_count",
- "nmp_stirrer_cleaning_wait_time",
- "nmp_stirrer_cleaning_waste_time",
- "water_outer_wall_cleaning_injection",
- "water_outer_wall_cleaning_count",
- "water_outer_wall_cleaning_wait_time",
- "water_outer_wall_cleaning_waste_time",
- "water_inner_wall_cleaning_injection",
- "water_inner_wall_cleaning_count",
- "water_pump_cleaning_suction_count",
- "water_inner_wall_cleaning_waste_time",
- "water_stirrer_cleaning_injection",
- "water_stirrer_cleaning_count",
- "water_stirrer_cleaning_wait_time",
- "water_stirrer_cleaning_waste_time",
- "acetone_outer_wall_cleaning_injection",
- "acetone_outer_wall_cleaning_count",
- "acetone_outer_wall_cleaning_wait_time",
- "acetone_outer_wall_cleaning_waste_time",
- "acetone_inner_wall_cleaning_injection",
- "acetone_inner_wall_cleaning_count",
- "acetone_pump_cleaning_suction_count",
- "acetone_inner_wall_cleaning_waste_time",
- "acetone_stirrer_cleaning_injection",
- "acetone_stirrer_cleaning_count",
- "acetone_stirrer_cleaning_wait_time",
- "acetone_stirrer_cleaning_waste_time",
- "pipe_blowing_time",
- "injection_pump_forward_empty_suction_count",
- "injection_pump_reverse_empty_suction_count",
- "filtration_liquid_selection"]
- },
- "start_function": {
- "func_name": "start_cleaning",
- "write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
- "condition_nodes": ["cleaning_complete"],
- "stop_condition_expression": "cleaning_complete == True",
- "timeout_seconds": 999999.0
- },
- "stop_function": {
- "func_name": "stop_cleaning",
- "write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
- }
- }
- ]
- }
- ]
-}
diff --git a/unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv b/unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv
deleted file mode 100644
index 454de968..00000000
--- a/unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv
+++ /dev/null
@@ -1,70 +0,0 @@
-Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
-原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码
-反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码
-反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发
-后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发
-搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速
-搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速
-注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度
-注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度
-抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数
-第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量
-第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量
-第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间
-第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间
-第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数
-第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数
-最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量
-抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间
-雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa
-清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发
-废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警
-清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警
-NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警
-丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警
-门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警
-反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
-后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC
-清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
-远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC
-设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC
-NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注
-NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数
-NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间
-NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间
-NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注
-NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数
-NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数
-NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间
-NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注
-NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数
-NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间
-NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间
-清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注
-清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数
-清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间
-清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间
-清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注
-清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数
-清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数
-清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间
-清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注
-清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数
-清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间
-清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间
-丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注
-丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数
-丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间
-丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间
-丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注
-丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数
-丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数
-丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间
-丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注
-丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数
-丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间
-丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
-管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间
-注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数
-注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数
-抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮
\ No newline at end of file
diff --git a/unilabos/devices/workstation/post_process/post_process_station.json b/unilabos/devices/workstation/post_process/post_process_station.json
deleted file mode 100644
index 4433a159..00000000
--- a/unilabos/devices/workstation/post_process/post_process_station.json
+++ /dev/null
@@ -1,45 +0,0 @@
-{
- "nodes": [
- {
- "id": "post_process_station",
- "name": "post_process_station",
- "children": [
- "post_process_deck"
- ],
- "parent": null,
- "type": "device",
- "class": "post_process_station",
- "config": {
- "url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer",
- "config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json",
- "deck": {
- "data": {
- "_resource_child_name": "post_process_deck",
- "_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck"
- }
- }
- },
- "data": {
- }
- },
- {
- "id": "post_process_deck",
- "name": "post_process_deck",
- "sample_id": null,
- "children": [],
- "parent": "post_process_station",
- "type": "deck",
- "class": "post_process_deck",
- "position": {
- "x": 0,
- "y": 0,
- "z": 0
- },
- "config": {
- "type": "post_process_deck",
- "setup": true
- },
- "data": {}
- }
- ]
-}
\ No newline at end of file
diff --git a/unilabos/devices/workstation/post_process/warehouses.py b/unilabos/devices/workstation/post_process/warehouses.py
deleted file mode 100644
index 385f026c..00000000
--- a/unilabos/devices/workstation/post_process/warehouses.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory
-
-
-
-# =================== Other ===================
-
-
-def post_process_warehouse_4x3x1(name: str) -> WareHouse:
- """创建post_process 4x3x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=4,
- num_items_y=3,
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def post_process_warehouse_4x3x1_2(name: str) -> WareHouse:
- """已弃用：创建post_process 4x3x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=4,
- num_items_y=3,
- num_items_z=1,
- dx=12.0,
- dy=12.0,
- dz=12.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
diff --git a/unilabos/devices/xpeel/xpeel.py b/unilabos/devices/xpeel/xpeel.py
deleted file mode 100644
index a67cc1c3..00000000
--- a/unilabos/devices/xpeel/xpeel.py
+++ /dev/null
@@ -1,59 +0,0 @@
-import serial
-import time
-
-class SealRemoverController:
- def __init__(self, port='COM17', baudrate=9600, timeout=2):
- self.ser = serial.Serial(port, baudrate, timeout=timeout)
-
- def send_command(self, command):
- full_cmd = f"{command}\r\n".encode('ascii')
- self.ser.write(full_cmd)
- time.sleep(0.5) # 稍等设备响应
- return self.read_response()
-
- def read_response(self):
- lines = []
- while self.ser.in_waiting:
- line = self.ser.readline().decode('ascii').strip()
- lines.append(line)
- return lines
-
- def reset(self):
- return self.send_command("*reset")
-
- def restart(self):
- return self.send_command("*restart")
-
- def check_status(self):
- return self.send_command("*stat")
-
- def move_in(self):
- return self.send_command("*movein")
-
- def move_out(self):
- return self.send_command("*moveout")
-
- def move_up(self):
- return self.send_command("*moveup")
-
- def move_down(self):
- return self.send_command("*movedown")
-
- def peel(self, param_set=1, adhere_time=1):
- # param_set: 1~9, adhere_time: 1(2.5s) ~ 4(10s)
- return self.send_command(f"*xpeel:{param_set}{adhere_time}")
-
- def check_tape(self):
- return self.send_command("*tapeleft")
-
- def close(self):
- self.ser.close()
-
-if __name__ == "__main__":
- remover = SealRemoverController(port='COM17')
- remover.restart # "restart"
- remover.check_status() # "检查状态:"
- remover.reset() # 复位设备
- remover.peel(param_set=4, adhere_time=1) #执行撕膜操作,慢速+2.5s
- remover.move_out() # 送出板子
- remover.close()
\ No newline at end of file
diff --git a/unilabos/devices/xrd_d7mate/device.json b/unilabos/devices/xrd_d7mate/device.json
deleted file mode 100644
index 4aebd228..00000000
--- a/unilabos/devices/xrd_d7mate/device.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
- "nodes": [
- {
- "id": "XRD_D7MATE_STATION",
- "name": "XRD_D7MATE",
- "parent": null,
- "type": "device",
- "class": "xrd_d7mate",
- "position": {
- "x": 720.0,
- "y": 200.0,
- "z": 0
- },
- "config": {
- "host": "127.0.0.1",
- "port": 6001,
- "timeout": 10.0
- },
- "data": {
- "input_hint": "start 支持单字符串输入：'sample_name 样品A start_theta 10.0 end_theta 80.0 increment 0.02 exp_time 0.1 [wait_minutes 3]'；也支持等号形式 'sample_id=样品A start_theta=10.0 end_theta=80.0 increment=0.02 exp_time=0.1 wait_minutes=3'"
- },
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/xrd_d7mate/xrd_d7mate.py b/unilabos/devices/xrd_d7mate/xrd_d7mate.py
deleted file mode 100644
index f68baf4d..00000000
--- a/unilabos/devices/xrd_d7mate/xrd_d7mate.py
+++ /dev/null
@@ -1,939 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-XRD D7-Mate设备驱动
-
-支持XRD D7-Mate设备的TCP通信协议，包括自动模式控制、上样流程、数据获取、下样流程和高压电源控制等功能。
-通信协议版本：1.0.0
-"""
-
-import json
-import socket
-import struct
-import time
-from typing import Dict, List, Optional, Tuple, Any, Union
-
-
-class XRDClient:
- def __init__(self, host='127.0.0.1', port=6001, timeout=10.0):
- """
- 初始化XRD D7-Mate客户端
-
- Args:
- host (str): 设备IP地址
- port (int): 通信端口，默认6001
- timeout (float): 超时时间，单位秒
- """
- self.host = host
- self.port = port
- self.timeout = timeout
- self.sock = None
- self._ros_node = None # ROS节点引用，由框架设置
-
- def post_init(self, ros_node):
- """
- ROS节点初始化后的回调方法，保存ROS节点引用但不自动连接
-
- Args:
- ros_node: ROS节点实例
- """
- self._ros_node = ros_node
- ros_node.lab_logger().info(f"XRD D7-Mate设备已初始化，将在需要时连接: {self.host}:{self.port}")
- # 不自动连接，只有在调用具体功能时才建立连接
-
- def connect(self):
- """
- 建立TCP连接到XRD D7-Mate设备
-
- Raises:
- ConnectionError: 连接失败时抛出
- """
- try:
- self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
- self.sock.settimeout(self.timeout)
- except Exception as e:
- raise ConnectionError(f"Failed to connect to {self.host}:{self.port} - {str(e)}")
-
- def close(self):
- """
- 关闭与XRD D7-Mate设备的TCP连接
- """
- if self.sock:
- try:
- self.sock.close()
- except Exception:
- pass # 忽略关闭时的错误
- finally:
- self.sock = None
-
- def _ensure_connection(self) -> bool:
- """
- 确保连接存在，如果不存在则尝试建立连接
-
- Returns:
- bool: 连接是否成功建立
- """
- if self.sock is None:
- try:
- self.connect()
- return True
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"建立连接失败: {e}")
- return False
- return True
-
- def _receive_with_length_prefix(self) -> dict:
- """
- 使用长度前缀协议接收数据
-
- Returns:
- dict: 解析后的JSON响应数据
-
- Raises:
- ConnectionError: 连接错误
- TimeoutError: 超时错误
- """
- try:
- # 首先接收4字节的长度信息
- length_data = bytearray()
- while len(length_data) < 4:
- chunk = self.sock.recv(4 - len(length_data))
- if not chunk:
- raise ConnectionError("Connection closed while receiving length prefix")
- length_data.extend(chunk)
-
- # 解析长度（大端序无符号整数）
- data_length = struct.unpack('>I', length_data)[0]
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"接收到数据长度: {data_length} 字节")
-
- # 根据长度接收实际数据
- json_data = bytearray()
- while len(json_data) < data_length:
- remaining = data_length - len(json_data)
- chunk = self.sock.recv(min(4096, remaining))
- if not chunk:
- raise ConnectionError("Connection closed while receiving JSON data")
- json_data.extend(chunk)
-
- # 解码JSON数据，优先使用UTF-8，失败时尝试GBK
- try:
- json_str = json_data.decode('utf-8')
- except UnicodeDecodeError:
- json_str = json_data.decode('gbk')
-
- # 解析JSON
- result = json.loads(json_str)
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"成功解析JSON响应: {result}")
-
- return result
-
- except socket.timeout:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"接收超时")
- raise TimeoutError(f"recv() timed out after {self.timeout:.1f}s")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"接收数据失败: {e}")
- raise ConnectionError(f"Failed to receive data: {str(e)}")
-
- def _send_command(self, cmd: dict) -> dict:
- """
- 使用长度前缀协议发送命令到XRD D7-Mate设备并接收响应
-
- Args:
- cmd (dict): 要发送的命令字典
-
- Returns:
- dict: 设备响应的JSON数据
-
- Raises:
- ConnectionError: 连接错误
- TimeoutError: 超时错误
- """
- # 确保连接存在，如果不存在则建立连接
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info(f"为命令重新建立连接")
- except Exception as e:
- raise ConnectionError(f"Failed to establish connection: {str(e)}")
-
- try:
- # 序列化命令为JSON
- json_str = json.dumps(cmd, ensure_ascii=False)
- payload = json_str.encode('utf-8')
-
- # 计算JSON数据长度并打包为4字节大端序无符号整数
- length_prefix = struct.pack('>I', len(payload))
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送JSON命令到XRD D7-Mate: {json_str}")
- self._ros_node.lab_logger().info(f"发送数据长度: {len(payload)} 字节")
-
- # 发送长度前缀
- self.sock.sendall(length_prefix)
-
- # 发送JSON数据
- self.sock.sendall(payload)
-
- # 使用长度前缀协议接收响应
- response = self._receive_with_length_prefix()
-
- return response
-
- except Exception as e:
- # 如果是连接错误，尝试重新连接一次
- if "远程主机强迫关闭了一个现有的连接" in str(e) or "10054" in str(e):
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"连接被远程主机关闭，尝试重新连接: {e}")
- try:
- self.close()
- self.connect()
- # 重新发送命令
- json_str = json.dumps(cmd, ensure_ascii=False)
- payload = json_str.encode('utf-8')
- if self._ros_node:
- self._ros_node.lab_logger().info(f"重新发送JSON命令到XRD D7-Mate: {json_str}")
- self.sock.sendall(payload)
-
- # 重新接收响应
- buffer = bytearray()
- start = time.time()
- while True:
- try:
- chunk = self.sock.recv(4096)
- if not chunk:
- break
- buffer.extend(chunk)
-
- # 尝试解码和解析JSON
- try:
- text = buffer.decode('utf-8', errors='strict')
- text = text.strip()
- if text.startswith('{'):
- brace_count = 0
- json_end = -1
- for i, char in enumerate(text):
- if char == '{':
- brace_count += 1
- elif char == '}':
- brace_count -= 1
- if brace_count == 0:
- json_end = i + 1
- break
- if json_end > 0:
- text = text[:json_end]
- result = json.loads(text)
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"重连后成功解析JSON响应: {result}")
- return result
-
- except (UnicodeDecodeError, json.JSONDecodeError):
- pass
-
- except socket.timeout:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"重连后接收超时")
- raise TimeoutError(f"recv() timed out after reconnection")
-
- if time.time() - start > self.timeout * 2:
- raise TimeoutError(f"No complete JSON received after reconnection")
-
- except Exception as retry_e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"重连失败: {retry_e}")
- raise ConnectionError(f"Connection retry failed: {str(retry_e)}")
-
- if isinstance(e, (ConnectionError, TimeoutError)):
- raise
- else:
- raise ConnectionError(f"Command send failed: {str(e)}")
-
- # ==================== 自动模式控制 ====================
-
- def start_auto_mode(self, status: bool) -> dict:
- """
- 启动或停止自动模式
-
- Args:
- status (bool): True-启动自动模式，False-停止自动模式
-
- Returns:
- dict: 响应结果，包含status、timestamp、message
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- # 按协议要求，content 直接为布尔值，使用传入的status参数
- cmd = {
- "command": "START_AUTO_MODE",
- "content": {
- "status": bool(True)
- }
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送自动模式控制命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到自动模式控制响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"自动模式控制失败: {e}")
- return {"status": False, "message": f"自动模式控制失败: {str(e)}"}
-
- # ==================== 上样流程 ====================
-
- def get_sample_request(self) -> dict:
- """
- 上样请求，检查是否允许上样
-
- Returns:
- dict: 响应结果，包含status、timestamp、message
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "GET_SAMPLE_REQUEST",
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送上样请求命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到上样请求响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"上样请求失败: {e}")
- return {"status": False, "message": f"上样请求失败: {str(e)}"}
-
- def send_sample_ready(self, sample_id: str, start_theta: float, end_theta: float,
- increment: float, exp_time: float) -> dict:
- """
- 送样完成后，发送样品信息和采集参数
-
- Args:
- sample_id (str): 样品标识符
- start_theta (float): 起始角度（≥5°）
- end_theta (float): 结束角度（≥5.5°，且必须大于start_theta）
- increment (float): 角度增量（≥0.005）
- exp_time (float): 曝光时间（0.1-5.0秒）
-
- Returns:
- dict: 响应结果，包含status、timestamp、message等
- """
- # 参数验证
- if start_theta < 5.0:
- return {"status": False, "message": "起始角度必须≥5°"}
- if end_theta < 5.5:
- return {"status": False, "message": "结束角度必须≥5.5°"}
- if end_theta <= start_theta:
- return {"status": False, "message": "结束角度必须大于起始角度"}
- if increment < 0.005:
- return {"status": False, "message": "角度增量必须≥0.005"}
- if not (0.1 <= exp_time <= 5.0):
- return {"status": False, "message": "曝光时间必须在0.1-5.0秒之间"}
-
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "SEND_SAMPLE_READY",
- "content": {
- "sample_id": sample_id,
- "start_theta": start_theta,
- "end_theta": end_theta,
- "increment": increment,
- "exp_time": exp_time
- }
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送样品准备完成命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到样品准备完成响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"样品准备完成失败: {e}")
- return {"status": False, "message": f"样品准备完成失败: {str(e)}"}
-
- # ==================== 数据获取 ====================
-
- def get_current_acquire_data(self) -> dict:
- """
- 获取当前正在采集的样品数据
-
- Returns:
- dict: 响应结果，包含status、timestamp、sample_id、Energy、Intensity等
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "GET_CURRENT_ACQUIRE_DATA",
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送获取采集数据命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到获取采集数据响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"获取采集数据失败: {e}")
- return {"status": False, "message": f"获取采集数据失败: {str(e)}"}
-
- def get_sample_status(self) -> dict:
- """
- 获取工位样品状态及设备状态
-
- Returns:
- dict: 响应结果，包含status、timestamp、Station等
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "GET_SAMPLE_STATUS",
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送获取样品状态命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到获取样品状态响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"获取样品状态失败: {e}")
- return {"status": False, "message": f"获取样品状态失败: {str(e)}"}
-
- # ==================== 下样流程 ====================
-
- def get_sample_down(self, sample_station: int) -> dict:
- """
- 下样请求
-
- Args:
- sample_station (int): 下样工位（1, 2, 3）
-
- Returns:
- dict: 响应结果，包含status、timestamp、sample_info等
- """
- # 参数验证
- if sample_station not in [1, 2, 3]:
- return {"status": False, "message": "下样工位必须是1、2或3"}
-
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- # 按协议要求，content 直接为整数工位号
- cmd = {
- "command": "GET_SAMPLE_DOWN",
- "content": {
- "Sample station":int(3)
- }
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送下样请求命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到下样请求响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"下样请求失败: {e}")
- return {"status": False, "message": f"下样请求失败: {str(e)}"}
-
- def send_sample_down_ready(self) -> dict:
- """
- 下样完成命令
-
- Returns:
- dict: 响应结果，包含status、timestamp、message
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "SEND_SAMPLE_DOWN_READY",
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送下样完成命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到下样完成响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"下样完成失败: {e}")
- return {"status": False, "message": f"下样完成失败: {str(e)}"}
-
- # ==================== 高压电源控制 ====================
-
- def set_power_on(self) -> dict:
- """
- 高压电源开启
-
- Returns:
- dict: 响应结果，包含status、timestamp、message
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "SET_POWER_ON",
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送高压电源开启命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到高压开启响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"高压开启失败: {e}")
- return {"status": False, "message": f"高压开启失败: {str(e)}"}
-
- def set_power_off(self) -> dict:
- """
- 高压电源关闭
-
- Returns:
- dict: 响应结果，包含status、timestamp、message
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "SET_POWER_OFF",
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送高压电源关闭命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到高压关闭响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"高压关闭失败: {e}")
- return {"status": False, "message": f"高压关闭失败: {str(e)}"}
-
- def set_voltage_current(self, voltage: float, current: float) -> dict:
- """
- 设置高压电源电压和电流
-
- Args:
- voltage (float): 电压值（kV）
- current (float): 电流值（mA）
-
- Returns:
- dict: 响应结果，包含status、timestamp、message
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"XRD D7-Mate设备连接失败: {e}")
- return {"status": False, "message": "设备连接异常"}
-
- try:
- cmd = {
- "command": "SET_VOLTAGE_CURRENT",
- "content": {
- "voltage": voltage,
- "current": current
- }
- }
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"发送设置电压电流命令: {cmd}")
-
- response = self._send_command(cmd)
- if self._ros_node:
- self._ros_node.lab_logger().info(f"收到设置电压电流响应: {response}")
-
- return response
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"设置电压电流失败: {e}")
- return {"status": False, "message": f"设置电压电流失败: {str(e)}"}
-
- def start(self, sample_id: str = "", start_theta: float = 10.0, end_theta: float = 80.0,
- increment: float = 0.05, exp_time: float = 0.1, wait_minutes: float = 3.0,
- string: str = "") -> dict:
- """
- Start 主流程：
- 1) 启动自动模式；
- 2) 发送上样请求并等待允许；
- 3) 等待指定分钟后发送样品准备完成（携带采集参数）；
- 4) 周期性轮询采集数据与工位状态；
- 5) 一旦任一下样位变为 True，执行下样流程（GET_SAMPLE_DOWN + SEND_SAMPLE_DOWN_READY）。
-
- Args:
- sample_id: 样品名称
- start_theta: 起始角度（≥5°）
- end_theta: 结束角度（≥5.5°，且必须大于 start_theta）
- increment: 角度增量（≥0.005）
- exp_time: 曝光时间（0.1-5.0 秒）
- wait_minutes: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
- string: 字符串格式的参数输入，如果提供则优先解析使用
-
- Returns:
- dict: {"return_info": str, "success": bool}
- """
- try:
- # 强制类型转换：除 sample_id 外的所有输入均转换为 float（若为字符串）
- def _to_float(v, default):
- try:
- return float(v)
- except (TypeError, ValueError):
- return float(default)
-
- if not isinstance(sample_id, str):
- sample_id = str(sample_id)
- if isinstance(start_theta, str):
- start_theta = _to_float(start_theta, 10.0)
- if isinstance(end_theta, str):
- end_theta = _to_float(end_theta, 80.0)
- if isinstance(increment, str):
- increment = _to_float(increment, 0.05)
- if isinstance(exp_time, str):
- exp_time = _to_float(exp_time, 0.1)
- if isinstance(wait_minutes, str):
- wait_minutes = _to_float(wait_minutes, 3.0)
-
- # 不再从 string 参数解析覆盖；保留参数但忽略字符串解析，统一使用结构化输入
-
- # 确保设备连接
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("XRD D7-Mate设备连接成功，开始执行start流程")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"XRD D7-Mate设备连接失败: {e}")
- return {"return_info": f"设备连接失败: {str(e)}", "success": False}
-
- # 1) 启动自动模式
- r_auto = self.start_auto_mode(True)
- if not r_auto.get("status", False):
- return {"return_info": f"启动自动模式失败: {r_auto.get('message', '未知')}", "success": False}
- if self._ros_node:
- self._ros_node.lab_logger().info(f"自动模式已启动: {r_auto}")
-
- # 2) 上样请求
- r_req = self.get_sample_request()
- if not r_req.get("status", False):
- return {"return_info": f"上样请求未允许: {r_req.get('message', '未知')}", "success": False}
- if self._ros_node:
- self._ros_node.lab_logger().info(f"上样已允许: {r_req}")
-
- # 3) 等待指定分钟后发送样品准备完成
- wait_seconds = max(0.0, float(wait_minutes)) * 60.0
- if self._ros_node:
- self._ros_node.lab_logger().info(f"等待 {wait_minutes} 分钟后发送样品准备完成")
- time.sleep(wait_seconds)
-
- r_ready = self.send_sample_ready(sample_id=sample_id,
- start_theta=start_theta,
- end_theta=end_theta,
- increment=increment,
- exp_time=exp_time)
- if not r_ready.get("status", False):
- return {"return_info": f"样品准备完成失败: {r_ready.get('message', '未知')}", "success": False}
- if self._ros_node:
- self._ros_node.lab_logger().info(f"样品准备完成已发送: {r_ready}")
-
- # 4) 轮询采集数据与工位状态
- polling_interval = 5.0 # 秒
- down_station_idx: Optional[int] = None
- while True:
- try:
- r_data = self.get_current_acquire_data()
- if self._ros_node:
- self._ros_node.lab_logger().info(f"采集中数据: {r_data}")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"获取采集数据失败: {e}")
-
- try:
- r_status = self.get_sample_status()
- if self._ros_node:
- self._ros_node.lab_logger().info(f"工位状态: {r_status}")
-
- station = r_status.get("Station", {})
- if isinstance(station, dict):
- for idx in (1, 2, 3):
- key = f"DownStation{idx}"
- val = station.get(key)
- if isinstance(val, bool) and val:
- down_station_idx = idx
- break
- if down_station_idx is not None:
- break
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"获取工位状态失败: {e}")
-
- time.sleep(polling_interval)
-
- if down_station_idx is None:
- return {"return_info": "未检测到任一下样位 True，流程未完成", "success": False}
-
- # 5) 下样流程
- r_down = self.get_sample_down(down_station_idx)
- if not r_down.get("status", False):
- return {"return_info": f"下样请求失败(工位 {down_station_idx}): {r_down.get('message', '未知')}", "success": False}
- if self._ros_node:
- self._ros_node.lab_logger().info(f"下样请求成功(工位 {down_station_idx}): {r_down}")
-
- r_ready_down = self.send_sample_down_ready()
- if not r_ready_down.get("status", False):
- return {"return_info": f"下样完成发送失败: {r_ready_down.get('message', '未知')}", "success": False}
- if self._ros_node:
- self._ros_node.lab_logger().info(f"下样完成已发送: {r_ready_down}")
-
- return {"return_info": f"Start流程完成，工位 {down_station_idx} 已下样", "success": True}
-
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().error(f"Start流程异常: {e}")
- return {"return_info": f"Start流程异常: {str(e)}", "success": False}
-
- def _parse_start_params(self, params: Union[str, Dict[str, Any]]) -> Dict[str, Any]:
- """
- 解析UI输入参数为 Start 流程参数。
- - 从UI字典中读取各个字段的字符串值
- - 将数值字段从字符串转换为 float 类型
- - 保留 sample_id 为字符串类型
-
- 返回:
- dict: {sample_id, start_theta, end_theta, increment, exp_time, wait_minutes}
- """
- # 如果传入为字典，则直接按键读取；否则给出警告并使用空字典
- if isinstance(params, dict):
- p = params
- else:
- p = {}
- if self._ros_node:
- self._ros_node.lab_logger().warning("start 参数应为结构化字典")
-
- def _to_float(v, default):
- """将UI输入的字符串值转换为float，处理空值和无效值"""
- if v is None or v == '':
- return float(default)
- try:
- # 处理字符串输入（来自UI）
- if isinstance(v, str):
- v = v.strip()
- if v == '':
- return float(default)
- return float(v)
- except (TypeError, ValueError):
- return float(default)
-
- # 从UI输入字典中读取参数
- sample_id = p.get('sample_id') or p.get('sample_name') or '样品名称'
- if not isinstance(sample_id, str):
- sample_id = str(sample_id)
-
- # 将UI字符串输入转换为float
- result: Dict[str, Any] = {
- 'sample_id': sample_id,
- 'start_theta': _to_float(p.get('start_theta'), 10.0),
- 'end_theta': _to_float(p.get('end_theta'), 80.0),
- 'increment': _to_float(p.get('increment'), 0.05),
- 'exp_time': _to_float(p.get('exp_time'), 0.1),
- 'wait_minutes': _to_float(p.get('wait_minutes'), 3.0),
- }
-
- return result
-
- def start_from_string(self, params: Union[str, Dict[str, Any]]) -> dict:
- """
- 从UI输入参数执行 Start 主流程。
- 接收来自用户界面的参数字典，其中数值字段为字符串格式，自动转换为正确的类型。
-
- 参数:
- params: UI输入参数字典，例如:
- {
- 'sample_id': 'teste',
- 'start_theta': '10.0', # UI字符串输入
- 'end_theta': '25.0', # UI字符串输入
- 'increment': '0.05', # UI字符串输入
- 'exp_time': '0.10', # UI字符串输入
- 'wait_minutes': '0.5' # UI字符串输入
- }
-
- 返回:
- dict: 执行结果
- """
- parsed = self._parse_start_params(params)
-
- sample_id = parsed.get('sample_id', '样品名称')
- start_theta = float(parsed.get('start_theta', 10.0))
- end_theta = float(parsed.get('end_theta', 80.0))
- increment = float(parsed.get('increment', 0.05))
- exp_time = float(parsed.get('exp_time', 0.1))
- wait_minutes = float(parsed.get('wait_minutes', 3.0))
-
- return self.start(
- sample_id=sample_id,
- start_theta=start_theta,
- end_theta=end_theta,
- increment=increment,
- exp_time=exp_time,
- wait_minutes=wait_minutes,
- )
-
-# 测试函数
-def test_xrd_client():
- """
- 测试XRD客户端功能
- """
- client = XRDClient(host='127.0.0.1', port=6001)
-
- try:
- # 测试连接
- client.connect()
- print("连接成功")
-
- # 测试启动自动模式
- result = client.start_auto_mode(True)
- print(f"启动自动模式: {result}")
-
- # 测试上样请求
- result = client.get_sample_request()
- print(f"上样请求: {result}")
-
- # 测试获取样品状态
- result = client.get_sample_status()
- print(f"样品状态: {result}")
-
- # 测试高压开启
- result = client.set_power_on()
- print(f"高压开启: {result}")
-
- except Exception as e:
- print(f"测试失败: {e}")
- finally:
- client.close()
-
-
-if __name__ == "__main__":
- test_xrd_client()
-
-# 为了兼容性，提供别名
-XRD_D7Mate = XRDClient
\ No newline at end of file
diff --git a/unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md b/unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md
deleted file mode 100644
index 74326c7a..00000000
--- a/unilabos/devices/zhida_gcms/Zhida_GCMS_ROS2_User_Guide.md
+++ /dev/null
@@ -1,148 +0,0 @@
-# 智达GCMS ROS2使用指南 / Zhida GCMS ROS2 User Guide
-
-## 概述 / Overview
-
-智达GCMS设备支持通过ROS2动作进行操作，包括CSV文件分析启动、设备状态查询等功能。
-
-The Zhida GCMS device supports operations through ROS2 actions, including CSV file analysis startup, device status queries, and other functions.
-
-## 主要功能 / Main Features
-
-### 1. CSV文件分析启动 / CSV File Analysis Startup (`start_with_csv_file`)
-
-- **功能 / Function**: 接收CSV文件路径，自动读取文件内容并启动分析 / Receives CSV file path, automatically reads file content and starts analysis
-- **输入 / Input**: CSV文件的绝对路径 / Absolute path of CSV file
-- **输出 / Output**: `{"return_info": str, "success": bool}`
-
-### 2. 设备状态查询 / Device Status Query (`get_status`)
-
-- **功能 / Function**: 获取设备当前运行状态 / Get current device running status
-- **输出 / Output**: 设备状态字符串（如"RunSample"、"Idle"等）/ Device status string (e.g., "RunSample", "Idle", etc.)
-
-### 3. 方法列表查询 / Method List Query (`get_methods`)
-
-- **功能 / Function**: 获取设备支持的所有方法列表 / Get all method lists supported by the device
-- **输出 / Output**: 方法列表字典 / Method list dictionary
-
-### 4. 放盘操作 / Tray Operation (`put_tray`)
-
-- **功能 / Function**: 控制设备准备样品托盘 / Control device to prepare sample tray
-- **输出 / Output**: 操作结果信息 / Operation result information
-
-### 5. 停止运行 / Stop Operation (`abort`)
-
-- **功能 / Function**: 中止当前正在进行的分析任务 / Abort current analysis task in progress
-- **输出 / Output**: 操作结果信息 / Operation result information
-
-### 6. 获取版本信息 / Get Version Information (`get_version`)
-
-- **功能 / Function**: 查询设备接口版本和固件版本信息 / Query device interface version and firmware version information
-- **输出 / Output**: 版本信息字典 / Version information dictionary
-
-## 使用方法 / Usage Methods
-
-### ROS2命令行使用 / ROS2 Command Line Usage
-
-### 1. 查询设备状态 / Query Device Status
-
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/get_status unilabos_msgs/action/EmptyIn "{}"
-```
-
-### 2. 查询方法列表 / Query Method List
-
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/get_methods unilabos_msgs/action/EmptyIn "{}"
-```
-
-### 3. 启动分析 / Start Analysis
-
-使用CSV文件启动分析 / Start analysis using CSV file:
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start_with_csv_file unilabos_msgs/action/StrSingleInput "{string: 'D:/path/to/your/samples.csv'}"
-```
-
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start_with_csv_file unilabos_msgs/action/StrSingleInput "{string: 'd:/UniLab/Uni-Lab-OS/unilabos/devices/zhida_gcms/zhida_gcms-test_3.csv'}"
-
-使用Base64编码数据启动分析 / Start analysis using Base64 encoded data:
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start unilabos_msgs/action/StrSingleInput "{string: 'U2FtcGxlTmFtZSxBY3FNZXRob2QsUmFja0NvZGUsVmlhbFBvcyxTbXBsSW5qVm9sLE91dHB1dEZpbGU...'}"
-```
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/start unilabos_msgs/action/StrSingleInput "{string: 'U2FtcGxlTmFtZSxBY3FNZXRob2QsUmFja0NvZGUsVmlhbFBvcyxTbXBsSW5qVm9sLE91dHB1dEZpbGUKU2FtcGxlMDAxLDIwMjUwNjA0LXRlc3QsUmFjayAxLDEsMSwvQ2hyb21lbGVvbkxvY2FsL++/veixuO+/vcSyxLzvv73vv73vv73vv73vv73vv73vv73vv73vv70vMjAyNTA2MDQK'}"
-
-### 4. 放盘操作 / Tray Operation
-
-**注意 / Note**: 放盘操作是特殊场景下使用的功能，比如机械臂比较短需要让开位置，或者盘支架是可移动的时候，这个指令让进样器也去做相应动作。在当前配置中，空间足够，不需要这个额外的控制组件。
-
-**Note**: The tray operation is used in special scenarios, such as when the robotic arm is relatively short and needs to make room, or when the tray bracket is movable, this command makes the injector perform corresponding actions. In the current configuration, the space is sufficient and this additional control component is not needed.
-
-准备样品托盘 / Prepare sample tray:
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/put_tray unilabos_msgs/action/EmptyIn "{}"
-```
-
-### 5. 停止运行 / Stop Operation
-
-中止当前分析任务（注意！运行中发现任务运行中止，需要人工在InLab Solution 二次点击确认）/ Abort current analysis task (Note! If task abortion is detected during operation, manual confirmation is required by clicking twice in InLab Solution):
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/abort unilabos_msgs/action/EmptyIn "{}"
-```
-
-### 6. 获取版本信息 / Get Version Information
-
-查询设备版本 / Query device version:
-```bash
-ros2 action send_goal /devices/ZHIDA_GCMS_STATION/get_version unilabos_msgs/action/EmptyIn "{}"
-```
-
-### Python代码使用 / Python Code Usage
-
-```python
-from unilabos.devices.zhida_gcms.zhida import ZhidaClient
-
-# 初始化客户端 / Initialize client
-client = ZhidaClient(host='192.168.3.184', port=5792)
-client.connect()
-
-# 使用CSV文件启动分析 / Start analysis using CSV file
-result = client.start_with_csv_file('/path/to/your/file.csv')
-print(f"成功 / Success: {result['success']}")
-print(f"信息 / Info: {result['return_info']}")
-
-# 查询设备状态 / Query device status
-status = client.get_status()
-print(f"设备状态 / Device Status: {status}")
-
-client.close()
-```
-
-## 使用注意事项 / Usage Notes
-
-1. **文件路径 / File Path**: 必须使用绝对路径 / Must use absolute path
-2. **文件格式 / File Format**: CSV文件必须是UTF-8编码 / CSV file must be UTF-8 encoded
-3. **设备连接 / Device Connection**: 确保智达GCMS设备已连接并可访问 / Ensure Zhida GCMS device is connected and accessible
-4. **权限 / Permissions**: 确保有读取CSV文件的权限 / Ensure you have permission to read CSV files
-
-## 故障排除 / Troubleshooting
-
-### 常见问题 / Common Issues
-
-1. **文件路径错误 / File Path Error**: 确保使用绝对路径且文件存在 / Ensure using absolute path and file exists
-2. **编码问题 / Encoding Issue**: 确保CSV文件是UTF-8编码 / Ensure CSV file is UTF-8 encoded
-3. **设备连接 / Device Connection**: 检查网络连接和设备状态 / Check network connection and device status
-4. **权限问题 / Permission Issue**: 确保有文件读取权限 / Ensure you have file read permissions
-
-### 设备状态说明 / Device Status Description
-
-- `"Idle"`: 设备空闲状态 / Device idle status
-- `"RunSample"`: 正在运行样品分析 / Running sample analysis
-- `"Error"`: 设备错误状态 / Device error status
-
-## 总结 / Summary
-
-智达GCMS设备现在支持 / Zhida GCMS device now supports:
-
-1. 直接通过ROS2命令输入CSV文件路径启动分析 / Direct CSV file path input via ROS2 commands to start analysis
-2. 按需查询设备状态和方法列表 / On-demand device status and method list queries
-3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
-4. 简化的操作流程 / Simplified operation workflow
\ No newline at end of file
diff --git a/unilabos/devices/zhida_gcms/__init__.py b/unilabos/devices/zhida_gcms/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/devices/zhida_gcms/device_test.json b/unilabos/devices/zhida_gcms/device_test.json
deleted file mode 100644
index b9ca9516..00000000
--- a/unilabos/devices/zhida_gcms/device_test.json
+++ /dev/null
@@ -1,24 +0,0 @@
-{
- "nodes": [
- {
- "id": "ZHIDA_GCMS_STATION",
- "name": "ZHIDA_GCMS",
- "parent": null,
- "type": "device",
- "class": "zhida_gcms",
- "position": {
- "x": 620.6111111111111,
- "y": 171,
- "z": 0
- },
- "config": {
- "host": "192.168.3.184",
- "port": 5792,
- "timeout": 10.0
- },
- "data": {},
- "children": []
- }
- ],
- "links": []
-}
\ No newline at end of file
diff --git a/unilabos/devices/zhida_gcms/zhida.py b/unilabos/devices/zhida_gcms/zhida.py
deleted file mode 100644
index 7f0cd21e..00000000
--- a/unilabos/devices/zhida_gcms/zhida.py
+++ /dev/null
@@ -1,400 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-智达GCMS设备驱动
-
-支持智达GCMS设备的TCP通信协议，包括状态查询、方法获取、样品分析等功能。
-通信协议版本：1.0.1
-"""
-
-import base64
-import json
-import socket
-import time
-import os
-from pathlib import Path
-
-
-class ZhidaClient:
- def __init__(self, host='192.168.3.184', port=5792, timeout=10.0):
- # 如果部署在智达GCMS上位机本地，可使用localhost: host='127.0.0.1'
- """
- 初始化智达GCMS客户端
-
- Args:
- host (str): 设备IP地址，本地部署时可使用'127.0.0.1'
- port (int): 通信端口，默认5792
- timeout (float): 超时时间，单位秒
- """
- self.host = host
- self.port = port
- self.timeout = timeout
- self.sock = None
- self._ros_node = None # ROS节点引用，由框架设置
-
- def post_init(self, ros_node):
- """
- ROS节点初始化后的回调方法，用于建立设备连接
-
- Args:
- ros_node: ROS节点实例
- """
- self._ros_node = ros_node
- try:
- self.connect()
- ros_node.lab_logger().info(f"智达GCMS设备连接成功: {self.host}:{self.port}")
- except Exception as e:
- ros_node.lab_logger().error(f"智达GCMS设备连接失败: {e}")
- # 不抛出异常，允许节点继续运行，后续可以重试连接
-
- def connect(self):
- """
- 建立TCP连接到智达GCMS设备
-
- Raises:
- ConnectionError: 连接失败时抛出
- """
- try:
- self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
- # 确保后续 recv/send 都会在 timeout 秒后抛 socket.timeout
- self.sock.settimeout(self.timeout)
- except Exception as e:
- raise ConnectionError(f"Failed to connect to {self.host}:{self.port} - {str(e)}")
-
- def close(self):
- """
- 关闭与智达GCMS设备的TCP连接
- """
- if self.sock:
- try:
- self.sock.close()
- except Exception:
- pass # 忽略关闭时的错误
- finally:
- self.sock = None
-
- def _send_command(self, cmd: dict) -> dict:
- """
- 发送命令到智达GCMS设备并接收响应
-
- Args:
- cmd (dict): 要发送的命令字典
-
- Returns:
- dict: 设备响应的JSON数据
-
- Raises:
- ConnectionError: 连接错误
- TimeoutError: 超时错误
- """
- if not self.sock:
- raise ConnectionError("Not connected to device")
-
- try:
- # 发送JSON命令（UTF-8编码）
- payload = json.dumps(cmd, ensure_ascii=False).encode('utf-8')
- self.sock.sendall(payload)
-
- # 循环接收数据直到能成功解析完整JSON
- buffer = bytearray()
- start = time.time()
- while True:
- try:
- chunk = self.sock.recv(4096)
- if not chunk:
- # 对端关闭连接，尝试解析已接收的数据
- if buffer:
- try:
- text = buffer.decode('utf-8', errors='strict')
- return json.loads(text)
- except (UnicodeDecodeError, json.JSONDecodeError):
- pass
- break
- buffer.extend(chunk)
-
- # 尝试解码和解析JSON
- text = buffer.decode('utf-8', errors='strict')
- try:
- return json.loads(text)
- except json.JSONDecodeError:
- # JSON不完整，继续接收
- pass
-
- except socket.timeout:
- # 超时时，尝试解析已接收的数据
- if buffer:
- try:
- text = buffer.decode('utf-8', errors='strict')
- return json.loads(text)
- except (UnicodeDecodeError, json.JSONDecodeError):
- pass
- raise TimeoutError(f"recv() timed out after {self.timeout:.1f}s")
-
- # 防止死循环，总时长超过2倍超时时间就报错
- if time.time() - start > self.timeout * 2:
- # 最后尝试解析已接收的数据
- if buffer:
- try:
- text = buffer.decode('utf-8', errors='strict')
- return json.loads(text)
- except (UnicodeDecodeError, json.JSONDecodeError):
- pass
- raise TimeoutError(f"No complete JSON received after {time.time() - start:.1f}s")
-
- # 连接关闭，如果有数据则尝试解析
- if buffer:
- try:
- text = buffer.decode('utf-8', errors='strict')
- return json.loads(text)
- except (UnicodeDecodeError, json.JSONDecodeError):
- pass
-
- raise ConnectionError("Connection closed before JSON could be parsed")
-
- except Exception as e:
- if isinstance(e, (ConnectionError, TimeoutError)):
- raise
- else:
- raise ConnectionError(f"Command send failed: {str(e)}")
-
- def get_status(self) -> str:
- """
- 获取设备状态
-
- Returns:
- str: 设备状态 (Idle|Offline|Error|Busy|RunSample|Unknown)
- """
- if not self.sock:
- # 尝试重新连接
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("智达GCMS设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"智达GCMS设备连接失败: {e}")
- return "Offline"
-
- try:
- response = self._send_command({"command": "getstatus"})
- return response.get("result", "Unknown")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"获取设备状态失败: {e}")
- return "Error"
-
- def get_methods(self) -> dict:
- """
- 获取当前Project的方法列表
-
- Returns:
- dict: 包含方法列表的响应
- """
- if not self.sock:
- try:
- self.connect()
- if self._ros_node:
- self._ros_node.lab_logger().info("智达GCMS设备重新连接成功")
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"智达GCMS设备连接失败: {e}")
- return {"error": "Device not connected"}
-
- try:
- return self._send_command({"command": "getmethods"})
- except Exception as e:
- if self._ros_node:
- self._ros_node.lab_logger().warning(f"获取方法列表失败: {e}")
- return {"error": str(e)}
-
-
-
- def get_version(self) -> dict:
- """
- 获取接口版本和InLabPAL固件版本
-
- Returns:
- dict: 响应格式 {"result": "OK|Error", "message": "Interface:x.x.x;FW:x.x.x.xxx"}
- """
- return self._send_command({"command": "version"})
-
- def put_tray(self) -> dict:
- """
- 放盘操作，准备InLabPAL进样器
-
- 注意：此功能仅在特殊场景下使用，例如：
- - 机械臂比较短，需要让开一个位置
- - 盘支架是可移动的，需要进样器配合做动作
-
- 对于宜宾深势这套配置，空间足够，不需要这个额外的控制组件。
-
- Returns:
- dict: 响应格式 {"result": "OK|Error", "message": "ready_info|error_info"}
- """
- return self._send_command({"command": "puttray"})
-
- def start_with_csv_file(self, string: str = None, csv_file_path: str = None) -> dict:
- """
- 使用CSV文件启动分析（支持ROS2动作调用）
-
- Args:
- string (str): CSV文件路径（ROS2参数名）
- csv_file_path (str): CSV文件路径（兼容旧接口）
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
-
- Raises:
- FileNotFoundError: CSV文件不存在
- Exception: 文件读取或通信错误
- """
- try:
- # 支持两种参数传递方式：ROS2的string参数和直接的csv_file_path参数
- file_path = string if string is not None else csv_file_path
- if file_path is None:
- error_msg = "未提供CSV文件路径参数"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- # 使用Path对象进行更健壮的文件处理
- csv_path = Path(file_path)
- if not csv_path.exists():
- error_msg = f"CSV文件不存在: {file_path}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- # 读取CSV文件内容（UTF-8编码，替换未知字符）
- csv_content = csv_path.read_text(encoding="utf-8", errors="replace")
-
- # 转换为Base64编码
- b64_content = base64.b64encode(csv_content.encode('utf-8')).decode('ascii')
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"正在发送CSV文件到智达GCMS: {file_path}")
- self._ros_node.lab_logger().info(f"Base64编码长度: {len(b64_content)} 字符")
-
- # 发送start命令
- response = self._send_command({
- "command": "start",
- "message": b64_content
- })
-
- # 转换为ROS2动作结果格式
- if response.get("result") == "OK":
- success_msg = f"智达GCMS分析启动成功: {response.get('message', 'Unknown')}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
- else:
- error_msg = f"智达GCMS分析启动失败: {response.get('message', 'Unknown error')}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- except Exception as e:
- error_msg = f"CSV文件处理失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def start(self, string: str = None, text: str = None) -> dict:
- """
- 使用Base64编码数据启动分析（支持ROS2动作调用）
-
- Args:
- string (str): Base64编码的CSV数据（ROS2参数名）
- text (str): Base64编码的CSV数据（兼容旧接口）
-
- Returns:
- dict: ROS2动作结果格式 {"return_info": str, "success": bool}
- """
- try:
- # 支持两种参数传递方式：ROS2的string参数和原有的text参数
- b64_content = string if string is not None else text
- if b64_content is None:
- error_msg = "未提供Base64编码数据参数"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- if self._ros_node:
- self._ros_node.lab_logger().info(f"正在发送Base64数据到智达GCMS")
- self._ros_node.lab_logger().info(f"Base64编码长度: {len(b64_content)} 字符")
-
- # 发送start命令
- response = self._send_command({
- "command": "start",
- "message": b64_content
- })
-
- # 转换为ROS2动作结果格式
- if response.get("result") == "OK":
- success_msg = f"智达GCMS分析启动成功: {response.get('message', 'Unknown')}"
- if self._ros_node:
- self._ros_node.lab_logger().info(success_msg)
- return {"return_info": success_msg, "success": True}
- else:
- error_msg = f"智达GCMS分析启动失败: {response.get('message', 'Unknown error')}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- except Exception as e:
- error_msg = f"Base64数据处理失败: {str(e)}"
- if self._ros_node:
- self._ros_node.lab_logger().error(error_msg)
- return {"return_info": error_msg, "success": False}
-
- def abort(self) -> dict:
- """
- 停止当前运行的分析
-
- Returns:
- dict: 响应格式 {"result": "OK|Error", "message": "error_info"}
- """
- return self._send_command({"command": "abort"})
-
-
-def test_zhida_client():
- """
- 测试智达GCMS客户端功能
- """
- client = ZhidaClient()
-
- try:
- # 连接设备
- print("Connecting to Zhida GCMS...")
- client.connect()
- print("Connected successfully!")
-
- # 获取设备状态
- print(f"Device status: {client.status}")
-
- # 获取版本信息
- version_info = client.get_version()
- print(f"Version info: {version_info}")
-
- # 获取方法列表
- methods = client.get_methods()
- print(f"Available methods: {methods}")
-
- # 测试CSV文件发送（如果文件存在）
- csv_file = Path(__file__).parent / "zhida_gcms-test_1.csv"
- if csv_file.exists():
- print(f"Testing CSV file: {csv_file}")
- result = client.start_with_csv_file(str(csv_file))
- print(f"Start result: {result}")
-
- except Exception as e:
- print(f"Error: {str(e)}")
-
- finally:
- # 关闭连接
- client.close()
- print("Connection closed.")
-
-
-if __name__ == "__main__":
- test_zhida_client()
diff --git a/unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv b/unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv
deleted file mode 100644
index 5e6452e9..00000000
--- a/unilabos/devices/zhida_gcms/zhida_gcms-test_1.csv
+++ /dev/null
@@ -1,2 +0,0 @@
-SampleName,AcqMethod,RackCode,VialPos,SmplInjVol,OutputFile
-Sample001,/ChromeleonLocal/�豸�IJļ���������/20250604/20231113.seq/20250604-test,Rack 1,1,1,/ChromeleonLocal/�豸�IJļ���������/20250604
diff --git a/unilabos/devices/zhida_hplc/possible_status.txt b/unilabos/devices/zhida_hplc/possible_status.txt
deleted file mode 100644
index cf4e9efb..00000000
--- a/unilabos/devices/zhida_hplc/possible_status.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
-{
- "result": "RUN",
- "message": "AcqTime:3.321049min Vial:1"
-}
-(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
-{
- "result": "NOTREADY",
- "message": "AcqTime:0min Vial:1"
-}
-(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
-{
- "result": "PRERUN",
- "message": "AcqTime:0min Vial:1"
-}
diff --git a/unilabos/devices/zhida_hplc/zhida.py b/unilabos/devices/zhida_hplc/zhida.py
deleted file mode 100644
index 2320dbe6..00000000
--- a/unilabos/devices/zhida_hplc/zhida.py
+++ /dev/null
@@ -1,113 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-import base64
-import json
-import socket
-import time
-
-
-class ZhidaClient:
- def __init__(self, host='192.168.1.47', port=5792, timeout=10.0):
- self.host = host
- self.port = port
- self.timeout = timeout
- self.sock = None
-
- def connect(self):
- """建立 TCP 连接，并设置超时用于后续 recv/send。"""
- self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
- # 确保后续 recv/send 都会在 timeout 秒后抛 socket.timeout
- self.sock.settimeout(self.timeout)
-
- def close(self):
- """关闭连接。"""
- if self.sock:
- self.sock.close()
- self.sock = None
-
- def _send_command(self, cmd: dict) -> dict:
- """
- 发送一条命令，接收 raw bytes，直到能成功 json.loads。
- """
- if not self.sock:
- raise ConnectionError("Not connected")
-
- # 1) 发送 JSON 命令
- payload = json.dumps(cmd, ensure_ascii=False).encode('utf-8')
- # 如果服务端需要换行分隔，也可以加上： payload += b'\n'
- self.sock.sendall(payload)
-
- # 2) 循环 recv，直到能成功解析完整 JSON
- buffer = bytearray()
- start = time.time()
- while True:
- try:
- chunk = self.sock.recv(4096)
- if not chunk:
- # 对端关闭
- break
- buffer.extend(chunk)
- # 尝试解码、解析
- text = buffer.decode('utf-8', errors='strict')
- try:
- return json.loads(text)
- except json.JSONDecodeError:
- # 继续 recv
- pass
- except socket.timeout:
- raise TimeoutError("recv() timed out after {:.1f}s".format(self.timeout))
- # 可选：防止死循环，整个循环时长超过 2×timeout 就报错
- if time.time() - start > self.timeout * 2:
- raise TimeoutError("No complete JSON received after {:.1f}s".format(time.time() - start))
-
- raise ConnectionError("Connection closed before JSON could be parsed")
-
-# @property
-# def xxx() -> 类型:
-# return xxxxxx
-
-# def send_command(self, ):
-# self.xxx = dict[xxx]
-
-# 示例响应回复：
-# {
-# "result": "RUN",
-# "message": "AcqTime:3.321049min Vial:1"
-# }
-
- @property
- def status(self) -> dict:
- return self._send_command({"command": "getstatus"})["result"]
-
- # def get_status(self) -> dict:
- # print(self._send_command({"command": "getstatus"}))
- # return self._send_command({"command": "getstatus"})
-
- def get_methods(self) -> dict:
- return self._send_command({"command": "getmethods"})
-
- def start(self, text) -> dict:
- b64 = base64.b64encode(text.encode('utf-8')).decode('ascii')
- return self._send_command({"command": "start", "message": b64})
-
- def abort(self) -> dict:
- return self._send_command({"command": "abort"})
-
-
-if __name__ == "__main__":
-
- """
- a,b,c
- 1,2,4
- 2,4,5
- """
-
- client = ZhidaClient()
- # 连接
- client.connect()
- # 获取状态
- print(client.status)
-
-
- # 命令格式：python zhida.py [options]
diff --git a/unilabos/devices/zhida_hplc/zhida_test_1.csv b/unilabos/devices/zhida_hplc/zhida_test_1.csv
deleted file mode 100644
index 96cef55e..00000000
--- a/unilabos/devices/zhida_hplc/zhida_test_1.csv
+++ /dev/null
@@ -1,2 +0,0 @@
-SampleName,AcqMethod,RackCode,VialPos,SmplInjVol,OutputFile
-Sample001,1028-10ul-10min.M,CStk1-01,1,10,DataSET1
\ No newline at end of file
diff --git a/unilabos/registry/device_comms/communication_devices.yaml b/unilabos/registry/device_comms/communication_devices.yaml
deleted file mode 100644
index ea3f1b61..00000000
--- a/unilabos/registry/device_comms/communication_devices.yaml
+++ /dev/null
@@ -1,109 +0,0 @@
-serial:
- category:
- - communication_devices
- class:
- action_value_mappings:
- auto-handle_serial_request:
- feedback: {}
- goal: {}
- goal_default:
- request: null
- response: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: handle_serial_request的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- request:
- type: string
- response:
- type: string
- required:
- - request
- - response
- type: object
- result: {}
- required:
- - goal
- title: handle_serial_request参数
- type: object
- type: UniLabJsonCommand
- auto-read_data:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: read_data的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: read_data参数
- type: object
- type: UniLabJsonCommand
- auto-send_command:
- feedback: {}
- goal: {}
- goal_default:
- command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: send_command的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- command:
- type: string
- required:
- - command
- type: object
- result: {}
- required:
- - goal
- title: send_command参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
- status_types: {}
- type: ros2
- config_info: []
- description: Serial communication interface, used when sharing same serial port
- for multiple devices
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate:
- default: 9600
- type: integer
- device_id:
- type: string
- port:
- type: string
- resource_tracker:
- type: object
- required:
- - device_id
- - port
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/device_comms/modbus_ioboard.yaml b/unilabos/registry/device_comms/modbus_ioboard.yaml
deleted file mode 100644
index 1667e21c..00000000
--- a/unilabos/registry/device_comms/modbus_ioboard.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-#io_snrd:
-# description: IO Board with 16 IOs
-# class:
-# module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
-# type: python
-# hardware_interface:
-# name: modbus_client
-# extra_info: []
-# read: read_io_coil
-# write: write_io_coil
\ No newline at end of file
diff --git a/unilabos/registry/devices/AI4M_station.yaml b/unilabos/registry/devices/AI4M_station.yaml
new file mode 100644
index 00000000..0dba8ade
--- /dev/null
+++ b/unilabos/registry/devices/AI4M_station.yaml
@@ -0,0 +1,766 @@
+AI4M_station:
+ category:
+ - AI4M_station
+ class:
+ action_value_mappings:
+ auto-disconnect:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: disconnect参数
+ type: object
+ type: UniLabJsonCommand
+ auto-download_auto_params:
+ feedback: {}
+ goal: {}
+ goal_default:
+ auto_job_stop_delay: null
+ mag_stir_heat_temp: null
+ mag_stir_stir_speed: null
+ mag_stir_time_set: null
+ syringe_pump_abs_position_set: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ auto_job_stop_delay:
+ type: integer
+ mag_stir_heat_temp:
+ type: integer
+ mag_stir_stir_speed:
+ type: integer
+ mag_stir_time_set:
+ type: integer
+ syringe_pump_abs_position_set:
+ type: integer
+ required:
+ - mag_stir_stir_speed
+ - mag_stir_heat_temp
+ - mag_stir_time_set
+ - syringe_pump_abs_position_set
+ - auto_job_stop_delay
+ type: object
+ result: {}
+ required:
+ - goal
+ title: download_auto_params参数
+ type: object
+ type: UniLabJsonCommand
+ auto-load_nodes_from_csv:
+ feedback: {}
+ goal: {}
+ goal_default:
+ csv_path: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ csv_path:
+ type: string
+ required:
+ - csv_path
+ type: object
+ result: {}
+ required:
+ - goal
+ title: load_nodes_from_csv参数
+ type: object
+ type: UniLabJsonCommand
+ auto-post_init:
+ feedback: {}
+ goal: {}
+ goal_default:
+ ros_node: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ ros_node:
+ type: string
+ required:
+ - ros_node
+ type: object
+ result: {}
+ required:
+ - goal
+ title: post_init参数
+ type: object
+ type: UniLabJsonCommand
+ auto-print_cache_stats:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: print_cache_stats参数
+ type: object
+ type: UniLabJsonCommand
+ auto-read_node:
+ feedback: {}
+ goal: {}
+ goal_default:
+ node_name: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ node_name:
+ type: string
+ required:
+ - node_name
+ type: object
+ result: {}
+ required:
+ - goal
+ title: read_node参数
+ type: object
+ type: UniLabJsonCommand
+ auto-set_node_value:
+ feedback: {}
+ goal: {}
+ goal_default:
+ name: null
+ value: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ name:
+ type: string
+ value:
+ type: string
+ required:
+ - name
+ - value
+ type: object
+ result: {}
+ required:
+ - goal
+ title: set_node_value参数
+ type: object
+ type: UniLabJsonCommand
+ auto-start_auto_mode:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: start_auto_mode参数
+ type: object
+ type: UniLabJsonCommand
+ auto-start_manual_mode:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: start_manual_mode参数
+ type: object
+ type: UniLabJsonCommand
+ auto-trigger_init:
+ feedback: {}
+ goal: {}
+ goal_default: {}
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties: {}
+ required: []
+ type: object
+ result: {}
+ required:
+ - goal
+ title: trigger_init参数
+ type: object
+ type: UniLabJsonCommand
+ auto-trigger_robot_pick_beaker:
+ feedback: {}
+ goal: {}
+ goal_default:
+ pick_beaker_id: null
+ place_station_id: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ pick_beaker_id:
+ type: integer
+ place_station_id:
+ type: integer
+ required:
+ - pick_beaker_id
+ - place_station_id
+ type: object
+ result: {}
+ required:
+ - goal
+ title: trigger_robot_pick_beaker参数
+ type: object
+ type: UniLabJsonCommand
+ auto-trigger_robot_place_beaker:
+ feedback: {}
+ goal: {}
+ goal_default:
+ pick_station_id: null
+ place_beaker_id: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ pick_station_id:
+ type: integer
+ place_beaker_id:
+ type: integer
+ required:
+ - place_beaker_id
+ - pick_station_id
+ type: object
+ result: {}
+ required:
+ - goal
+ title: trigger_robot_place_beaker参数
+ type: object
+ type: UniLabJsonCommand
+ auto-trigger_station_process:
+ feedback: {}
+ goal: {}
+ goal_default:
+ mag_stir_heat_temp: null
+ mag_stir_stir_speed: null
+ mag_stir_time_set: null
+ station_id: null
+ syringe_pump_abs_position_set: null
+ handles: {}
+ result: {}
+ schema:
+ description: ''
+ properties:
+ feedback: {}
+ goal:
+ properties:
+ mag_stir_heat_temp:
+ type: integer
+ mag_stir_stir_speed:
+ type: integer
+ mag_stir_time_set:
+ type: integer
+ station_id:
+ type: integer
+ syringe_pump_abs_position_set:
+ type: integer
+ required:
+ - station_id
+ - mag_stir_stir_speed
+ - mag_stir_heat_temp
+ - mag_stir_time_set
+ - syringe_pump_abs_position_set
+ type: object
+ result: {}
+ required:
+ - goal
+ title: trigger_station_process参数
+ type: object
+ type: UniLabJsonCommand
+ module: unilabos.devices.workstation.AI4M.AI4M:OpcUaClient
+ status_types: {}
+ type: python
+ config_info: []
+ description: ''
+ handles: []
+ icon: Hydrogel module.webp
+ init_param_schema:
+ config:
+ properties:
+ cache_timeout:
+ default: 5.0
+ type: number
+ csv_path:
+ type: string
+ deck:
+ type: string
+ password:
+ type: string
+ subscription_interval:
+ default: 500
+ type: integer
+ url:
+ type: string
+ use_subscription:
+ default: true
+ type: boolean
+ username:
+ type: string
+ required:
+ - url
+ type: object
+ data:
+ properties:
+ auto_job_stop_delay:
+ type: string
+ auto_mode:
+ type: string
+ auto_param_applied:
+ type: string
+ auto_param_downloaded:
+ type: string
+ auto_run_complete:
+ type: string
+ auto_run_start_trigger:
+ type: string
+ cache_stats:
+ type: object
+ init finished:
+ type: string
+ initialize:
+ type: string
+ mag_stirrer_c0_heat_mode:
+ type: string
+ mag_stirrer_c0_heat_mode_set:
+ type: string
+ mag_stirrer_c0_heat_temp:
+ type: string
+ mag_stirrer_c0_instrument_mode:
+ type: string
+ mag_stirrer_c0_return_speed_actual:
+ type: string
+ mag_stirrer_c0_return_speed_setpoint:
+ type: string
+ mag_stirrer_c0_return_temp_actual:
+ type: string
+ mag_stirrer_c0_return_temp_setpoint:
+ type: string
+ mag_stirrer_c0_return_time_actual:
+ type: string
+ mag_stirrer_c0_return_time_setpoint:
+ type: string
+ mag_stirrer_c0_safe_temp:
+ type: string
+ mag_stirrer_c0_stir_speed:
+ type: string
+ mag_stirrer_c0_temp_unit:
+ type: string
+ mag_stirrer_c0_time_set:
+ type: string
+ mag_stirrer_c0_work_mode_set:
+ type: string
+ mag_stirrer_c1_heat_mode:
+ type: string
+ mag_stirrer_c1_heat_mode_set:
+ type: string
+ mag_stirrer_c1_heat_temp:
+ type: string
+ mag_stirrer_c1_instrument_mode:
+ type: string
+ mag_stirrer_c1_return_speed_actual:
+ type: string
+ mag_stirrer_c1_return_speed_setpoint:
+ type: string
+ mag_stirrer_c1_return_temp_actual:
+ type: string
+ mag_stirrer_c1_return_temp_setpoint:
+ type: string
+ mag_stirrer_c1_return_time_actual:
+ type: string
+ mag_stirrer_c1_return_time_setpoint:
+ type: string
+ mag_stirrer_c1_safe_temp:
+ type: string
+ mag_stirrer_c1_stir_speed:
+ type: string
+ mag_stirrer_c1_temp_unit:
+ type: string
+ mag_stirrer_c1_time_set:
+ type: string
+ mag_stirrer_c1_work_mode_set:
+ type: string
+ mag_stirrer_c2_heat_mode:
+ type: string
+ mag_stirrer_c2_heat_mode_set:
+ type: string
+ mag_stirrer_c2_heat_temp:
+ type: string
+ mag_stirrer_c2_instrument_mode:
+ type: string
+ mag_stirrer_c2_return_speed_actual:
+ type: string
+ mag_stirrer_c2_return_speed_setpoint:
+ type: string
+ mag_stirrer_c2_return_temp_actual:
+ type: string
+ mag_stirrer_c2_return_temp_setpoint:
+ type: string
+ mag_stirrer_c2_return_time_actual:
+ type: string
+ mag_stirrer_c2_return_time_setpoint:
+ type: string
+ mag_stirrer_c2_safe_temp:
+ type: string
+ mag_stirrer_c2_stir_speed:
+ type: string
+ mag_stirrer_c2_temp_unit:
+ type: string
+ mag_stirrer_c2_time_set:
+ type: string
+ mag_stirrer_c2_work_mode_set:
+ type: string
+ manual_auto_switch:
+ type: string
+ mode_switch:
+ type: string
+ robot_init:
+ type: string
+ robot_init_complete:
+ type: string
+ robot_pick_beaker_id:
+ type: string
+ robot_pick_station_1_complete:
+ type: string
+ robot_pick_station_1_start:
+ type: string
+ robot_pick_station_2_complete:
+ type: string
+ robot_pick_station_2_start:
+ type: string
+ robot_pick_station_3_complete:
+ type: string
+ robot_pick_station_3_start:
+ type: string
+ robot_pick_station_id:
+ type: string
+ robot_place_beaker_id:
+ type: string
+ robot_place_station_1_complete:
+ type: string
+ robot_place_station_1_start:
+ type: string
+ robot_place_station_2_complete:
+ type: string
+ robot_place_station_2_start:
+ type: string
+ robot_place_station_3_complete:
+ type: string
+ robot_place_station_3_start:
+ type: string
+ robot_place_station_id:
+ type: string
+ robot_rack_pick_beaker_1_complete:
+ type: string
+ robot_rack_pick_beaker_1_start:
+ type: string
+ robot_rack_pick_beaker_2_complete:
+ type: string
+ robot_rack_pick_beaker_2_start:
+ type: string
+ robot_rack_pick_beaker_3_complete:
+ type: string
+ robot_rack_pick_beaker_3_start:
+ type: string
+ robot_rack_pick_beaker_4_complete:
+ type: string
+ robot_rack_pick_beaker_4_start:
+ type: string
+ robot_rack_pick_beaker_5_complete:
+ type: string
+ robot_rack_pick_beaker_5_start:
+ type: string
+ robot_rack_place_beaker_1_complete:
+ type: string
+ robot_rack_place_beaker_1_start:
+ type: string
+ robot_rack_place_beaker_2_complete:
+ type: string
+ robot_rack_place_beaker_2_start:
+ type: string
+ robot_rack_place_beaker_3_complete:
+ type: string
+ robot_rack_place_beaker_3_start:
+ type: string
+ robot_rack_place_beaker_4_complete:
+ type: string
+ robot_rack_place_beaker_4_start:
+ type: string
+ robot_rack_place_beaker_5_complete:
+ type: string
+ robot_rack_place_beaker_5_start:
+ type: string
+ robot_ready:
+ type: string
+ robot_safe_point:
+ type: string
+ robot_safe_zone_1:
+ type: string
+ robot_safe_zone_2:
+ type: string
+ robot_safe_zone_3:
+ type: string
+ station_1_process_complete:
+ type: string
+ station_1_ready:
+ type: string
+ station_1_request_params:
+ type: string
+ station_2_process_complete:
+ type: string
+ station_2_ready:
+ type: string
+ station_2_request_params:
+ type: string
+ station_3_process_complete:
+ type: string
+ station_3_ready:
+ type: string
+ station_3_request_params:
+ type: string
+ syringe_pump_0_abs_position_set:
+ type: string
+ syringe_pump_0_accel_code:
+ type: string
+ syringe_pump_0_aspirate_pos_set:
+ type: string
+ syringe_pump_0_current_position:
+ type: string
+ syringe_pump_0_dispense_pos_set:
+ type: string
+ syringe_pump_0_max_speed:
+ type: string
+ syringe_pump_0_start_speed:
+ type: string
+ syringe_pump_1_abs_position_set:
+ type: string
+ syringe_pump_1_accel_code:
+ type: string
+ syringe_pump_1_aspirate_pos_set:
+ type: string
+ syringe_pump_1_current_position:
+ type: string
+ syringe_pump_1_dispense_pos_set:
+ type: string
+ syringe_pump_1_max_speed:
+ type: string
+ syringe_pump_1_start_speed:
+ type: string
+ syringe_pump_2_abs_position_set:
+ type: string
+ syringe_pump_2_accel_code:
+ type: string
+ syringe_pump_2_aspirate_pos_set:
+ type: string
+ syringe_pump_2_current_position:
+ type: string
+ syringe_pump_2_dispense_pos_set:
+ type: string
+ syringe_pump_2_max_speed:
+ type: string
+ syringe_pump_2_start_speed:
+ type: string
+ required:
+ - cache_stats
+ - mag_stirrer_c0_stir_speed
+ - mag_stirrer_c0_heat_temp
+ - mag_stirrer_c0_time_set
+ - mag_stirrer_c0_return_speed_setpoint
+ - mag_stirrer_c0_return_speed_actual
+ - mag_stirrer_c0_return_temp_setpoint
+ - mag_stirrer_c0_return_temp_actual
+ - mag_stirrer_c0_return_time_setpoint
+ - mag_stirrer_c0_return_time_actual
+ - mag_stirrer_c0_work_mode_set
+ - mag_stirrer_c0_heat_mode_set
+ - mag_stirrer_c0_temp_unit
+ - mag_stirrer_c0_heat_mode
+ - mag_stirrer_c0_instrument_mode
+ - mag_stirrer_c0_safe_temp
+ - mag_stirrer_c1_stir_speed
+ - mag_stirrer_c1_heat_temp
+ - mag_stirrer_c1_time_set
+ - mag_stirrer_c1_return_speed_setpoint
+ - mag_stirrer_c1_return_speed_actual
+ - mag_stirrer_c1_return_temp_setpoint
+ - mag_stirrer_c1_return_temp_actual
+ - mag_stirrer_c1_return_time_setpoint
+ - mag_stirrer_c1_return_time_actual
+ - mag_stirrer_c1_work_mode_set
+ - mag_stirrer_c1_heat_mode_set
+ - mag_stirrer_c1_temp_unit
+ - mag_stirrer_c1_heat_mode
+ - mag_stirrer_c1_instrument_mode
+ - mag_stirrer_c1_safe_temp
+ - mag_stirrer_c2_stir_speed
+ - mag_stirrer_c2_heat_temp
+ - mag_stirrer_c2_time_set
+ - mag_stirrer_c2_return_speed_setpoint
+ - mag_stirrer_c2_return_speed_actual
+ - mag_stirrer_c2_return_temp_setpoint
+ - mag_stirrer_c2_return_temp_actual
+ - mag_stirrer_c2_return_time_setpoint
+ - mag_stirrer_c2_return_time_actual
+ - mag_stirrer_c2_work_mode_set
+ - mag_stirrer_c2_heat_mode_set
+ - mag_stirrer_c2_temp_unit
+ - mag_stirrer_c2_heat_mode
+ - mag_stirrer_c2_instrument_mode
+ - mag_stirrer_c2_safe_temp
+ - syringe_pump_0_current_position
+ - syringe_pump_0_abs_position_set
+ - syringe_pump_0_aspirate_pos_set
+ - syringe_pump_0_dispense_pos_set
+ - syringe_pump_0_start_speed
+ - syringe_pump_0_max_speed
+ - syringe_pump_0_accel_code
+ - syringe_pump_1_current_position
+ - syringe_pump_1_abs_position_set
+ - syringe_pump_1_aspirate_pos_set
+ - syringe_pump_1_dispense_pos_set
+ - syringe_pump_1_start_speed
+ - syringe_pump_1_max_speed
+ - syringe_pump_1_accel_code
+ - syringe_pump_2_current_position
+ - syringe_pump_2_abs_position_set
+ - syringe_pump_2_aspirate_pos_set
+ - syringe_pump_2_dispense_pos_set
+ - syringe_pump_2_start_speed
+ - syringe_pump_2_max_speed
+ - syringe_pump_2_accel_code
+ - robot_pick_beaker_id
+ - robot_place_beaker_id
+ - robot_place_station_id
+ - robot_pick_station_id
+ - robot_init
+ - robot_rack_pick_beaker_1_complete
+ - robot_rack_pick_beaker_2_complete
+ - robot_rack_pick_beaker_3_complete
+ - robot_rack_pick_beaker_4_complete
+ - robot_rack_pick_beaker_5_complete
+ - robot_rack_place_beaker_1_complete
+ - robot_rack_place_beaker_2_complete
+ - robot_rack_place_beaker_3_complete
+ - robot_rack_place_beaker_4_complete
+ - robot_rack_place_beaker_5_complete
+ - robot_place_station_1_complete
+ - robot_place_station_2_complete
+ - robot_place_station_3_complete
+ - robot_pick_station_1_complete
+ - robot_pick_station_2_complete
+ - robot_pick_station_3_complete
+ - robot_init_complete
+ - robot_rack_pick_beaker_1_start
+ - robot_rack_pick_beaker_2_start
+ - robot_rack_pick_beaker_3_start
+ - robot_rack_pick_beaker_4_start
+ - robot_rack_pick_beaker_5_start
+ - robot_rack_place_beaker_1_start
+ - robot_rack_place_beaker_2_start
+ - robot_rack_place_beaker_3_start
+ - robot_rack_place_beaker_4_start
+ - robot_rack_place_beaker_5_start
+ - robot_place_station_1_start
+ - robot_place_station_2_start
+ - robot_place_station_3_start
+ - robot_pick_station_1_start
+ - robot_pick_station_2_start
+ - robot_pick_station_3_start
+ - robot_safe_point
+ - robot_safe_zone_1
+ - robot_safe_zone_2
+ - robot_safe_zone_3
+ - auto_run_start_trigger
+ - auto_run_complete
+ - station_1_request_params
+ - station_2_request_params
+ - station_3_request_params
+ - station_1_ready
+ - station_2_ready
+ - station_3_ready
+ - robot_ready
+ - station_1_process_complete
+ - station_2_process_complete
+ - station_3_process_complete
+ - mode_switch
+ - initialize
+ - init finished
+ - manual_auto_switch
+ - auto_mode
+ - auto_param_downloaded
+ - auto_param_applied
+ - auto_job_stop_delay
+ type: object
+ registry_type: device
+ version: 1.0.0
diff --git a/unilabos/registry/devices/Qone_nmr.yaml b/unilabos/registry/devices/Qone_nmr.yaml
deleted file mode 100644
index fa182c77..00000000
--- a/unilabos/registry/devices/Qone_nmr.yaml
+++ /dev/null
@@ -1,223 +0,0 @@
-Qone_nmr:
- category:
- - Qone_nmr
- class:
- action_value_mappings:
- abort:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- auto-monitor_folder_for_new_content:
- feedback: {}
- goal: {}
- goal_default:
- check_interval: 60
- expected_count: 1
- monitor_dir: null
- stability_checks: 3
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- check_interval:
- default: 60
- type: string
- expected_count:
- default: 1
- type: string
- monitor_dir:
- type: string
- stability_checks:
- default: 3
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: monitor_folder_for_new_content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: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- auto-strings_to_txt:
- feedback: {}
- goal: {}
- goal_default:
- output_dir: null
- string_list: null
- txt_encoding: utf-8
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- output_dir:
- type: string
- string_list:
- type: string
- txt_encoding:
- default: utf-8
- type: string
- required:
- - string_list
- type: object
- result: {}
- required:
- - goal
- title: strings_to_txt参数
- type: object
- type: UniLabJsonCommand
- get_status:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- start:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.Qone_nmr.Qone_nmr:Qone_nmr
- status_types:
- status: str
- type: python
- config_info: []
- description: Oxford NMR设备驱动，支持CSV字符串到TXT文件的批量转换功能，并监测对应.nmr文件的大小变化以确认结果生成完成
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties: {}
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/balance.yaml b/unilabos/registry/devices/balance.yaml
deleted file mode 100644
index 0967ef42..00000000
--- a/unilabos/registry/devices/balance.yaml
+++ /dev/null
@@ -1 +0,0 @@
-{}
diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml
deleted file mode 100644
index 3325a260..00000000
--- a/unilabos/registry/devices/bioyond.yaml
+++ /dev/null
@@ -1,589 +0,0 @@
-workstation.bioyond_dispensing_station:
- category:
- - workstation
- - bioyond
- class:
- action_value_mappings:
- auto-batch_create_90_10_vial_feeding_tasks:
- feedback: {}
- goal: {}
- goal_default:
- delay_time: null
- hold_m_name: null
- liquid_material_name: NMP
- speed: null
- temperature: null
- titration: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- delay_time:
- type: string
- hold_m_name:
- type: string
- liquid_material_name:
- default: NMP
- type: string
- speed:
- type: string
- temperature:
- type: string
- titration:
- type: string
- required:
- - titration
- type: object
- result: {}
- required:
- - goal
- title: batch_create_90_10_vial_feeding_tasks参数
- type: object
- type: UniLabJsonCommand
- auto-batch_create_diamine_solution_tasks:
- feedback: {}
- goal: {}
- goal_default:
- delay_time: null
- liquid_material_name: NMP
- solutions: null
- speed: null
- temperature: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- delay_time:
- type: string
- liquid_material_name:
- default: NMP
- type: string
- solutions:
- type: string
- speed:
- type: string
- temperature:
- type: string
- required:
- - solutions
- type: object
- result: {}
- required:
- - goal
- title: batch_create_diamine_solution_tasks参数
- type: object
- type: UniLabJsonCommand
- auto-brief_step_parameters:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: object
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: brief_step_parameters参数
- type: object
- type: UniLabJsonCommand
- auto-compute_experiment_design:
- feedback: {}
- goal: {}
- goal_default:
- m_tot: '70'
- ratio: null
- titration_percent: '0.03'
- wt_percent: '0.25'
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- m_tot:
- default: '70'
- type: string
- ratio:
- type: object
- titration_percent:
- default: '0.03'
- type: string
- wt_percent:
- default: '0.25'
- type: string
- required:
- - ratio
- type: object
- result:
- properties:
- feeding_order:
- items: {}
- title: Feeding Order
- type: array
- return_info:
- title: Return Info
- type: string
- solutions:
- items: {}
- title: Solutions
- type: array
- solvents:
- additionalProperties: true
- title: Solvents
- type: object
- titration:
- additionalProperties: true
- title: Titration
- type: object
- required:
- - solutions
- - titration
- - solvents
- - feeding_order
- - return_info
- title: ComputeExperimentDesignReturn
- type: object
- required:
- - goal
- title: compute_experiment_design参数
- type: object
- type: UniLabJsonCommand
- auto-process_order_finish_report:
- feedback: {}
- goal: {}
- goal_default:
- report_request: null
- used_materials: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- report_request:
- type: string
- used_materials:
- type: string
- required:
- - report_request
- - used_materials
- type: object
- result: {}
- required:
- - goal
- title: process_order_finish_report参数
- type: object
- type: UniLabJsonCommand
- auto-project_order_report:
- feedback: {}
- goal: {}
- goal_default:
- order_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- order_id:
- type: string
- required:
- - order_id
- type: object
- result: {}
- required:
- - goal
- title: project_order_report参数
- type: object
- type: UniLabJsonCommand
- auto-query_resource_by_name:
- feedback: {}
- goal: {}
- goal_default:
- material_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- material_name:
- type: string
- required:
- - material_name
- type: object
- result: {}
- required:
- - goal
- title: query_resource_by_name参数
- type: object
- type: UniLabJsonCommand
- auto-transfer_materials_to_reaction_station:
- feedback: {}
- goal: {}
- goal_default:
- target_device_id: null
- transfer_groups: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- target_device_id:
- type: string
- transfer_groups:
- type: array
- required:
- - target_device_id
- - transfer_groups
- type: object
- result: {}
- required:
- - goal
- title: transfer_materials_to_reaction_station参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_multiple_orders_and_get_reports:
- feedback: {}
- goal: {}
- goal_default:
- batch_create_result: null
- check_interval: 10
- timeout: 7200
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- batch_create_result:
- type: string
- check_interval:
- default: 10
- type: integer
- timeout:
- default: 7200
- type: integer
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_multiple_orders_and_get_reports参数
- type: object
- type: UniLabJsonCommand
- auto-workflow_sample_locations:
- feedback: {}
- goal: {}
- goal_default:
- workflow_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- workflow_id:
- type: string
- required:
- - workflow_id
- type: object
- result: {}
- required:
- - goal
- title: workflow_sample_locations参数
- type: object
- type: UniLabJsonCommand
- create_90_10_vial_feeding_task:
- feedback: {}
- goal:
- delay_time: delay_time
- hold_m_name: hold_m_name
- order_name: order_name
- percent_10_1_assign_material_name: percent_10_1_assign_material_name
- percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
- percent_10_1_target_weigh: percent_10_1_target_weigh
- percent_10_1_volume: percent_10_1_volume
- percent_10_2_assign_material_name: percent_10_2_assign_material_name
- percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
- percent_10_2_target_weigh: percent_10_2_target_weigh
- percent_10_2_volume: percent_10_2_volume
- percent_10_3_assign_material_name: percent_10_3_assign_material_name
- percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
- percent_10_3_target_weigh: percent_10_3_target_weigh
- percent_10_3_volume: percent_10_3_volume
- percent_90_1_assign_material_name: percent_90_1_assign_material_name
- percent_90_1_target_weigh: percent_90_1_target_weigh
- percent_90_2_assign_material_name: percent_90_2_assign_material_name
- percent_90_2_target_weigh: percent_90_2_target_weigh
- percent_90_3_assign_material_name: percent_90_3_assign_material_name
- percent_90_3_target_weigh: percent_90_3_target_weigh
- speed: speed
- temperature: temperature
- goal_default:
- delay_time: ''
- hold_m_name: ''
- order_name: ''
- percent_10_1_assign_material_name: ''
- percent_10_1_liquid_material_name: ''
- percent_10_1_target_weigh: ''
- percent_10_1_volume: ''
- percent_10_2_assign_material_name: ''
- percent_10_2_liquid_material_name: ''
- percent_10_2_target_weigh: ''
- percent_10_2_volume: ''
- percent_10_3_assign_material_name: ''
- percent_10_3_liquid_material_name: ''
- percent_10_3_target_weigh: ''
- percent_10_3_volume: ''
- percent_90_1_assign_material_name: ''
- percent_90_1_target_weigh: ''
- percent_90_2_assign_material_name: ''
- percent_90_2_target_weigh: ''
- percent_90_3_assign_material_name: ''
- percent_90_3_target_weigh: ''
- speed: ''
- temperature: ''
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: DispenStationVialFeed_Feedback
- type: object
- goal:
- properties:
- delay_time:
- type: string
- hold_m_name:
- type: string
- order_name:
- type: string
- percent_10_1_assign_material_name:
- type: string
- percent_10_1_liquid_material_name:
- type: string
- percent_10_1_target_weigh:
- type: string
- percent_10_1_volume:
- type: string
- percent_10_2_assign_material_name:
- type: string
- percent_10_2_liquid_material_name:
- type: string
- percent_10_2_target_weigh:
- type: string
- percent_10_2_volume:
- type: string
- percent_10_3_assign_material_name:
- type: string
- percent_10_3_liquid_material_name:
- type: string
- percent_10_3_target_weigh:
- type: string
- percent_10_3_volume:
- type: string
- percent_90_1_assign_material_name:
- type: string
- percent_90_1_target_weigh:
- type: string
- percent_90_2_assign_material_name:
- type: string
- percent_90_2_target_weigh:
- type: string
- percent_90_3_assign_material_name:
- type: string
- percent_90_3_target_weigh:
- type: string
- speed:
- type: string
- temperature:
- type: string
- required:
- - order_name
- - percent_90_1_assign_material_name
- - percent_90_1_target_weigh
- - percent_90_2_assign_material_name
- - percent_90_2_target_weigh
- - percent_90_3_assign_material_name
- - percent_90_3_target_weigh
- - percent_10_1_assign_material_name
- - percent_10_1_target_weigh
- - percent_10_1_volume
- - percent_10_1_liquid_material_name
- - percent_10_2_assign_material_name
- - percent_10_2_target_weigh
- - percent_10_2_volume
- - percent_10_2_liquid_material_name
- - percent_10_3_assign_material_name
- - percent_10_3_target_weigh
- - percent_10_3_volume
- - percent_10_3_liquid_material_name
- - speed
- - temperature
- - delay_time
- - hold_m_name
- title: DispenStationVialFeed_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: DispenStationVialFeed_Result
- type: object
- required:
- - goal
- title: DispenStationVialFeed
- type: object
- type: DispenStationVialFeed
- create_diamine_solution_task:
- feedback: {}
- goal:
- delay_time: delay_time
- hold_m_name: hold_m_name
- liquid_material_name: liquid_material_name
- material_name: material_name
- order_name: order_name
- speed: speed
- target_weigh: target_weigh
- temperature: temperature
- volume: volume
- goal_default:
- delay_time: ''
- hold_m_name: ''
- liquid_material_name: ''
- material_name: ''
- order_name: ''
- speed: ''
- target_weigh: ''
- temperature: ''
- volume: ''
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: DispenStationSolnPrep_Feedback
- type: object
- goal:
- properties:
- delay_time:
- type: string
- hold_m_name:
- type: string
- liquid_material_name:
- type: string
- material_name:
- type: string
- order_name:
- type: string
- speed:
- type: string
- target_weigh:
- type: string
- temperature:
- type: string
- volume:
- type: string
- required:
- - order_name
- - material_name
- - target_weigh
- - volume
- - liquid_material_name
- - speed
- - temperature
- - delay_time
- - hold_m_name
- title: DispenStationSolnPrep_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: DispenStationSolnPrep_Result
- type: object
- required:
- - goal
- title: DispenStationSolnPrep
- type: object
- type: DispenStationSolnPrep
- module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
- status_types: {}
- type: python
- config_info: []
- description: ''
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: string
- deck:
- type: string
- required:
- - config
- - deck
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml
deleted file mode 100644
index 9ae76b7f..00000000
--- a/unilabos/registry/devices/bioyond_dispensing_station.yaml
+++ /dev/null
@@ -1,713 +0,0 @@
-bioyond_dispensing_station:
- category:
- - workstation
- - bioyond
- - bioyond_dispensing_station
- class:
- action_value_mappings:
- auto-brief_step_parameters:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: object
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: brief_step_parameters参数
- type: object
- type: UniLabJsonCommand
- auto-compute_experiment_design:
- feedback: {}
- goal: {}
- goal_default:
- m_tot: '70'
- ratio: null
- titration_percent: '0.03'
- wt_percent: '0.25'
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- m_tot:
- default: '70'
- type: string
- ratio:
- type: object
- titration_percent:
- default: '0.03'
- type: string
- wt_percent:
- default: '0.25'
- type: string
- required:
- - ratio
- type: object
- result:
- properties:
- feeding_order:
- items: {}
- title: Feeding Order
- type: array
- return_info:
- title: Return Info
- type: string
- solutions:
- items: {}
- title: Solutions
- type: array
- solvents:
- additionalProperties: true
- title: Solvents
- type: object
- titration:
- additionalProperties: true
- title: Titration
- type: object
- required:
- - solutions
- - titration
- - solvents
- - feeding_order
- - return_info
- title: ComputeExperimentDesignReturn
- type: object
- required:
- - goal
- title: compute_experiment_design参数
- type: object
- type: UniLabJsonCommand
- auto-process_order_finish_report:
- feedback: {}
- goal: {}
- goal_default:
- report_request: null
- used_materials: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- report_request:
- type: string
- used_materials:
- type: string
- required:
- - report_request
- - used_materials
- type: object
- result: {}
- required:
- - goal
- title: process_order_finish_report参数
- type: object
- type: UniLabJsonCommand
- auto-project_order_report:
- feedback: {}
- goal: {}
- goal_default:
- order_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- order_id:
- type: string
- required:
- - order_id
- type: object
- result: {}
- required:
- - goal
- title: project_order_report参数
- type: object
- type: UniLabJsonCommand
- auto-query_resource_by_name:
- feedback: {}
- goal: {}
- goal_default:
- material_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- material_name:
- type: string
- required:
- - material_name
- type: object
- result: {}
- required:
- - goal
- title: query_resource_by_name参数
- type: object
- type: UniLabJsonCommand
- auto-transfer_materials_to_reaction_station:
- feedback: {}
- goal: {}
- goal_default:
- target_device_id: null
- transfer_groups: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- target_device_id:
- type: string
- transfer_groups:
- type: array
- required:
- - target_device_id
- - transfer_groups
- type: object
- result: {}
- required:
- - goal
- title: transfer_materials_to_reaction_station参数
- type: object
- type: UniLabJsonCommand
- auto-workflow_sample_locations:
- feedback: {}
- goal: {}
- goal_default:
- workflow_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- workflow_id:
- type: string
- required:
- - workflow_id
- type: object
- result: {}
- required:
- - goal
- title: workflow_sample_locations参数
- type: object
- type: UniLabJsonCommand
- batch_create_90_10_vial_feeding_tasks:
- feedback: {}
- goal:
- delay_time: delay_time
- hold_m_name: hold_m_name
- liquid_material_name: liquid_material_name
- speed: speed
- temperature: temperature
- titration: titration
- goal_default:
- delay_time: '600'
- hold_m_name: ''
- liquid_material_name: NMP
- speed: '400'
- temperature: '40'
- titration: ''
- handles:
- input:
- - data_key: titration
- data_source: handle
- data_type: object
- handler_key: titration
- io_type: source
- label: Titration Data From Calculation Node
- output:
- - data_key: return_info
- data_source: executor
- data_type: string
- handler_key: BATCH_CREATE_RESULT
- io_type: sink
- label: Complete Batch Create Result JSON (contains order_codes and order_ids)
- result:
- return_info: return_info
- schema:
- description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
- properties:
- feedback:
- properties: {}
- required: []
- title: BatchCreate9010VialFeedingTasks_Feedback
- type: object
- goal:
- properties:
- delay_time:
- default: '600'
- description: 延迟时间(秒),默认600
- type: string
- hold_m_name:
- description: 库位名称,如"C01",必填参数
- type: string
- liquid_material_name:
- default: NMP
- description: 10%物料的液体物料名称,默认为"NMP"
- type: string
- speed:
- default: '400'
- description: 搅拌速度,默认400
- type: string
- temperature:
- default: '40'
- description: 温度(℃),默认40
- type: string
- titration:
- description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
- titration_solvent(滴定溶液体积mL)'
- type: string
- required:
- - titration
- - hold_m_name
- title: BatchCreate9010VialFeedingTasks_Goal
- type: object
- result:
- properties:
- return_info:
- description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
- type: string
- required:
- - return_info
- title: BatchCreate9010VialFeedingTasks_Result
- type: object
- required:
- - goal
- title: BatchCreate9010VialFeedingTasks
- type: object
- type: UniLabJsonCommand
- batch_create_diamine_solution_tasks:
- feedback: {}
- goal:
- delay_time: delay_time
- liquid_material_name: liquid_material_name
- solutions: solutions
- speed: speed
- temperature: temperature
- goal_default:
- delay_time: '600'
- liquid_material_name: NMP
- solutions: ''
- speed: '400'
- temperature: '20'
- handles:
- input:
- - data_key: solutions
- data_source: handle
- data_type: array
- handler_key: solutions
- io_type: source
- label: Solution Data From Python
- output:
- - data_key: return_info
- data_source: executor
- data_type: string
- handler_key: BATCH_CREATE_RESULT
- io_type: sink
- label: Complete Batch Create Result JSON (contains order_codes and order_ids)
- result:
- return_info: return_info
- schema:
- description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
- properties:
- feedback:
- properties: {}
- required: []
- title: BatchCreateDiamineSolutionTasks_Feedback
- type: object
- goal:
- properties:
- delay_time:
- default: '600'
- description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
- type: string
- liquid_material_name:
- default: NMP
- description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
- type: string
- solutions:
- description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
- solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
- 5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
- 4.5, "solvent_volume": 18}]'
- type: string
- speed:
- default: '400'
- description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
- type: string
- temperature:
- default: '20'
- description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
- type: string
- required:
- - solutions
- title: BatchCreateDiamineSolutionTasks_Goal
- type: object
- result:
- properties:
- return_info:
- description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
- type: string
- required:
- - return_info
- title: BatchCreateDiamineSolutionTasks_Result
- type: object
- required:
- - goal
- title: BatchCreateDiamineSolutionTasks
- type: object
- type: UniLabJsonCommand
- create_90_10_vial_feeding_task:
- feedback: {}
- goal:
- delay_time: delay_time
- hold_m_name: hold_m_name
- order_name: order_name
- percent_10_1_assign_material_name: percent_10_1_assign_material_name
- percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
- percent_10_1_target_weigh: percent_10_1_target_weigh
- percent_10_1_volume: percent_10_1_volume
- percent_10_2_assign_material_name: percent_10_2_assign_material_name
- percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
- percent_10_2_target_weigh: percent_10_2_target_weigh
- percent_10_2_volume: percent_10_2_volume
- percent_10_3_assign_material_name: percent_10_3_assign_material_name
- percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
- percent_10_3_target_weigh: percent_10_3_target_weigh
- percent_10_3_volume: percent_10_3_volume
- percent_90_1_assign_material_name: percent_90_1_assign_material_name
- percent_90_1_target_weigh: percent_90_1_target_weigh
- percent_90_2_assign_material_name: percent_90_2_assign_material_name
- percent_90_2_target_weigh: percent_90_2_target_weigh
- percent_90_3_assign_material_name: percent_90_3_assign_material_name
- percent_90_3_target_weigh: percent_90_3_target_weigh
- speed: speed
- temperature: temperature
- goal_default:
- delay_time: ''
- hold_m_name: ''
- order_name: ''
- percent_10_1_assign_material_name: ''
- percent_10_1_liquid_material_name: ''
- percent_10_1_target_weigh: ''
- percent_10_1_volume: ''
- percent_10_2_assign_material_name: ''
- percent_10_2_liquid_material_name: ''
- percent_10_2_target_weigh: ''
- percent_10_2_volume: ''
- percent_10_3_assign_material_name: ''
- percent_10_3_liquid_material_name: ''
- percent_10_3_target_weigh: ''
- percent_10_3_volume: ''
- percent_90_1_assign_material_name: ''
- percent_90_1_target_weigh: ''
- percent_90_2_assign_material_name: ''
- percent_90_2_target_weigh: ''
- percent_90_3_assign_material_name: ''
- percent_90_3_target_weigh: ''
- speed: ''
- temperature: ''
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: DispenStationVialFeed_Feedback
- type: object
- goal:
- properties:
- delay_time:
- type: string
- hold_m_name:
- type: string
- order_name:
- type: string
- percent_10_1_assign_material_name:
- type: string
- percent_10_1_liquid_material_name:
- type: string
- percent_10_1_target_weigh:
- type: string
- percent_10_1_volume:
- type: string
- percent_10_2_assign_material_name:
- type: string
- percent_10_2_liquid_material_name:
- type: string
- percent_10_2_target_weigh:
- type: string
- percent_10_2_volume:
- type: string
- percent_10_3_assign_material_name:
- type: string
- percent_10_3_liquid_material_name:
- type: string
- percent_10_3_target_weigh:
- type: string
- percent_10_3_volume:
- type: string
- percent_90_1_assign_material_name:
- type: string
- percent_90_1_target_weigh:
- type: string
- percent_90_2_assign_material_name:
- type: string
- percent_90_2_target_weigh:
- type: string
- percent_90_3_assign_material_name:
- type: string
- percent_90_3_target_weigh:
- type: string
- speed:
- type: string
- temperature:
- type: string
- required:
- - order_name
- - percent_90_1_assign_material_name
- - percent_90_1_target_weigh
- - percent_90_2_assign_material_name
- - percent_90_2_target_weigh
- - percent_90_3_assign_material_name
- - percent_90_3_target_weigh
- - percent_10_1_assign_material_name
- - percent_10_1_target_weigh
- - percent_10_1_volume
- - percent_10_1_liquid_material_name
- - percent_10_2_assign_material_name
- - percent_10_2_target_weigh
- - percent_10_2_volume
- - percent_10_2_liquid_material_name
- - percent_10_3_assign_material_name
- - percent_10_3_target_weigh
- - percent_10_3_volume
- - percent_10_3_liquid_material_name
- - speed
- - temperature
- - delay_time
- - hold_m_name
- title: DispenStationVialFeed_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: DispenStationVialFeed_Result
- type: object
- required:
- - goal
- title: DispenStationVialFeed
- type: object
- type: DispenStationVialFeed
- create_diamine_solution_task:
- feedback: {}
- goal:
- delay_time: delay_time
- hold_m_name: hold_m_name
- liquid_material_name: liquid_material_name
- material_name: material_name
- order_name: order_name
- speed: speed
- target_weigh: target_weigh
- temperature: temperature
- volume: volume
- goal_default:
- delay_time: ''
- hold_m_name: ''
- liquid_material_name: ''
- material_name: ''
- order_name: ''
- speed: ''
- target_weigh: ''
- temperature: ''
- volume: ''
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: DispenStationSolnPrep_Feedback
- type: object
- goal:
- properties:
- delay_time:
- type: string
- hold_m_name:
- type: string
- liquid_material_name:
- type: string
- material_name:
- type: string
- order_name:
- type: string
- speed:
- type: string
- target_weigh:
- type: string
- temperature:
- type: string
- volume:
- type: string
- required:
- - order_name
- - material_name
- - target_weigh
- - volume
- - liquid_material_name
- - speed
- - temperature
- - delay_time
- - hold_m_name
- title: DispenStationSolnPrep_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: DispenStationSolnPrep_Result
- type: object
- required:
- - goal
- title: DispenStationSolnPrep
- type: object
- type: DispenStationSolnPrep
- wait_for_multiple_orders_and_get_reports:
- feedback: {}
- goal:
- batch_create_result: batch_create_result
- check_interval: check_interval
- timeout: timeout
- goal_default:
- batch_create_result: ''
- check_interval: '10'
- timeout: '7200'
- handles:
- input:
- - data_key: batch_create_result
- data_source: handle
- data_type: string
- handler_key: BATCH_CREATE_RESULT
- io_type: source
- label: Batch Task Creation Result From Previous Step
- output:
- - data_key: return_info
- data_source: handle
- data_type: string
- handler_key: batch_reports_result
- io_type: sink
- label: Batch Order Completion Reports
- result:
- return_info: return_info
- schema:
- description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
- properties:
- feedback:
- properties: {}
- required: []
- title: WaitForMultipleOrdersAndGetReports_Feedback
- type: object
- goal:
- properties:
- batch_create_result:
- description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
- type: string
- check_interval:
- default: '10'
- description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
- type: string
- timeout:
- default: '7200'
- description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
- type: string
- required:
- - batch_create_result
- title: WaitForMultipleOrdersAndGetReports_Goal
- type: object
- result:
- properties:
- return_info:
- description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
- error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
- order_id, status, completion_status, report, elapsed_time)'
- type: string
- required:
- - return_info
- title: WaitForMultipleOrdersAndGetReports_Result
- type: object
- required:
- - goal
- title: WaitForMultipleOrdersAndGetReports
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
- status_types: {}
- type: python
- config_info: []
- description: ''
- handles: []
- icon: preparation_station.webp
- init_param_schema:
- config:
- properties:
- config:
- type: string
- deck:
- type: string
- required:
- - config
- - deck
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/camera.yaml b/unilabos/registry/devices/camera.yaml
deleted file mode 100644
index fe1aef28..00000000
--- a/unilabos/registry/devices/camera.yaml
+++ /dev/null
@@ -1,78 +0,0 @@
-camera:
- category:
- - camera
- class:
- action_value_mappings:
- auto-destroy_node:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: destroy_node参数
- type: object
- type: UniLabJsonCommand
- auto-timer_callback:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: timer_callback参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.ros.nodes.presets.camera:VideoPublisher
- status_types: {}
- type: ros2
- config_info: []
- description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- camera_index:
- default: 0
- type: string
- device_id:
- default: video_publisher
- type: string
- device_uuid:
- default: ''
- type: string
- period:
- default: 0.1
- type: number
- resource_tracker:
- type: object
- required: []
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/cameraSII.yaml b/unilabos/registry/devices/cameraSII.yaml
deleted file mode 100644
index ad2df955..00000000
--- a/unilabos/registry/devices/cameraSII.yaml
+++ /dev/null
@@ -1,107 +0,0 @@
-cameracontroller_device:
- category:
- - cameraSII
- class:
- action_value_mappings:
- auto-start:
- feedback: {}
- goal: {}
- goal_default:
- config: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- config:
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: start参数
- type: object
- type: UniLabJsonCommand
- auto-stop:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.cameraSII.cameraUSB:CameraController
- status_types:
- status: dict
- type: python
- config_info: []
- description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- audio_bitrate:
- default: 64k
- type: string
- audio_device:
- type: string
- fps:
- default: 30
- type: integer
- height:
- default: 720
- type: integer
- host_id:
- default: demo-host
- type: string
- rtmp_url:
- default: rtmp://srs.sciol.ac.cn:4499/live/camera-01
- type: string
- signal_backend_url:
- default: wss://sciol.ac.cn/api/realtime/signal/host
- type: string
- video_bitrate:
- default: 1500k
- type: string
- video_device:
- default: /dev/video0
- type: string
- webrtc_api:
- default: https://srs.sciol.ac.cn/rtc/v1/play/
- type: string
- webrtc_stream_url:
- default: webrtc://srs.sciol.ac.cn:4500/live/camera-01
- type: string
- width:
- default: 1280
- type: integer
- required: []
- type: object
- data:
- properties:
- status:
- type: object
- required:
- - status
- type: object
- registry_type: device
- version: 1.0.0
diff --git a/unilabos/registry/devices/characterization_chromatic.yaml b/unilabos/registry/devices/characterization_chromatic.yaml
deleted file mode 100644
index f3059b58..00000000
--- a/unilabos/registry/devices/characterization_chromatic.yaml
+++ /dev/null
@@ -1,413 +0,0 @@
-hplc.agilent:
- category:
- - characterization_chromatic
- class:
- action_value_mappings:
- auto-check_status:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: check_status参数
- type: object
- type: UniLabJsonCommand
- auto-extract_data_from_txt:
- feedback: {}
- goal: {}
- goal_default:
- file_path: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
- properties:
- feedback: {}
- goal:
- properties:
- file_path:
- type: string
- required:
- - file_path
- type: object
- result: {}
- required:
- - goal
- title: extract_data_from_txt参数
- type: object
- type: UniLabJsonCommand
- auto-start_sequence:
- feedback: {}
- goal: {}
- goal_default:
- params: null
- resource: null
- wf_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
- properties:
- feedback: {}
- goal:
- properties:
- params:
- type: string
- resource:
- type: object
- wf_name:
- type: string
- required:
- - wf_name
- type: object
- result: {}
- required:
- - goal
- title: start_sequence参数
- type: object
- type: UniLabJsonCommand
- auto-try_close_sub_device:
- feedback: {}
- goal: {}
- goal_default:
- device_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
- properties:
- feedback: {}
- goal:
- properties:
- device_name:
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: try_close_sub_device参数
- type: object
- type: UniLabJsonCommand
- auto-try_open_sub_device:
- feedback: {}
- goal: {}
- goal_default:
- device_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
- properties:
- feedback: {}
- goal:
- properties:
- device_name:
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: try_open_sub_device参数
- type: object
- type: UniLabJsonCommand
- execute_command_from_outer:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
- status_types:
- could_run: bool
- data_file: String
- device_status: str
- driver_init_ok: bool
- finish_status: str
- is_running: bool
- status_text: str
- success: bool
- type: python
- config_info: []
- description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- driver_debug:
- default: false
- type: string
- required: []
- type: object
- data:
- properties:
- could_run:
- type: boolean
- data_file:
- items:
- type: string
- type: array
- device_status:
- type: string
- driver_init_ok:
- type: boolean
- finish_status:
- type: string
- is_running:
- type: boolean
- status_text:
- type: string
- success:
- type: boolean
- required:
- - status_text
- - device_status
- - could_run
- - driver_init_ok
- - is_running
- - success
- - finish_status
- - data_file
- type: object
- version: 1.0.0
-hplc.agilent-zhida:
- category:
- - characterization_chromatic
- class:
- action_value_mappings:
- abort:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-connect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: connect参数
- type: object
- type: UniLabJsonCommand
- get_methods:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- start:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
- status_types:
- methods: dict
- status: dict
- type: python
- config_info: []
- description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- host:
- default: 192.168.1.47
- type: string
- port:
- default: 5792
- type: string
- timeout:
- default: 10.0
- type: string
- required: []
- type: object
- data:
- properties:
- methods:
- type: object
- status:
- type: object
- required:
- - status
- - methods
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml
deleted file mode 100644
index 80dcf93d..00000000
--- a/unilabos/registry/devices/characterization_optic.yaml
+++ /dev/null
@@ -1,194 +0,0 @@
-raman.home_made:
- category:
- - characterization_optic
- class:
- action_value_mappings:
- auto-ccd_time:
- feedback: {}
- goal: {}
- goal_default:
- int_time: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
- properties:
- feedback: {}
- goal:
- properties:
- int_time:
- type: string
- required:
- - int_time
- type: object
- result: {}
- required:
- - goal
- title: ccd_time参数
- type: object
- type: UniLabJsonCommand
- auto-laser_on_power:
- feedback: {}
- goal: {}
- goal_default:
- output_voltage_laser: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
- properties:
- feedback: {}
- goal:
- properties:
- output_voltage_laser:
- type: string
- required:
- - output_voltage_laser
- type: object
- result: {}
- required:
- - goal
- title: laser_on_power参数
- type: object
- type: UniLabJsonCommand
- auto-raman_without_background:
- feedback: {}
- goal: {}
- goal_default:
- int_time: null
- laser_power: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
- properties:
- feedback: {}
- goal:
- properties:
- int_time:
- type: string
- laser_power:
- type: string
- required:
- - int_time
- - laser_power
- type: object
- result: {}
- required:
- - goal
- title: raman_without_background参数
- type: object
- type: UniLabJsonCommand
- auto-raman_without_background_average:
- feedback: {}
- goal: {}
- goal_default:
- average: null
- int_time: null
- laser_power: null
- sample_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
- properties:
- feedback: {}
- goal:
- properties:
- average:
- type: string
- int_time:
- type: string
- laser_power:
- type: string
- sample_name:
- type: string
- required:
- - sample_name
- - int_time
- - laser_power
- - average
- type: object
- result: {}
- required:
- - goal
- title: raman_without_background_average参数
- type: object
- type: UniLabJsonCommand
- raman_cmd:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.raman_uv.home_made_raman:RamanObj
- status_types: {}
- type: python
- config_info: []
- description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate_ccd:
- default: 921600
- type: string
- baudrate_laser:
- default: 9600
- type: string
- port_ccd:
- type: string
- port_laser:
- type: string
- required:
- - port_laser
- - port_ccd
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/chinwe.yaml b/unilabos/registry/devices/chinwe.yaml
deleted file mode 100644
index 2078d0f0..00000000
--- a/unilabos/registry/devices/chinwe.yaml
+++ /dev/null
@@ -1,413 +0,0 @@
-separator.chinwe:
- category:
- - separator
- - chinwe
- class:
- action_value_mappings:
- auto-connect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: connect参数
- type: object
- type: UniLabJsonCommand
- auto-disconnect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: disconnect参数
- type: object
- type: UniLabJsonCommand
- auto-execute_command_from_outer:
- feedback: {}
- goal: {}
- goal_default:
- command_dict: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- command_dict:
- type: object
- required:
- - command_dict
- type: object
- result: {}
- required:
- - goal
- title: execute_command_from_outer参数
- type: object
- type: UniLabJsonCommand
- motor_rotate_quarter:
- goal:
- direction: 顺时针
- motor_id: 4
- speed: 60
- handles: {}
- schema:
- description: 电机旋转 1/4 圈
- properties:
- goal:
- properties:
- direction:
- default: 顺时针
- description: 旋转方向
- enum:
- - 顺时针
- - 逆时针
- type: string
- motor_id:
- default: '4'
- description: 选择电机 (4:搅拌, 5:旋钮)
- enum:
- - '4'
- - '5'
- type: string
- speed:
- default: 60
- description: 速度 (RPM)
- type: integer
- required:
- - motor_id
- - speed
- type: object
- type: UniLabJsonCommand
- motor_run_continuous:
- goal:
- direction: 顺时针
- motor_id: 4
- speed: 60
- handles: {}
- schema:
- description: 电机一直旋转 (速度模式)
- properties:
- goal:
- properties:
- direction:
- default: 顺时针
- description: 旋转方向
- enum:
- - 顺时针
- - 逆时针
- type: string
- motor_id:
- default: '4'
- description: 选择电机 (4:搅拌, 5:旋钮)
- enum:
- - '4'
- - '5'
- type: string
- speed:
- default: 60
- description: 速度 (RPM)
- type: integer
- required:
- - motor_id
- - speed
- type: object
- type: UniLabJsonCommand
- motor_stop:
- goal:
- motor_id: 4
- handles: {}
- schema:
- description: 停止指定步进电机
- properties:
- goal:
- properties:
- motor_id:
- default: '4'
- description: 选择电机
- enum:
- - '4'
- - '5'
- title: '注: 4=搅拌, 5=旋钮'
- type: string
- required:
- - motor_id
- type: object
- type: UniLabJsonCommand
- pump_aspirate:
- goal:
- pump_id: 1
- valve_port: 1
- volume: 1000
- handles: {}
- schema:
- description: 注射泵吸液
- properties:
- goal:
- properties:
- pump_id:
- default: '1'
- description: 选择泵
- enum:
- - '1'
- - '2'
- - '3'
- type: string
- valve_port:
- default: '1'
- description: 阀门端口
- enum:
- - '1'
- - '2'
- - '3'
- - '4'
- - '5'
- - '6'
- - '7'
- - '8'
- type: string
- volume:
- default: 1000
- description: 吸液步数
- type: integer
- required:
- - pump_id
- - volume
- - valve_port
- type: object
- type: UniLabJsonCommand
- pump_dispense:
- goal:
- pump_id: 1
- valve_port: 1
- volume: 1000
- handles: {}
- schema:
- description: 注射泵排液
- properties:
- goal:
- properties:
- pump_id:
- default: '1'
- description: 选择泵
- enum:
- - '1'
- - '2'
- - '3'
- type: string
- valve_port:
- default: '1'
- description: 阀门端口
- enum:
- - '1'
- - '2'
- - '3'
- - '4'
- - '5'
- - '6'
- - '7'
- - '8'
- type: string
- volume:
- default: 1000
- description: 排液步数
- type: integer
- required:
- - pump_id
- - volume
- - valve_port
- type: object
- type: UniLabJsonCommand
- pump_initialize:
- goal:
- drain_port: 0
- output_port: 0
- pump_id: 1
- speed: 10
- handles: {}
- schema:
- description: 初始化指定注射泵
- properties:
- goal:
- properties:
- drain_port:
- default: 0
- description: 排液口索引
- type: integer
- output_port:
- default: 0
- description: 输出口索引
- type: integer
- pump_id:
- default: '1'
- description: 选择泵
- enum:
- - '1'
- - '2'
- - '3'
- title: '注: 1号泵, 2号泵, 3号泵'
- type: string
- speed:
- default: 10
- description: 运动速度
- type: integer
- required:
- - pump_id
- type: object
- type: UniLabJsonCommand
- pump_valve:
- goal:
- port: 1
- pump_id: 1
- handles: {}
- schema:
- description: 切换指定泵的阀门端口
- properties:
- goal:
- properties:
- port:
- default: '1'
- description: 阀门端口号 (1-8)
- enum:
- - '1'
- - '2'
- - '3'
- - '4'
- - '5'
- - '6'
- - '7'
- - '8'
- type: string
- pump_id:
- default: '1'
- description: 选择泵
- enum:
- - '1'
- - '2'
- - '3'
- type: string
- required:
- - pump_id
- - port
- type: object
- type: UniLabJsonCommand
- wait_sensor_level:
- goal:
- target_state: 有液
- timeout: 30
- handles: {}
- schema:
- description: 等待传感器液位条件
- properties:
- goal:
- properties:
- target_state:
- default: 有液
- description: 目标液位状态
- enum:
- - 有液
- - 无液
- type: string
- timeout:
- default: 30
- description: 超时时间 (秒)
- type: integer
- required:
- - target_state
- type: object
- type: UniLabJsonCommand
- wait_time:
- goal:
- duration: 10
- handles: {}
- schema:
- description: 等待指定时间
- properties:
- goal:
- properties:
- duration:
- default: 10
- description: 等待时间 (秒)
- type: integer
- required:
- - duration
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.separator.chinwe:ChinweDevice
- status_types:
- is_connected: bool
- sensor_level: bool
- sensor_rssi: int
- type: python
- config_info: []
- description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器)
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate:
- default: 9600
- type: integer
- motor_ids:
- items:
- type: integer
- type: array
- port:
- default: 192.168.1.200:8899
- type: string
- pump_ids:
- items:
- type: integer
- type: array
- sensor_id:
- default: 6
- type: integer
- sensor_threshold:
- default: 300
- type: integer
- timeout:
- default: 10.0
- type: number
- required: []
- type: object
- data:
- properties:
- is_connected:
- type: boolean
- sensor_level:
- type: boolean
- sensor_rssi:
- type: integer
- required:
- - sensor_level
- - sensor_rssi
- - is_connected
- type: object
- version: 2.1.0
diff --git a/unilabos/registry/devices/gas_handler.yaml b/unilabos/registry/devices/gas_handler.yaml
deleted file mode 100644
index 65218619..00000000
--- a/unilabos/registry/devices/gas_handler.yaml
+++ /dev/null
@@ -1,363 +0,0 @@
-gas_source.mock:
- category:
- - gas_handler
- class:
- action_value_mappings:
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed参数
- type: object
- type: UniLabJsonCommand
- auto-is_open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_open的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_open参数
- type: object
- type: UniLabJsonCommand
- close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_status:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
- status_types:
- status: str
- type: python
- config_info: []
- description: 模拟气体源设备，用于系统测试和开发调试。该设备模拟真实气体源的开关控制和状态监测功能，支持气体供应的启停操作。提供与真实气体源相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于气路系统调试、软件开发和实验流程验证等场景。
- handles:
- - data_key: fluid_out
- data_source: executor
- data_type: fluid
- handler_key: out
- io_type: source
- label: out
- icon: ''
- init_param_schema:
- config:
- properties:
- port:
- default: COM6
- type: string
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
-vacuum_pump.mock:
- category:
- - vacuum_and_purge
- - gas_handler
- class:
- action_value_mappings:
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed参数
- type: object
- type: UniLabJsonCommand
- auto-is_open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_open的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_open参数
- type: object
- type: UniLabJsonCommand
- close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_status:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
- status_types:
- status: str
- type: python
- config_info: []
- description: 模拟真空泵设备，用于系统测试和开发调试。该设备模拟真实真空泵的抽气功能和状态控制，支持真空系统的启停操作和状态监测。提供与真实真空泵相同的接口和控制逻辑，便于在没有实际硬件的情况下进行真空系统的集成测试。适用于真空工艺调试、软件开发和实验流程验证等场景。
- handles:
- - data_key: fluid_in
- data_source: handle
- data_type: fluid
- handler_key: out
- io_type: source
- label: out
- icon: ''
- init_param_schema:
- config:
- properties:
- port:
- default: COM6
- type: string
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/hotel.yaml b/unilabos/registry/devices/hotel.yaml
deleted file mode 100644
index 3fd0ea5b..00000000
--- a/unilabos/registry/devices/hotel.yaml
+++ /dev/null
@@ -1,36 +0,0 @@
-hotel.thermo_orbitor_rs2_hotel:
- category:
- - hotel
- class:
- action_value_mappings: {}
- module: unilabos.devices.resource_container.container:HotelContainer
- status_types:
- rotation: String
- type: python
- config_info: []
- description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- device_config:
- type: object
- rotation:
- type: object
- required:
- - rotation
- - device_config
- type: object
- data:
- properties:
- rotation:
- type: string
- required:
- - rotation
- 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
- type: device
- version: 1.0.0
diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml
deleted file mode 100644
index dcaa9818..00000000
--- a/unilabos/registry/devices/laiyu_liquid_test.yaml
+++ /dev/null
@@ -1,585 +0,0 @@
-xyz_stepper_controller:
- category:
- - laiyu_liquid_test
- class:
- action_value_mappings:
- auto-degrees_to_steps:
- feedback: {}
- goal: {}
- goal_default:
- degrees: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- degrees:
- type: number
- required:
- - degrees
- type: object
- result: {}
- required:
- - goal
- title: degrees_to_steps参数
- type: object
- type: UniLabJsonCommand
- auto-emergency_stop:
- feedback: {}
- goal: {}
- goal_default:
- axis: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- axis:
- type: object
- required:
- - axis
- type: object
- result: {}
- required:
- - goal
- title: emergency_stop参数
- type: object
- type: UniLabJsonCommand
- auto-enable_all_axes:
- feedback: {}
- goal: {}
- goal_default:
- enable: true
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- enable:
- default: true
- type: boolean
- required: []
- type: object
- result: {}
- required:
- - goal
- title: enable_all_axes参数
- type: object
- type: UniLabJsonCommand
- auto-enable_motor:
- feedback: {}
- goal: {}
- goal_default:
- axis: null
- enable: true
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- axis:
- type: object
- enable:
- default: true
- type: boolean
- required:
- - axis
- type: object
- result: {}
- required:
- - goal
- title: enable_motor参数
- type: object
- type: UniLabJsonCommand
- auto-home_all_axes:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: home_all_axes参数
- type: object
- type: UniLabJsonCommand
- auto-home_axis:
- feedback: {}
- goal: {}
- goal_default:
- axis: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- axis:
- type: object
- required:
- - axis
- type: object
- result: {}
- required:
- - goal
- title: home_axis参数
- type: object
- type: UniLabJsonCommand
- auto-move_to_position:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- axis: null
- position: null
- precision: 100
- speed: 5000
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- axis:
- type: object
- position:
- type: integer
- precision:
- default: 100
- type: integer
- speed:
- default: 5000
- type: integer
- required:
- - axis
- - position
- type: object
- result: {}
- required:
- - goal
- title: move_to_position参数
- type: object
- type: UniLabJsonCommand
- auto-move_to_position_degrees:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- axis: null
- degrees: null
- precision: 100
- speed: 5000
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- axis:
- type: object
- degrees:
- type: number
- precision:
- default: 100
- type: integer
- speed:
- default: 5000
- type: integer
- required:
- - axis
- - degrees
- type: object
- result: {}
- required:
- - goal
- title: move_to_position_degrees参数
- type: object
- type: UniLabJsonCommand
- auto-move_to_position_revolutions:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- axis: null
- precision: 100
- revolutions: null
- speed: 5000
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- axis:
- type: object
- precision:
- default: 100
- type: integer
- revolutions:
- type: number
- speed:
- default: 5000
- type: integer
- required:
- - axis
- - revolutions
- type: object
- result: {}
- required:
- - goal
- title: move_to_position_revolutions参数
- type: object
- type: UniLabJsonCommand
- auto-move_xyz:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- speed: 5000
- x: null
- y: null
- z: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- speed:
- default: 5000
- type: integer
- x:
- type: string
- y:
- type: string
- z:
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: move_xyz参数
- type: object
- type: UniLabJsonCommand
- auto-move_xyz_degrees:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- speed: 5000
- x_deg: null
- y_deg: null
- z_deg: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- speed:
- default: 5000
- type: integer
- x_deg:
- type: string
- y_deg:
- type: string
- z_deg:
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: move_xyz_degrees参数
- type: object
- type: UniLabJsonCommand
- auto-move_xyz_revolutions:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- speed: 5000
- x_rev: null
- y_rev: null
- z_rev: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- speed:
- default: 5000
- type: integer
- x_rev:
- type: string
- y_rev:
- type: string
- z_rev:
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: move_xyz_revolutions参数
- type: object
- type: UniLabJsonCommand
- auto-revolutions_to_steps:
- feedback: {}
- goal: {}
- goal_default:
- revolutions: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- revolutions:
- type: number
- required:
- - revolutions
- type: object
- result: {}
- required:
- - goal
- title: revolutions_to_steps参数
- type: object
- type: UniLabJsonCommand
- auto-set_speed_mode:
- feedback: {}
- goal: {}
- goal_default:
- acceleration: 1000
- axis: null
- speed: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- acceleration:
- default: 1000
- type: integer
- axis:
- type: object
- speed:
- type: integer
- required:
- - axis
- - speed
- type: object
- result: {}
- required:
- - goal
- title: set_speed_mode参数
- type: object
- type: UniLabJsonCommand
- auto-steps_to_degrees:
- feedback: {}
- goal: {}
- goal_default:
- steps: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- steps:
- type: integer
- required:
- - steps
- type: object
- result: {}
- required:
- - goal
- title: steps_to_degrees参数
- type: object
- type: UniLabJsonCommand
- auto-steps_to_revolutions:
- feedback: {}
- goal: {}
- goal_default:
- steps: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- steps:
- type: integer
- required:
- - steps
- type: object
- result: {}
- required:
- - goal
- title: steps_to_revolutions参数
- type: object
- type: UniLabJsonCommand
- auto-stop_all_axes:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop_all_axes参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_completion:
- feedback: {}
- goal: {}
- goal_default:
- axis: null
- timeout: 30.0
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- axis:
- type: object
- timeout:
- default: 30.0
- type: number
- required:
- - axis
- type: object
- result: {}
- required:
- - goal
- title: wait_for_completion参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
- status_types:
- all_positions: dict
- motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
- type: python
- config_info: []
- description: 新XYZ控制器
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate:
- default: 115200
- type: integer
- port:
- type: string
- timeout:
- default: 1.0
- type: number
- required:
- - port
- type: object
- data:
- properties:
- all_positions:
- type: object
- motor_status:
- type: object
- required:
- - motor_status
- - all_positions
- type: object
- registry_type: device
- version: 1.0.0
diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml
deleted file mode 100644
index b0656d12..00000000
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ /dev/null
@@ -1,10360 +0,0 @@
-liquid_handler:
- category:
- - liquid_handler
- class:
- action_value_mappings:
- add_liquid:
- feedback: {}
- goal:
- asp_vols: asp_vols
- blow_out_air_volume: blow_out_air_volume
- dis_vols: dis_vols
- flow_rates: flow_rates
- is_96_well: is_96_well
- liquid_height: liquid_height
- mix_liquid_height: mix_liquid_height
- mix_rate: mix_rate
- mix_time: mix_time
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- reagent_sources: reagent_sources
- spread: spread
- targets: targets
- use_channels: use_channels
- goal_default:
- asp_vols:
- - 0.0
- blow_out_air_volume:
- - 0.0
- dis_vols:
- - 0.0
- flow_rates:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- mix_liquid_height: 0.0
- mix_rate: 0
- mix_time: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- reagent_sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- reagent_sources: unilabos_resources
- targets: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerAdd_Feedback
- type: object
- goal:
- properties:
- asp_vols:
- items:
- type: number
- type: array
- blow_out_air_volume:
- items:
- type: number
- type: array
- dis_vols:
- items:
- type: number
- type: array
- flow_rates:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- mix_liquid_height:
- type: number
- mix_rate:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- reagent_sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: reagent_sources
- type: object
- type: array
- spread:
- type: string
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - asp_vols
- - dis_vols
- - reagent_sources
- - targets
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- - is_96_well
- - mix_time
- - mix_vol
- - mix_rate
- - mix_liquid_height
- - none_keys
- title: LiquidHandlerAdd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerAdd_Result
- type: object
- required:
- - goal
- title: LiquidHandlerAdd
- type: object
- type: LiquidHandlerAdd
- aspirate:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- flow_rates: flow_rates
- liquid_height: liquid_height
- offsets: offsets
- resources: resources
- use_channels: use_channels
- vols: vols
- goal_default:
- blow_out_air_volume:
- - 0.0
- flow_rates:
- - 0.0
- liquid_height:
- - 0.0
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- resources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- use_channels:
- - 0
- vols:
- - 0.0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerAspirate_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- type: number
- type: array
- flow_rates:
- items:
- type: number
- type: array
- liquid_height:
- items:
- type: number
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- resources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: resources
- type: object
- type: array
- spread:
- type: string
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- required:
- - resources
- - vols
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- title: LiquidHandlerAspirate_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerAspirate_Result
- type: object
- required:
- - goal
- title: LiquidHandlerAspirate
- type: object
- type: LiquidHandlerAspirate
- auto-create_protocol:
- feedback: {}
- goal: {}
- goal_default:
- none_keys: []
- protocol_author: null
- protocol_date: null
- protocol_description: null
- protocol_name: null
- protocol_type: null
- protocol_version: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 创建实验协议函数。用于建立新的液体处理实验协议，定义协议名称、描述、版本、作者、日期等基本信息。该函数支持协议模板化管理，便于实验流程的标准化和重复性。适用于实验设计、方法开发、标准操作程序建立等需要协议管理的应用场景。
- properties:
- feedback: {}
- goal:
- properties:
- none_keys:
- default: []
- type: string
- protocol_author:
- type: string
- protocol_date:
- type: string
- protocol_description:
- type: string
- protocol_name:
- type: string
- protocol_type:
- type: string
- protocol_version:
- type: string
- required:
- - protocol_name
- - protocol_description
- - protocol_version
- - protocol_author
- - protocol_date
- - protocol_type
- type: object
- result: {}
- required:
- - goal
- title: create_protocol参数
- type: object
- type: UniLabJsonCommandAsync
- auto-custom_delay:
- feedback: {}
- goal: {}
- goal_default:
- msg: null
- seconds: 0
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 自定义延时函数。在实验流程中插入可配置的等待时间，用于满足特定的反应时间、孵育时间或设备稳定时间要求。支持自定义延时消息和秒数设置，提供流程控制和时间管理功能。适用于酶反应等待、温度平衡、样品孵育等需要时间控制的实验步骤。
- properties:
- feedback: {}
- goal:
- properties:
- msg:
- type: string
- seconds:
- default: 0
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: custom_delay参数
- type: object
- type: UniLabJsonCommandAsync
- auto-iter_tips:
- feedback: {}
- goal: {}
- goal_default:
- tip_racks: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
- properties:
- feedback: {}
- goal:
- properties:
- tip_racks:
- type: string
- required:
- - tip_racks
- type: object
- result: {}
- required:
- - goal
- title: iter_tips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: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- auto-set_group:
- feedback: {}
- goal: {}
- goal_default:
- group_name: null
- volumes: null
- wells: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- group_name:
- type: string
- volumes:
- type: string
- wells:
- type: string
- required:
- - group_name
- - wells
- - volumes
- type: object
- result: {}
- required:
- - goal
- title: set_group参数
- type: object
- type: UniLabJsonCommand
- auto-set_tiprack:
- feedback: {}
- goal: {}
- goal_default:
- tip_racks: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
- properties:
- feedback: {}
- goal:
- properties:
- tip_racks:
- type: string
- required:
- - tip_racks
- type: object
- result: {}
- required:
- - goal
- title: set_tiprack参数
- type: object
- type: UniLabJsonCommand
- auto-touch_tip:
- feedback: {}
- goal: {}
- goal_default:
- targets: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 吸头碰触函数。控制移液器吸头轻触容器边缘或底部，用于去除吸头外壁附着的液滴，提高移液精度和减少污染。该函数支持多目标位置操作，可配置碰触参数和位置偏移。适用于精密移液、减少液体残留、防止交叉污染等需要提高移液质量的实验操作。
- properties:
- feedback: {}
- goal:
- properties:
- targets:
- type: string
- required:
- - targets
- type: object
- result: {}
- required:
- - goal
- title: touch_tip参数
- type: object
- type: UniLabJsonCommandAsync
- auto-transfer_group:
- feedback: {}
- goal: {}
- goal_default:
- source_group_name: null
- target_group_name: null
- unit_volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- source_group_name:
- type: string
- target_group_name:
- type: string
- unit_volume:
- type: number
- required:
- - source_group_name
- - target_group_name
- - unit_volume
- type: object
- result: {}
- required:
- - goal
- title: transfer_group参数
- type: object
- type: UniLabJsonCommandAsync
- discard_tips:
- feedback: {}
- goal:
- use_channels: use_channels
- goal_default:
- use_channels:
- - 0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDiscardTips_Feedback
- type: object
- goal:
- properties:
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - use_channels
- title: LiquidHandlerDiscardTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerDiscardTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDiscardTips
- type: object
- type: LiquidHandlerDiscardTips
- dispense:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- flow_rates: flow_rates
- offsets: offsets
- resources: resources
- spread: spread
- use_channels: use_channels
- vols: vols
- goal_default:
- blow_out_air_volume:
- - 0
- flow_rates:
- - 0.0
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- resources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- use_channels:
- - 0
- vols:
- - 0.0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDispense_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- flow_rates:
- items:
- type: number
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- resources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: resources
- type: object
- type: array
- spread:
- type: string
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- required:
- - resources
- - vols
- - use_channels
- - flow_rates
- - offsets
- - blow_out_air_volume
- - spread
- title: LiquidHandlerDispense_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerDispense_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDispense
- type: object
- type: LiquidHandlerDispense
- drop_tips:
- feedback: {}
- goal:
- allow_nonzero_volume: allow_nonzero_volume
- offsets: offsets
- tip_spots: tip_spots
- use_channels: use_channels
- goal_default:
- allow_nonzero_volume: false
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- tip_spots:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- tip_spots: unilabos_resources
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDropTips_Feedback
- type: object
- goal:
- properties:
- allow_nonzero_volume:
- type: boolean
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- tip_spots:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_spots
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - tip_spots
- - use_channels
- - offsets
- - allow_nonzero_volume
- title: LiquidHandlerDropTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerDropTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDropTips
- type: object
- type: LiquidHandlerDropTips
- drop_tips96:
- feedback: {}
- goal:
- allow_nonzero_volume: allow_nonzero_volume
- offset: offset
- tip_rack: tip_rack
- goal_default:
- allow_nonzero_volume: false
- offset:
- x: 0.0
- y: 0.0
- z: 0.0
- tip_rack:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDropTips96_Feedback
- type: object
- goal:
- properties:
- allow_nonzero_volume:
- type: boolean
- offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offset
- type: object
- tip_rack:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_rack
- type: object
- required:
- - tip_rack
- - offset
- - allow_nonzero_volume
- title: LiquidHandlerDropTips96_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerDropTips96_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDropTips96
- type: object
- type: LiquidHandlerDropTips96
- mix:
- feedback: {}
- goal:
- height_to_bottom: height_to_bottom
- mix_rate: mix_rate
- mix_time: mix_time
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- targets: targets
- goal_default:
- height_to_bottom: 0.0
- mix_rate: 0.0
- mix_time: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMix_Feedback
- type: object
- goal:
- properties:
- height_to_bottom:
- type: number
- mix_rate:
- type: number
- mix_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- required:
- - targets
- - mix_time
- - mix_vol
- - height_to_bottom
- - offsets
- - mix_rate
- - none_keys
- title: LiquidHandlerMix_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMix_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMix
- type: object
- type: LiquidHandlerMix
- move_lid:
- feedback: {}
- goal:
- destination_offset: destination_offset
- drop_direction: drop_direction
- get_direction: get_direction
- intermediate_locations: intermediate_locations
- lid: lid
- pickup_direction: pickup_direction
- pickup_distance_from_top: pickup_distance_from_top
- put_direction: put_direction
- resource_offset: resource_offset
- to: to
- goal_default:
- destination_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- drop_direction: ''
- get_direction: ''
- intermediate_locations:
- - x: 0.0
- y: 0.0
- z: 0.0
- lid:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- pickup_direction: ''
- pickup_distance_from_top: 0.0
- put_direction: ''
- resource_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- to:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMoveLid_Feedback
- type: object
- goal:
- properties:
- destination_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: destination_offset
- type: object
- drop_direction:
- type: string
- get_direction:
- type: string
- intermediate_locations:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: intermediate_locations
- type: object
- type: array
- lid:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: lid
- type: object
- pickup_direction:
- type: string
- pickup_distance_from_top:
- type: number
- put_direction:
- type: string
- resource_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: resource_offset
- type: object
- to:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to
- type: object
- required:
- - lid
- - to
- - intermediate_locations
- - resource_offset
- - destination_offset
- - pickup_direction
- - drop_direction
- - get_direction
- - put_direction
- - pickup_distance_from_top
- title: LiquidHandlerMoveLid_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMoveLid_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMoveLid
- type: object
- type: LiquidHandlerMoveLid
- move_plate:
- feedback: {}
- goal:
- destination_offset: destination_offset
- drop_direction: drop_direction
- get_direction: get_direction
- intermediate_locations: intermediate_locations
- pickup_direction: pickup_direction
- pickup_offset: pickup_offset
- plate: plate
- put_direction: put_direction
- resource_offset: resource_offset
- to: to
- goal_default:
- destination_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- drop_direction: ''
- get_direction: ''
- intermediate_locations:
- - x: 0.0
- y: 0.0
- z: 0.0
- pickup_direction: ''
- pickup_distance_from_top: 0.0
- pickup_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- plate:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- put_direction: ''
- resource_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- to:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMovePlate_Feedback
- type: object
- goal:
- properties:
- destination_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: destination_offset
- type: object
- drop_direction:
- type: string
- get_direction:
- type: string
- intermediate_locations:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: intermediate_locations
- type: object
- type: array
- pickup_direction:
- type: string
- pickup_distance_from_top:
- type: number
- pickup_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: pickup_offset
- type: object
- plate:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: plate
- type: object
- put_direction:
- type: string
- resource_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: resource_offset
- type: object
- to:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to
- type: object
- required:
- - plate
- - to
- - intermediate_locations
- - resource_offset
- - pickup_offset
- - destination_offset
- - pickup_direction
- - drop_direction
- - get_direction
- - put_direction
- - pickup_distance_from_top
- title: LiquidHandlerMovePlate_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMovePlate_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMovePlate
- type: object
- type: LiquidHandlerMovePlate
- move_resource:
- feedback: {}
- goal:
- destination_offset: destination_offset
- drop_direction: drop_direction
- get_direction: get_direction
- intermediate_locations: intermediate_locations
- pickup_direction: pickup_direction
- pickup_distance_from_top: pickup_distance_from_top
- put_direction: put_direction
- resource: resource
- resource_offset: resource_offset
- to: to
- goal_default:
- destination_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- drop_direction: ''
- get_direction: ''
- intermediate_locations:
- - x: 0.0
- y: 0.0
- z: 0.0
- pickup_direction: ''
- pickup_distance_from_top: 0.0
- put_direction: ''
- resource:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- resource_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- to:
- x: 0.0
- y: 0.0
- z: 0.0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMoveResource_Feedback
- type: object
- goal:
- properties:
- destination_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: destination_offset
- type: object
- drop_direction:
- type: string
- get_direction:
- type: string
- intermediate_locations:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: intermediate_locations
- type: object
- type: array
- pickup_direction:
- type: string
- pickup_distance_from_top:
- type: number
- put_direction:
- type: string
- resource:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: resource
- type: object
- resource_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: resource_offset
- type: object
- to:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: to
- type: object
- required:
- - resource
- - to
- - intermediate_locations
- - resource_offset
- - destination_offset
- - pickup_distance_from_top
- - pickup_direction
- - drop_direction
- - get_direction
- - put_direction
- title: LiquidHandlerMoveResource_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMoveResource_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMoveResource
- type: object
- type: LiquidHandlerMoveResource
- move_to:
- feedback: {}
- goal:
- channel: channel
- dis_to_top: dis_to_top
- well: well
- goal_default:
- channel: 0
- dis_to_top: 0.0
- well:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMoveTo_Feedback
- type: object
- goal:
- properties:
- channel:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- dis_to_top:
- type: number
- well:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: well
- type: object
- required:
- - well
- - dis_to_top
- - channel
- title: LiquidHandlerMoveTo_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMoveTo_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMoveTo
- type: object
- type: LiquidHandlerMoveTo
- pick_up_tips:
- feedback: {}
- goal:
- offsets: offsets
- tip_spots: tip_spots
- use_channels: use_channels
- goal_default:
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- tip_spots:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerPickUpTips_Feedback
- type: object
- goal:
- properties:
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- tip_spots:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_spots
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - tip_spots
- - use_channels
- - offsets
- title: LiquidHandlerPickUpTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerPickUpTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerPickUpTips
- type: object
- type: LiquidHandlerPickUpTips
- pick_up_tips96:
- feedback: {}
- goal:
- offset: offset
- tip_rack: tip_rack
- goal_default:
- offset:
- x: 0.0
- y: 0.0
- z: 0.0
- tip_rack:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerPickUpTips96_Feedback
- type: object
- goal:
- properties:
- offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offset
- type: object
- tip_rack:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_rack
- type: object
- required:
- - tip_rack
- - offset
- title: LiquidHandlerPickUpTips96_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerPickUpTips96_Result
- type: object
- required:
- - goal
- title: LiquidHandlerPickUpTips96
- type: object
- type: LiquidHandlerPickUpTips96
- remove:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- delays: delays
- flow_rates: flow_rates
- is_96_well: is_96_well
- liquid_height: liquid_height
- none_keys: none_keys
- offsets: offsets
- sources: sources
- spread: spread
- top: top
- use_channels: use_channels
- vols: vols
- waste_liquid: waste_liquid
- goal_default:
- blow_out_air_volume:
- - 0.0
- delays:
- - 0
- flow_rates:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- top:
- - 0.0
- use_channels:
- - 0
- vols:
- - 0.0
- waste_liquid:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerRemove_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- type: number
- type: array
- delays:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- flow_rates:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: sources
- type: object
- type: array
- spread:
- type: string
- top:
- items:
- type: number
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- waste_liquid:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_liquid
- type: object
- required:
- - vols
- - sources
- - waste_liquid
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- - delays
- - is_96_well
- - top
- - none_keys
- title: LiquidHandlerRemove_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerRemove_Result
- type: object
- required:
- - goal
- title: LiquidHandlerRemove
- type: object
- type: LiquidHandlerRemove
- remove_liquid:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- delays: delays
- flow_rates: flow_rates
- is_96_well: is_96_well
- liquid_height: liquid_height
- none_keys: none_keys
- offsets: offsets
- sources: sources
- spread: spread
- top: top
- use_channels: use_channels
- vols: vols
- waste_liquid: waste_liquid
- goal_default:
- blow_out_air_volume:
- - 0.0
- delays:
- - 0
- flow_rates:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- top:
- - 0.0
- use_channels:
- - 0
- vols:
- - 0.0
- waste_liquid:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- sources: unilabos_resources
- waste_liquid: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerRemove_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- type: number
- type: array
- delays:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- flow_rates:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: sources
- type: object
- type: array
- spread:
- type: string
- top:
- items:
- type: number
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- waste_liquid:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_liquid
- type: object
- required:
- - vols
- - sources
- - waste_liquid
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- - delays
- - is_96_well
- - top
- - none_keys
- title: LiquidHandlerRemove_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerRemove_Result
- type: object
- required:
- - goal
- title: LiquidHandlerRemove
- type: object
- type: LiquidHandlerRemove
- return_tips:
- feedback: {}
- goal:
- allow_nonzero_volume: allow_nonzero_volume
- use_channels: use_channels
- goal_default:
- allow_nonzero_volume: false
- use_channels:
- - 0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerReturnTips_Feedback
- type: object
- goal:
- properties:
- allow_nonzero_volume:
- type: boolean
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - use_channels
- - allow_nonzero_volume
- title: LiquidHandlerReturnTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerReturnTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerReturnTips
- type: object
- type: LiquidHandlerReturnTips
- return_tips96:
- feedback: {}
- goal:
- allow_nonzero_volume: allow_nonzero_volume
- goal_default:
- allow_nonzero_volume: false
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerReturnTips96_Feedback
- type: object
- goal:
- properties:
- allow_nonzero_volume:
- type: boolean
- required:
- - allow_nonzero_volume
- title: LiquidHandlerReturnTips96_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerReturnTips96_Result
- type: object
- required:
- - goal
- title: LiquidHandlerReturnTips96
- type: object
- type: LiquidHandlerReturnTips96
- stamp:
- feedback: {}
- goal:
- aspiration_flow_rate: aspiration_flow_rate
- dispense_flow_rate: dispense_flow_rate
- source: source
- target: target
- volume: volume
- goal_default:
- aspiration_flow_rate: 0.0
- dispense_flow_rate: 0.0
- source:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- target:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: 0.0
- handles: {}
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerStamp_Feedback
- type: object
- goal:
- properties:
- aspiration_flow_rate:
- type: number
- dispense_flow_rate:
- type: number
- source:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: source
- type: object
- target:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: target
- type: object
- volume:
- type: number
- required:
- - source
- - target
- - volume
- - aspiration_flow_rate
- - dispense_flow_rate
- title: LiquidHandlerStamp_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerStamp_Result
- type: object
- required:
- - goal
- title: LiquidHandlerStamp
- type: object
- type: LiquidHandlerStamp
- transfer:
- goal:
- aspiration_flow_rate: aspiration_flow_rate
- dispense_flow_rates: dispense_flow_rates
- ratios: ratios
- source: source
- source_vol: source_vol
- target_vols: target_vols
- targets: targets
- goal_default:
- amount: ''
- from_vessel: ''
- rinsing_repeats: 0
- rinsing_solvent: ''
- rinsing_volume: 0.0
- solid: false
- time: 0.0
- to_vessel: ''
- viscous: false
- volume: 0.0
- handles: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- transferred_volume:
- type: number
- required:
- - progress
- - transferred_volume
- - current_status
- title: Transfer_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- from_vessel:
- type: string
- rinsing_repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- rinsing_solvent:
- type: string
- rinsing_volume:
- type: number
- solid:
- type: boolean
- time:
- type: number
- to_vessel:
- type: string
- viscous:
- type: boolean
- volume:
- type: number
- required:
- - from_vessel
- - to_vessel
- - volume
- - amount
- - time
- - viscous
- - rinsing_solvent
- - rinsing_volume
- - rinsing_repeats
- - solid
- title: Transfer_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Transfer_Result
- type: object
- required:
- - goal
- title: Transfer
- type: object
- type: Transfer
- transfer_liquid:
- feedback: {}
- goal:
- asp_flow_rates: asp_flow_rates
- asp_vols: asp_vols
- blow_out_air_volume: blow_out_air_volume
- delays: delays
- dis_flow_rates: dis_flow_rates
- dis_vols: dis_vols
- is_96_well: is_96_well
- liquid_height: liquid_height
- mix_liquid_height: mix_liquid_height
- mix_rate: mix_rate
- mix_stage: mix_stage
- mix_times: mix_times
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- sources: sources
- spread: spread
- targets: targets
- tip_racks: tip_racks
- touch_tip: touch_tip
- use_channels: use_channels
- goal_default:
- asp_flow_rates:
- - 0.0
- asp_vols:
- - 0.0
- blow_out_air_volume:
- - 0.0
- delays:
- - 0
- dis_flow_rates:
- - 0.0
- dis_vols:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- mix_liquid_height: 0.0
- mix_rate: 0
- mix_stage: ''
- mix_times: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- tip_racks:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- touch_tip: false
- use_channels:
- - 0
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources
- label: sources
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: targets
- label: targets
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: tip_rack
- label: tip_rack
- output:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources_out
- label: sources
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: targets_out
- label: targets
- placeholder_keys:
- sources: unilabos_resources
- targets: unilabos_resources
- tip_racks: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerTransfer_Feedback
- type: object
- goal:
- properties:
- asp_flow_rates:
- items:
- type: number
- type: array
- asp_vols:
- items:
- type: number
- type: array
- blow_out_air_volume:
- items:
- type: number
- type: array
- delays:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- dis_flow_rates:
- items:
- type: number
- type: array
- dis_vols:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- mix_liquid_height:
- type: number
- mix_rate:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_stage:
- type: string
- mix_times:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: sources
- type: object
- type: array
- spread:
- type: string
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- tip_racks:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_racks
- type: object
- type: array
- touch_tip:
- type: boolean
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - asp_vols
- - dis_vols
- - sources
- - targets
- - tip_racks
- - use_channels
- - asp_flow_rates
- - dis_flow_rates
- - offsets
- - touch_tip
- - liquid_height
- - blow_out_air_volume
- - spread
- - is_96_well
- - mix_stage
- - mix_times
- - mix_vol
- - mix_rate
- - mix_liquid_height
- - delays
- - none_keys
- title: LiquidHandlerTransfer_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerTransfer_Result
- type: object
- required:
- - goal
- title: LiquidHandlerTransfer
- type: object
- type: LiquidHandlerTransfer
- module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
- status_types: {}
- type: python
- config_info: []
- description: Liquid handler device controlled by pylabrobot
- handles: []
- icon: icon_yiyezhan.webp
- init_param_schema:
- config:
- properties:
- backend:
- type: string
- channel_num:
- default: 8
- type: integer
- deck:
- type: string
- simulator:
- default: false
- type: boolean
- total_height:
- default: 310
- type: number
- required:
- - backend
- - deck
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
-liquid_handler.biomek:
- category:
- - liquid_handler
- class:
- action_value_mappings:
- auto-create_resource:
- feedback: {}
- goal: {}
- goal_default:
- bind_location: null
- bind_parent_id: null
- liquid_input_slot: null
- liquid_type: null
- liquid_volume: null
- resource_tracker: null
- resources: null
- slot_on_deck: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: create_resource的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- bind_location:
- type: object
- bind_parent_id:
- type: string
- liquid_input_slot:
- items:
- type: integer
- type: array
- liquid_type:
- items:
- type: string
- type: array
- liquid_volume:
- items:
- type: integer
- type: array
- resource_tracker:
- type: object
- resources:
- items:
- type: object
- type: array
- slot_on_deck:
- type: integer
- required:
- - resource_tracker
- - resources
- - bind_parent_id
- - bind_location
- - liquid_input_slot
- - liquid_type
- - liquid_volume
- - slot_on_deck
- type: object
- result: {}
- required:
- - goal
- title: create_resource参数
- type: object
- type: UniLabJsonCommand
- auto-instrument_setup_biomek:
- feedback: {}
- goal: {}
- goal_default:
- class_name: null
- id: null
- liquid_input_wells: null
- liquid_type: null
- liquid_volume: null
- parent: null
- slot_on_deck: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: instrument_setup_biomek的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- class_name:
- type: string
- id:
- type: string
- liquid_input_wells:
- items:
- type: string
- type: array
- liquid_type:
- items:
- type: string
- type: array
- liquid_volume:
- items:
- type: integer
- type: array
- parent:
- type: string
- slot_on_deck:
- type: string
- required:
- - id
- - parent
- - slot_on_deck
- - class_name
- - liquid_type
- - liquid_volume
- - liquid_input_wells
- type: object
- result: {}
- required:
- - goal
- title: instrument_setup_biomek参数
- type: object
- type: UniLabJsonCommand
- create_protocol:
- feedback: {}
- goal:
- none_keys: none_keys
- protocol_author: protocol_author
- protocol_date: protocol_date
- protocol_description: protocol_description
- protocol_name: protocol_name
- protocol_type: protocol_type
- protocol_version: protocol_version
- goal_default:
- none_keys:
- - ''
- protocol_author: ''
- protocol_date: ''
- protocol_description: ''
- protocol_name: ''
- protocol_type: ''
- protocol_version: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerProtocolCreation_Feedback
- type: object
- goal:
- properties:
- none_keys:
- items:
- type: string
- type: array
- protocol_author:
- type: string
- protocol_date:
- type: string
- protocol_description:
- type: string
- protocol_name:
- type: string
- protocol_type:
- type: string
- protocol_version:
- type: string
- required:
- - protocol_name
- - protocol_description
- - protocol_version
- - protocol_author
- - protocol_date
- - protocol_type
- - none_keys
- title: LiquidHandlerProtocolCreation_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: LiquidHandlerProtocolCreation_Result
- type: object
- required:
- - goal
- title: LiquidHandlerProtocolCreation
- type: object
- type: LiquidHandlerProtocolCreation
- incubation_biomek:
- feedback: {}
- goal:
- time: time
- goal_default:
- time: 0
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: plate
- label: plate
- output:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: plate_out
- label: plate
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerIncubateBiomek_Feedback
- type: object
- goal:
- properties:
- time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - time
- title: LiquidHandlerIncubateBiomek_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerIncubateBiomek_Result
- type: object
- required:
- - goal
- title: LiquidHandlerIncubateBiomek
- type: object
- type: LiquidHandlerIncubateBiomek
- move_biomek:
- feedback: {}
- goal:
- source: sources
- target: targets
- goal_default:
- sources: ''
- targets: ''
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources
- label: sources
- output:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: targets
- label: targets
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMoveBiomek_Feedback
- type: object
- goal:
- properties:
- sources:
- type: string
- targets:
- type: string
- required:
- - sources
- - targets
- title: LiquidHandlerMoveBiomek_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMoveBiomek_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMoveBiomek
- type: object
- type: LiquidHandlerMoveBiomek
- oscillation_biomek:
- feedback: {}
- goal:
- rpm: rpm
- time: time
- goal_default:
- rpm: 0
- time: 0
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: plate
- label: plate
- output:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: plate_out
- label: plate
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerOscillateBiomek_Feedback
- type: object
- goal:
- properties:
- rpm:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - rpm
- - time
- title: LiquidHandlerOscillateBiomek_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerOscillateBiomek_Result
- type: object
- required:
- - goal
- title: LiquidHandlerOscillateBiomek
- type: object
- type: LiquidHandlerOscillateBiomek
- run_protocol:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- transfer_biomek:
- feedback: {}
- goal:
- aspirate_techniques: aspirate_techniques
- dispense_techniques: dispense_techniques
- sources: sources
- targets: targets
- tip_rack: tip_rack
- volume: volume
- goal_default:
- aspirate_technique: ''
- dispense_technique: ''
- sources: ''
- targets: ''
- tip_rack: ''
- volume: 0.0
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources
- label: sources
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: targets
- label: targets
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: tip_rack
- label: tip_rack
- output:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources_out
- label: sources
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: targets_out
- label: targets
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerTransferBiomek_Feedback
- type: object
- goal:
- properties:
- aspirate_technique:
- type: string
- dispense_technique:
- type: string
- sources:
- type: string
- targets:
- type: string
- tip_rack:
- type: string
- volume:
- type: number
- required:
- - sources
- - targets
- - tip_rack
- - volume
- - aspirate_technique
- - dispense_technique
- title: LiquidHandlerTransferBiomek_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerTransferBiomek_Result
- type: object
- required:
- - goal
- title: LiquidHandlerTransferBiomek
- type: object
- type: LiquidHandlerTransferBiomek
- transfer_liquid:
- feedback: {}
- goal:
- asp_flow_rates: asp_flow_rates
- asp_vols: asp_vols
- blow_out_air_volume: blow_out_air_volume
- delays: delays
- dis_flow_rates: dis_flow_rates
- dis_vols: dis_vols
- is_96_well: is_96_well
- liquid_height: liquid_height
- mix_liquid_height: mix_liquid_height
- mix_rate: mix_rate
- mix_stage: mix_stage
- mix_times: mix_times
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- sources: sources
- spread: spread
- targets: targets
- tip_racks: tip_racks
- touch_tip: touch_tip
- use_channels: use_channels
- goal_default:
- asp_flow_rates:
- - 0.0
- asp_vols:
- - 0.0
- blow_out_air_volume:
- - 0.0
- delays:
- - 0
- dis_flow_rates:
- - 0.0
- dis_vols:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- mix_liquid_height: 0.0
- mix_rate: 0
- mix_stage: ''
- mix_times: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- tip_racks:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- touch_tip: false
- use_channels:
- - 0
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: liquid-input
- io_type: target
- label: Liquid Input
- output:
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: liquid-output
- io_type: source
- label: Liquid Output
- placeholder_keys:
- sources: unilabos_resources
- targets: unilabos_resources
- tip_racks: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerTransfer_Feedback
- type: object
- goal:
- properties:
- asp_flow_rates:
- items:
- type: number
- type: array
- asp_vols:
- items:
- type: number
- type: array
- blow_out_air_volume:
- items:
- type: number
- type: array
- delays:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- dis_flow_rates:
- items:
- type: number
- type: array
- dis_vols:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- mix_liquid_height:
- type: number
- mix_rate:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_stage:
- type: string
- mix_times:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: sources
- type: object
- type: array
- spread:
- type: string
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- tip_racks:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_racks
- type: object
- type: array
- touch_tip:
- type: boolean
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - asp_vols
- - dis_vols
- - sources
- - targets
- - tip_racks
- - use_channels
- - asp_flow_rates
- - dis_flow_rates
- - offsets
- - touch_tip
- - liquid_height
- - blow_out_air_volume
- - spread
- - is_96_well
- - mix_stage
- - mix_times
- - mix_vol
- - mix_rate
- - mix_liquid_height
- - delays
- - none_keys
- title: LiquidHandlerTransfer_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerTransfer_Result
- type: object
- required:
- - goal
- title: LiquidHandlerTransfer
- type: object
- type: LiquidHandlerTransfer
- module: unilabos.devices.liquid_handling.biomek:LiquidHandlerBiomek
- status_types:
- success: String
- type: python
- config_info: []
- description: Biomek液体处理器设备，基于pylabrobot控制
- handles: []
- icon: icon_yiyezhan.webp
- init_param_schema:
- config:
- properties: {}
- required: []
- type: object
- data:
- properties:
- success:
- type: string
- required:
- - success
- type: object
- version: 1.0.0
-liquid_handler.laiyu:
- category:
- - liquid_handler
- class:
- action_value_mappings:
- add_liquid:
- feedback: {}
- goal:
- asp_vols: asp_vols
- blow_out_air_volume: blow_out_air_volume
- dis_vols: dis_vols
- flow_rates: flow_rates
- is_96_well: is_96_well
- liquid_height: liquid_height
- mix_liquid_height: mix_liquid_height
- mix_rate: mix_rate
- mix_time: mix_time
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- reagent_sources: reagent_sources
- spread: spread
- targets: targets
- use_channels: use_channels
- goal_default:
- asp_vols:
- - 0.0
- blow_out_air_volume:
- - 0.0
- dis_vols:
- - 0.0
- flow_rates:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- mix_liquid_height: 0.0
- mix_rate: 0
- mix_time: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- reagent_sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- reagent_sources: unilabos_resources
- targets: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerAdd_Feedback
- type: object
- goal:
- properties:
- asp_vols:
- items:
- type: number
- type: array
- blow_out_air_volume:
- items:
- type: number
- type: array
- dis_vols:
- items:
- type: number
- type: array
- flow_rates:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- mix_liquid_height:
- type: number
- mix_rate:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- reagent_sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: reagent_sources
- type: object
- type: array
- spread:
- type: string
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - asp_vols
- - dis_vols
- - reagent_sources
- - targets
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- - is_96_well
- - mix_time
- - mix_vol
- - mix_rate
- - mix_liquid_height
- - none_keys
- title: LiquidHandlerAdd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerAdd_Result
- type: object
- required:
- - goal
- title: LiquidHandlerAdd
- type: object
- type: LiquidHandlerAdd
- aspirate:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- flow_rates: flow_rates
- liquid_height: liquid_height
- offsets: offsets
- resources: resources
- use_channels: use_channels
- vols: vols
- goal_default:
- blow_out_air_volume:
- - 0.0
- flow_rates:
- - 0.0
- liquid_height:
- - 0.0
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- resources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- use_channels:
- - 0
- vols:
- - 0.0
- handles: {}
- placeholder_keys:
- resources: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerAspirate_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- type: number
- type: array
- flow_rates:
- items:
- type: number
- type: array
- liquid_height:
- items:
- type: number
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- resources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: resources
- type: object
- type: array
- spread:
- type: string
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- required:
- - resources
- - vols
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- title: LiquidHandlerAspirate_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerAspirate_Result
- type: object
- required:
- - goal
- title: LiquidHandlerAspirate
- type: object
- type: LiquidHandlerAspirate
- auto-transfer_liquid:
- feedback: {}
- goal: {}
- goal_default:
- asp_flow_rates: null
- asp_vols: null
- blow_out_air_volume: null
- delays: null
- dis_flow_rates: null
- dis_vols: null
- is_96_well: false
- liquid_height: null
- mix_liquid_height: null
- mix_rate: null
- mix_stage: none
- mix_times: null
- mix_vol: null
- none_keys: []
- offsets: null
- sources: null
- spread: wide
- targets: null
- tip_racks: null
- touch_tip: false
- use_channels: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- asp_flow_rates:
- type: string
- asp_vols:
- type: string
- blow_out_air_volume:
- type: string
- delays:
- type: string
- dis_flow_rates:
- type: string
- dis_vols:
- type: string
- is_96_well:
- default: false
- type: boolean
- liquid_height:
- type: string
- mix_liquid_height:
- type: string
- mix_rate:
- type: string
- mix_stage:
- default: none
- type: string
- mix_times:
- type: string
- mix_vol:
- type: string
- none_keys:
- default: []
- items:
- type: string
- type: array
- offsets:
- type: string
- sources:
- type: string
- spread:
- default: wide
- type: string
- targets:
- type: string
- tip_racks:
- type: string
- touch_tip:
- default: false
- type: boolean
- use_channels:
- type: string
- required:
- - sources
- - targets
- - tip_racks
- - asp_vols
- - dis_vols
- type: object
- result: {}
- required:
- - goal
- title: transfer_liquid参数
- type: object
- type: UniLabJsonCommandAsync
- dispense:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- flow_rates: flow_rates
- liquid_height: liquid_height
- offsets: offsets
- resources: resources
- use_channels: use_channels
- vols: vols
- goal_default:
- blow_out_air_volume:
- - 0
- flow_rates:
- - 0.0
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- resources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- use_channels:
- - 0
- vols:
- - 0.0
- handles: {}
- placeholder_keys:
- resources: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDispense_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- flow_rates:
- items:
- type: number
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- resources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: resources
- type: object
- type: array
- spread:
- type: string
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- required:
- - resources
- - vols
- - use_channels
- - flow_rates
- - offsets
- - blow_out_air_volume
- - spread
- title: LiquidHandlerDispense_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerDispense_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDispense
- type: object
- type: LiquidHandlerDispense
- drop_tips:
- feedback: {}
- goal:
- allow_nonzero_volume: allow_nonzero_volume
- offsets: offsets
- tip_spots: tip_spots
- use_channels: use_channels
- goal_default:
- allow_nonzero_volume: false
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- tip_spots:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- tip_spots: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDropTips_Feedback
- type: object
- goal:
- properties:
- allow_nonzero_volume:
- type: boolean
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- tip_spots:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_spots
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - tip_spots
- - use_channels
- - offsets
- - allow_nonzero_volume
- title: LiquidHandlerDropTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerDropTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDropTips
- type: object
- type: LiquidHandlerDropTips
- mix:
- feedback: {}
- goal:
- height_to_bottom: height_to_bottom
- mix_rate: mix_rate
- mix_time: mix_time
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- targets: targets
- goal_default:
- height_to_bottom: 0.0
- mix_rate: 0.0
- mix_time: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- targets: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMix_Feedback
- type: object
- goal:
- properties:
- height_to_bottom:
- type: number
- mix_rate:
- type: number
- mix_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- required:
- - targets
- - mix_time
- - mix_vol
- - height_to_bottom
- - offsets
- - mix_rate
- - none_keys
- title: LiquidHandlerMix_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMix_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMix
- type: object
- type: LiquidHandlerMix
- pick_up_tips:
- feedback: {}
- goal:
- offsets: offsets
- tip_spots: tip_spots
- use_channels: use_channels
- goal_default:
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- tip_spots:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- tip_spots: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerPickUpTips_Feedback
- type: object
- goal:
- properties:
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- tip_spots:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_spots
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - tip_spots
- - use_channels
- - offsets
- title: LiquidHandlerPickUpTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerPickUpTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerPickUpTips
- type: object
- type: LiquidHandlerPickUpTips
- module: unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZHandler
- properties:
- support_touch_tip: bool
- status_types: {}
- type: python
- config_info: []
- description: Laiyu液体处理器设备，基于pylabrobot控制
- handles: []
- icon: icon_yiyezhan.webp
- init_param_schema:
- config:
- properties:
- channel_num:
- default: 1
- type: string
- deck:
- type: object
- host:
- default: 127.0.0.1
- type: string
- port:
- default: 9999
- type: integer
- simulator:
- default: true
- type: string
- timeout:
- default: 10.0
- type: number
- required:
- - deck
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
-liquid_handler.prcxi:
- category:
- - liquid_handler
- class:
- action_value_mappings:
- add_liquid:
- feedback: {}
- goal:
- asp_vols: asp_vols
- blow_out_air_volume: blow_out_air_volume
- dis_vols: dis_vols
- flow_rates: flow_rates
- is_96_well: is_96_well
- liquid_height: liquid_height
- mix_liquid_height: mix_liquid_height
- mix_rate: mix_rate
- mix_time: mix_time
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- reagent_sources: reagent_sources
- spread: spread
- targets: targets
- use_channels: use_channels
- goal_default:
- asp_vols:
- - 0.0
- blow_out_air_volume:
- - 0.0
- dis_vols:
- - 0.0
- flow_rates:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- mix_liquid_height: 0.0
- mix_rate: 0
- mix_time: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- reagent_sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- reagent_sources: unilabos_resources
- targets: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerAdd_Feedback
- type: object
- goal:
- properties:
- asp_vols:
- items:
- type: number
- type: array
- blow_out_air_volume:
- items:
- type: number
- type: array
- dis_vols:
- items:
- type: number
- type: array
- flow_rates:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- mix_liquid_height:
- type: number
- mix_rate:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- reagent_sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: reagent_sources
- type: object
- type: array
- spread:
- type: string
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
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- type: number
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- sample_id:
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- type:
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- - blow_out_air_volume
- - spread
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- - mix_rate
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- title: LiquidHandlerAdd_Goal
- type: object
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- required:
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- type: LiquidHandlerAdd
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- goal:
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- flow_rates: flow_rates
- liquid_height: liquid_height
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- use_channels: use_channels
- vols: vols
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- - 0.0
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- - 0.0
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- schema:
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- properties:
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- type: array
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- type: array
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- title: LiquidHandlerAspirate_Goal
- type: object
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- required:
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- type: object
- type: LiquidHandlerAspirate
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- goal: {}
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- protocol_version: ''
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- schema:
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- properties:
- feedback: {}
- goal:
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- items:
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- type: UniLabJsonCommandAsync
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- goal: {}
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- properties:
- feedback: {}
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- properties:
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- type: string
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- - goal
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- goal: {}
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- handles: {}
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- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
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- type: number
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- type: integer
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- required:
- - goal
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- type: object
- type: UniLabJsonCommandAsync
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- feedback: {}
- goal: {}
- goal_default:
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- handles: {}
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- properties:
- feedback: {}
- goal:
- properties:
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- required:
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- type: UniLabJsonCommand
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- goal: {}
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- properties:
- feedback: {}
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- schema:
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- properties:
- feedback: {}
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- properties:
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- feedback: {}
- goal: {}
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- description: run_protocol的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
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- required:
- - goal
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- schema:
- description: ''
- properties:
- feedback: {}
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- properties:
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- type: string
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- type: array
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- - volumes
- type: object
- result: {}
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- - goal
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- type: object
- type: UniLabJsonCommand
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- feedback: {}
- goal: {}
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- amplitude: null
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- time: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
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- properties:
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- type: integer
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- type: boolean
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- type: integer
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- type: object
- result: {}
- required:
- - goal
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- type: object
- type: UniLabJsonCommandAsync
- auto-touch_tip:
- feedback: {}
- goal: {}
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- handles: {}
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- schema:
- description: touch_tip的参数schema
- properties:
- feedback: {}
- goal:
- properties:
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- type: string
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- - targets
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- result: {}
- required:
- - goal
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- type: object
- type: UniLabJsonCommandAsync
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- feedback: {}
- goal: {}
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- unit_volume: null
- handles: {}
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- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
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- properties:
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- type: string
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- type: string
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- type: object
- result: {}
- required:
- - goal
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- type: UniLabJsonCommandAsync
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- feedback: {}
- goal:
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- - 0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
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- properties: {}
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- title: LiquidHandlerDiscardTips_Feedback
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- properties:
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- title: LiquidHandlerDiscardTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
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- required:
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- type: object
- required:
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- title: LiquidHandlerDiscardTips
- type: object
- type: LiquidHandlerDiscardTips
- dispense:
- feedback: {}
- goal:
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- flow_rates: flow_rates
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- resources: resources
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- use_channels: use_channels
- vols: vols
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- y: 0.0
- z: 0.0
- resources:
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- children: []
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- data: ''
- id: ''
- name: ''
- parent: ''
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- position:
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- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
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- - 0
- vols:
- - 0.0
- handles: {}
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- resources: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
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- properties: {}
- required: []
- title: LiquidHandlerDispense_Feedback
- type: object
- goal:
- properties:
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- items:
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- minimum: -2147483648
- type: integer
- type: array
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- items:
- type: number
- type: array
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- items:
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- x:
- type: number
- y:
- type: number
- z:
- type: number
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- resources:
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- type: string
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- type: string
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- type: string
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- type: string
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- type: number
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- type: number
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- type: number
- z:
- type: number
- required:
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- type: object
- sample_id:
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- type:
- type: string
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- type: array
- spread:
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- type: integer
- type: array
- vols:
- items:
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- type: array
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- title: LiquidHandlerDispense_Goal
- type: object
- result:
- properties:
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- type: string
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- required:
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- title: LiquidHandlerDispense_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDispense
- type: object
- type: LiquidHandlerDispense
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- goal:
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- offsets: offsets
- tip_spots: tip_spots
- use_channels: use_channels
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- offsets:
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- y: 0.0
- z: 0.0
- tip_spots:
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- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
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- x: 0.0
- y: 0.0
- z: 0.0
- position:
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- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
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- - 0
- handles: {}
- placeholder_keys:
- tip_spots: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerDropTips_Feedback
- type: object
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- properties:
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- items:
- properties:
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- type: number
- y:
- type: number
- z:
- type: number
- required:
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- - y
- - z
- title: offsets
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- type: object
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- minimum: -2147483648
- type: integer
- type: array
- required:
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- - offsets
- - allow_nonzero_volume
- title: LiquidHandlerDropTips_Goal
- type: object
- result:
- properties:
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- type: string
- success:
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- required:
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- title: LiquidHandlerDropTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerDropTips
- type: object
- type: LiquidHandlerDropTips
- mix:
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- goal:
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- mix_rate: mix_rate
- mix_time: mix_time
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- targets: targets
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- mix_rate: 0.0
- mix_time: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
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- y: 0.0
- z: 0.0
- targets:
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- children: []
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- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
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- x: 0.0
- y: 0.0
- z: 0.0
- position:
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- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- targets: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMix_Feedback
- type: object
- goal:
- properties:
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- type: number
- mix_rate:
- type: number
- mix_time:
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- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
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- items:
- type: string
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- x:
- type: number
- y:
- type: number
- z:
- type: number
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- type: number
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- type: number
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- sample_id:
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- required:
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- title: targets
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- required:
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- - mix_vol
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- title: LiquidHandlerMix_Goal
- type: object
- result:
- properties:
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- type: string
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- required:
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- title: LiquidHandlerMix_Result
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- required:
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- title: LiquidHandlerMix
- type: object
- type: LiquidHandlerMix
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- feedback: {}
- goal:
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- drop_direction: drop_direction
- get_direction: get_direction
- intermediate_locations: intermediate_locations
- pickup_direction: pickup_direction
- pickup_offset: pickup_offset
- plate: plate
- put_direction: put_direction
- resource_offset: resource_offset
- to: to
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- y: 0.0
- z: 0.0
- drop_direction: ''
- get_direction: ''
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- y: 0.0
- z: 0.0
- pickup_direction: ''
- pickup_distance_from_top: 0.0
- pickup_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- plate:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
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- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- put_direction: ''
- resource_offset:
- x: 0.0
- y: 0.0
- z: 0.0
- to:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- plate: unilabos_resources
- to: unilabos_resources
- result:
- name: name
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerMovePlate_Feedback
- type: object
- goal:
- properties:
- destination_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: destination_offset
- type: object
- drop_direction:
- type: string
- get_direction:
- type: string
- intermediate_locations:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: intermediate_locations
- type: object
- type: array
- pickup_direction:
- type: string
- pickup_distance_from_top:
- type: number
- pickup_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: pickup_offset
- type: object
- plate:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: plate
- type: object
- put_direction:
- type: string
- resource_offset:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: resource_offset
- type: object
- to:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to
- type: object
- required:
- - plate
- - to
- - intermediate_locations
- - resource_offset
- - pickup_offset
- - destination_offset
- - pickup_direction
- - drop_direction
- - get_direction
- - put_direction
- - pickup_distance_from_top
- title: LiquidHandlerMovePlate_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerMovePlate_Result
- type: object
- required:
- - goal
- title: LiquidHandlerMovePlate
- type: object
- type: LiquidHandlerMovePlate
- pick_up_tips:
- feedback: {}
- goal:
- offsets: offsets
- tip_spots: tip_spots
- use_channels: use_channels
- goal_default:
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- tip_spots:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- use_channels:
- - 0
- handles: {}
- placeholder_keys:
- tip_spots: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerPickUpTips_Feedback
- type: object
- goal:
- properties:
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- tip_spots:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_spots
- type: object
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - tip_spots
- - use_channels
- - offsets
- title: LiquidHandlerPickUpTips_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerPickUpTips_Result
- type: object
- required:
- - goal
- title: LiquidHandlerPickUpTips
- type: object
- type: LiquidHandlerPickUpTips
- remove_liquid:
- feedback: {}
- goal:
- blow_out_air_volume: blow_out_air_volume
- delays: delays
- flow_rates: flow_rates
- is_96_well: is_96_well
- liquid_height: liquid_height
- none_keys: none_keys
- offsets: offsets
- sources: sources
- spread: spread
- top: top
- use_channels: use_channels
- vols: vols
- waste_liquid: waste_liquid
- goal_default:
- blow_out_air_volume:
- - 0.0
- delays:
- - 0
- flow_rates:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- top:
- - 0.0
- use_channels:
- - 0
- vols:
- - 0.0
- waste_liquid:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- sources: unilabos_resources
- waste_liquid: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerRemove_Feedback
- type: object
- goal:
- properties:
- blow_out_air_volume:
- items:
- type: number
- type: array
- delays:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- flow_rates:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: sources
- type: object
- type: array
- spread:
- type: string
- top:
- items:
- type: number
- type: array
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- vols:
- items:
- type: number
- type: array
- waste_liquid:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_liquid
- type: object
- required:
- - vols
- - sources
- - waste_liquid
- - use_channels
- - flow_rates
- - offsets
- - liquid_height
- - blow_out_air_volume
- - spread
- - delays
- - is_96_well
- - top
- - none_keys
- title: LiquidHandlerRemove_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerRemove_Result
- type: object
- required:
- - goal
- title: LiquidHandlerRemove
- type: object
- type: LiquidHandlerRemove
- set_liquid:
- feedback: {}
- goal:
- liquid_names: liquid_names
- volumes: volumes
- wells: wells
- goal_default:
- liquid_names:
- - ''
- volumes:
- - 0.0
- wells:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- wells: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerSetLiquid_Feedback
- type: object
- goal:
- properties:
- liquid_names:
- items:
- type: string
- type: array
- volumes:
- items:
- type: number
- type: array
- wells:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: wells
- type: object
- type: array
- required:
- - wells
- - liquid_names
- - volumes
- title: LiquidHandlerSetLiquid_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: LiquidHandlerSetLiquid_Result
- type: object
- required:
- - goal
- title: LiquidHandlerSetLiquid
- type: object
- type: LiquidHandlerSetLiquid
- set_tiprack:
- feedback: {}
- goal:
- tip_racks: tip_racks
- goal_default:
- tip_racks:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- placeholder_keys:
- tip_racks: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerSetTipRack_Feedback
- type: object
- goal:
- properties:
- tip_racks:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_racks
- type: object
- type: array
- required:
- - tip_racks
- title: LiquidHandlerSetTipRack_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerSetTipRack_Result
- type: object
- required:
- - goal
- title: LiquidHandlerSetTipRack
- type: object
- type: LiquidHandlerSetTipRack
- transfer:
- goal:
- aspiration_flow_rate: aspiration_flow_rate
- dispense_flow_rates: dispense_flow_rates
- ratios: ratios
- source: source
- source_vol: source_vol
- target_vols: target_vols
- targets: targets
- goal_default:
- amount: ''
- from_vessel: ''
- rinsing_repeats: 0
- rinsing_solvent: ''
- rinsing_volume: 0.0
- solid: false
- time: 0.0
- to_vessel: ''
- viscous: false
- volume: 0.0
- handles: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- transferred_volume:
- type: number
- required:
- - progress
- - transferred_volume
- - current_status
- title: Transfer_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- from_vessel:
- type: string
- rinsing_repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- rinsing_solvent:
- type: string
- rinsing_volume:
- type: number
- solid:
- type: boolean
- time:
- type: number
- to_vessel:
- type: string
- viscous:
- type: boolean
- volume:
- type: number
- required:
- - from_vessel
- - to_vessel
- - volume
- - amount
- - time
- - viscous
- - rinsing_solvent
- - rinsing_volume
- - rinsing_repeats
- - solid
- title: Transfer_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Transfer_Result
- type: object
- required:
- - goal
- title: Transfer
- type: object
- type: Transfer
- transfer_liquid:
- feedback: {}
- goal:
- asp_flow_rates: asp_flow_rates
- asp_vols: asp_vols
- blow_out_air_volume: blow_out_air_volume
- delays: delays
- dis_flow_rates: dis_flow_rates
- dis_vols: dis_vols
- is_96_well: is_96_well
- liquid_height: liquid_height
- mix_liquid_height: mix_liquid_height
- mix_rate: mix_rate
- mix_stage: mix_stage
- mix_times: mix_times
- mix_vol: mix_vol
- none_keys: none_keys
- offsets: offsets
- sources: sources
- spread: spread
- targets: targets
- tip_racks: tip_racks
- touch_tip: touch_tip
- use_channels: use_channels
- goal_default:
- asp_flow_rates:
- - 0.0
- asp_vols:
- - 0.0
- blow_out_air_volume:
- - 0.0
- delays:
- - 0
- dis_flow_rates:
- - 0.0
- dis_vols:
- - 0.0
- is_96_well: false
- liquid_height:
- - 0.0
- mix_liquid_height: 0.0
- mix_rate: 0
- mix_stage: ''
- mix_times: 0
- mix_vol: 0
- none_keys:
- - ''
- offsets:
- - x: 0.0
- y: 0.0
- z: 0.0
- sources:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- spread: ''
- targets:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- tip_racks:
- - category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- touch_tip: false
- use_channels:
- - 0
- handles:
- input:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources
- label: sources
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: targets
- label: targets
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: tip_rack
- label: tip_rack
- output:
- - data_key: liquid
- data_source: handle
- data_type: resource
- handler_key: sources_out
- label: sources
- - data_key: liquid
- data_source: executor
- data_type: resource
- handler_key: targets_out
- label: targets
- placeholder_keys:
- sources: unilabos_resources
- targets: unilabos_resources
- tip_racks: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: LiquidHandlerTransfer_Feedback
- type: object
- goal:
- properties:
- asp_flow_rates:
- items:
- type: number
- type: array
- asp_vols:
- items:
- type: number
- type: array
- blow_out_air_volume:
- items:
- type: number
- type: array
- delays:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- dis_flow_rates:
- items:
- type: number
- type: array
- dis_vols:
- items:
- type: number
- type: array
- is_96_well:
- type: boolean
- liquid_height:
- items:
- type: number
- type: array
- mix_liquid_height:
- type: number
- mix_rate:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_stage:
- type: string
- mix_times:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- mix_vol:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- none_keys:
- items:
- type: string
- type: array
- offsets:
- items:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: offsets
- type: object
- type: array
- sources:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: sources
- type: object
- type: array
- spread:
- type: string
- targets:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: targets
- type: object
- type: array
- tip_racks:
- items:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: tip_racks
- type: object
- type: array
- touch_tip:
- type: boolean
- use_channels:
- items:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- type: array
- required:
- - asp_vols
- - dis_vols
- - sources
- - targets
- - tip_racks
- - use_channels
- - asp_flow_rates
- - dis_flow_rates
- - offsets
- - touch_tip
- - liquid_height
- - blow_out_air_volume
- - spread
- - is_96_well
- - mix_stage
- - mix_times
- - mix_vol
- - mix_rate
- - mix_liquid_height
- - delays
- - none_keys
- title: LiquidHandlerTransfer_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: LiquidHandlerTransfer_Result
- type: object
- required:
- - goal
- title: LiquidHandlerTransfer
- type: object
- type: LiquidHandlerTransfer
- module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
- status_types:
- reset_ok: bool
- type: python
- config_info: []
- description: prcxi液体处理器设备，基于pylabrobot控制
- handles: []
- icon: icon_yiyezhan.webp
- init_param_schema:
- config:
- properties:
- axis:
- default: Left
- type: string
- channel_num:
- default: 8
- type: string
- debug:
- default: false
- type: string
- deck:
- type: object
- host:
- type: string
- is_9320:
- default: false
- type: string
- matrix_id:
- default: ''
- type: string
- port:
- type: integer
- setup:
- default: true
- type: string
- simulator:
- default: false
- type: string
- step_mode:
- default: false
- type: string
- timeout:
- type: number
- required:
- - deck
- - host
- - port
- - timeout
- type: object
- data:
- properties:
- reset_ok:
- type: boolean
- required:
- - reset_ok
- type: object
- version: 1.0.0
-liquid_handler.revvity:
- category:
- - liquid_handler
- class:
- action_value_mappings:
- run:
- feedback:
- status: status
- goal:
- params: params
- resource: resource
- wf_name: file_path
- goal_default:
- params: ''
- resource:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- wf_name: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- gantt:
- type: string
- status:
- type: string
- required:
- - status
- - gantt
- title: WorkStationRun_Feedback
- type: object
- goal:
- properties:
- params:
- type: string
- resource:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: resource
- type: object
- wf_name:
- type: string
- required:
- - wf_name
- - params
- - resource
- title: WorkStationRun_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: WorkStationRun_Result
- type: object
- required:
- - goal
- title: WorkStationRun
- type: object
- type: WorkStationRun
- module: unilabos.devices.liquid_handling.revvity:Revvity
- status_types:
- status: str
- success: bool
- type: python
- config_info: []
- description: ''
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties: {}
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- success:
- type: boolean
- required:
- - success
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/neware_battery_test_system.yaml b/unilabos/registry/devices/neware_battery_test_system.yaml
deleted file mode 100644
index ea6bedc4..00000000
--- a/unilabos/registry/devices/neware_battery_test_system.yaml
+++ /dev/null
@@ -1,539 +0,0 @@
-neware_battery_test_system:
- category:
- - neware_battery_test_system
- - neware
- - battery_test
- class:
- action_value_mappings:
- auto-post_init:
- feedback: {}
- goal: {}
- goal_default:
- ros_node: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- ros_node:
- type: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- auto-print_status_summary:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: print_status_summary参数
- type: object
- type: UniLabJsonCommand
- auto-test_connection:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: test_connection参数
- type: object
- type: UniLabJsonCommand
- debug_resource_names:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result:
- return_info: return_info
- success: success
- schema:
- description: 调试方法：显示所有资源的实际名称
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- return_info:
- description: 资源调试信息
- type: string
- success:
- description: 是否成功
- type: boolean
- required:
- - return_info
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- export_status_json:
- feedback: {}
- goal:
- filepath: filepath
- goal_default:
- filepath: bts_status.json
- handles: {}
- result:
- return_info: return_info
- success: success
- schema:
- description: 导出当前状态数据到JSON文件
- properties:
- feedback: {}
- goal:
- properties:
- filepath:
- default: bts_status.json
- description: 输出JSON文件路径
- type: string
- required: []
- type: object
- result:
- properties:
- return_info:
- description: 导出操作结果信息
- type: string
- success:
- description: 导出是否成功
- type: boolean
- required:
- - return_info
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- get_device_summary:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result:
- return_info: return_info
- success: success
- schema:
- description: 获取设备级别的摘要统计信息
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- return_info:
- description: 设备摘要信息JSON格式
- type: string
- success:
- description: 查询是否成功
- type: boolean
- required:
- - return_info
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- get_plate_status:
- feedback: {}
- goal:
- plate_num: plate_num
- goal_default:
- plate_num: null
- handles: {}
- result:
- plate_data: plate_data
- return_info: return_info
- success: success
- schema:
- description: 获取指定盘或所有盘的状态信息
- properties:
- feedback: {}
- goal:
- properties:
- plate_num:
- description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
- maximum: 2
- minimum: 1
- type: integer
- required: []
- type: object
- result:
- properties:
- plate_data:
- description: 盘状态数据（单盘或所有盘）
- type: object
- return_info:
- description: 操作结果信息
- type: string
- success:
- description: 查询是否成功
- type: boolean
- required:
- - return_info
- - success
- - plate_data
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- print_status_summary_action:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result:
- return_info: return_info
- success: success
- schema:
- description: 打印通道状态摘要信息到控制台
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- return_info:
- description: 打印操作结果信息
- type: string
- success:
- description: 打印是否成功
- type: boolean
- required:
- - return_info
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- query_plate_action:
- feedback: {}
- goal:
- string: plate_id
- goal_default:
- string: ''
- handles: {}
- result:
- return_info: return_info
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- submit_from_csv:
- feedback: {}
- goal:
- csv_path: string
- output_dir: string
- goal_default:
- csv_path: ''
- output_dir: .
- handles: {}
- result:
- return_info: return_info
- submitted_count: submitted_count
- success: success
- schema:
- description: 从CSV文件批量提交Neware测试任务
- properties:
- feedback: {}
- goal:
- properties:
- csv_path:
- description: 输入CSV文件的绝对路径
- type: string
- output_dir:
- 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:
- properties:
- return_info:
- description: 执行结果详细信息
- type: string
- submitted_count:
- description: 成功提交的任务数量
- type: integer
- success:
- description: 是否成功
- type: boolean
- total_count:
- description: CSV文件中的总行数
- type: integer
- required:
- - return_info
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- test_connection_action:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result:
- return_info: return_info
- success: success
- schema:
- description: 测试与电池测试系统的TCP连接
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- return_info:
- description: 连接测试结果信息
- type: string
- success:
- description: 连接测试是否成功
- type: boolean
- required:
- - return_info
- - success
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- upload_backup_to_oss:
- feedback: {}
- goal:
- backup_dir: backup_dir
- file_pattern: file_pattern
- oss_prefix: oss_prefix
- goal_default:
- backup_dir: null
- file_pattern: '*'
- oss_prefix: null
- handles:
- output:
- - data_key: uploaded_files
- data_source: executor
- data_type: array
- handler_key: uploaded_files
- io_type: sink
- label: Uploaded Files (with standard flow info)
- result:
- failed_files: failed_files
- return_info: return_info
- success: success
- total_count: total_count
- uploaded_count: uploaded_count
- schema:
- description: 上传备份文件到阿里云OSS
- properties:
- feedback: {}
- 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）
- type: string
- file_pattern:
- default: '*'
- description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
- type: string
- oss_prefix:
- description: OSS对象路径前缀（默认使用self.oss_prefix）
- type: string
- required: []
- type: object
- result:
- properties:
- failed_files:
- description: 上传失败的文件名列表
- items:
- type: string
- type: array
- return_info:
- description: 上传操作结果信息
- type: string
- success:
- description: 上传是否成功
- type: boolean
- total_count:
- description: 总文件数
- type: integer
- uploaded_count:
- description: 成功上传的文件数
- type: integer
- uploaded_files:
- description: 成功上传的文件详情列表
- items:
- properties:
- Battery_Code:
- description: 电池编码
- type: string
- Electrolyte_Code:
- description: 电解液编码
- type: string
- filename:
- description: 文件名
- type: string
- url:
- description: OSS下载链接
- type: string
- required:
- - filename
- - url
- - Battery_Code
- - Electrolyte_Code
- type: object
- type: array
- required:
- - return_info
- - success
- - uploaded_count
- - total_count
- - failed_files
- - uploaded_files
- type: object
- required:
- - goal
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
- status_types:
- channel_status: dict
- connection_info: dict
- device_summary: dict
- plate_status: dict
- status: str
- total_channels: int
- type: python
- config_info: []
- description: 新威电池测试系统驱动，提供720个通道的电池测试状态监控、物料管理和CSV批量提交功能。支持TCP通信实现远程控制，包含完整的物料管理系统（2盘电池状态映射），以及从CSV文件批量提交测试任务的能力。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- devtype:
- type: string
- ip:
- type: string
- machine_id:
- default: 1
- type: integer
- oss_prefix:
- default: neware_backup
- type: string
- oss_upload_enabled:
- default: false
- type: boolean
- port:
- type: integer
- size_x:
- default: 50
- type: number
- size_y:
- default: 50
- type: number
- size_z:
- default: 20
- type: number
- timeout:
- type: integer
- required: []
- type: object
- data:
- properties:
- channel_status:
- type: object
- connection_info:
- type: object
- device_summary:
- type: object
- plate_status:
- type: object
- status:
- type: string
- total_channels:
- type: integer
- required:
- - status
- - channel_status
- - connection_info
- - total_channels
- - plate_status
- - device_summary
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/opcua_example.yaml b/unilabos/registry/devices/opcua_example.yaml
deleted file mode 100644
index 0f500cfa..00000000
--- a/unilabos/registry/devices/opcua_example.yaml
+++ /dev/null
@@ -1,196 +0,0 @@
-opcua_example:
- category:
- - opcua_example
- class:
- action_value_mappings:
- auto-disconnect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: disconnect参数
- type: object
- type: UniLabJsonCommand
- auto-load_config:
- feedback: {}
- goal: {}
- goal_default:
- config_path: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- config_path:
- type: string
- required:
- - config_path
- type: object
- result: {}
- required:
- - goal
- title: load_config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: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- auto-print_cache_stats:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: print_cache_stats参数
- type: object
- type: UniLabJsonCommand
- auto-read_node:
- feedback: {}
- goal: {}
- goal_default:
- node_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- node_name:
- type: string
- required:
- - node_name
- type: object
- result: {}
- required:
- - goal
- title: read_node参数
- type: object
- type: UniLabJsonCommand
- auto-set_node_value:
- feedback: {}
- goal: {}
- goal_default:
- name: null
- value: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- name:
- type: string
- value:
- type: string
- required:
- - name
- - value
- type: object
- result: {}
- required:
- - goal
- title: set_node_value参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.device_comms.opcua_client.client:OpcUaClient
- status_types:
- cache_stats: dict
- node_value: String
- type: python
- config_info: []
- description: null
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- cache_timeout:
- default: 5.0
- type: number
- config_path:
- type: string
- deck:
- type: string
- password:
- type: string
- subscription_interval:
- default: 500
- type: integer
- url:
- type: string
- use_subscription:
- default: true
- type: boolean
- username:
- type: string
- required:
- - url
- type: object
- data:
- properties:
- cache_stats:
- type: object
- node_value:
- type: string
- required:
- - node_value
- - cache_stats
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/opsky_ATR30007.yaml b/unilabos/registry/devices/opsky_ATR30007.yaml
deleted file mode 100644
index ee8b8871..00000000
--- a/unilabos/registry/devices/opsky_ATR30007.yaml
+++ /dev/null
@@ -1,235 +0,0 @@
-opsky_ATR30007:
- category:
- - characterization_optic
- - opsky_ATR30007
- class:
- action_value_mappings:
- auto-ensure_connected:
- feedback: {}
- goal: {}
- goal_default:
- client: null
- ip: null
- name: null
- port: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- client:
- type: string
- ip:
- type: string
- name:
- type: string
- port:
- type: string
- required:
- - client
- - name
- - ip
- - port
- type: object
- result: {}
- required:
- - goal
- title: ensure_connected参数
- type: object
- type: UniLabJsonCommand
- auto-run_once:
- feedback: {}
- goal: {}
- goal_default:
- integration_time: '5000'
- laser_power: '200'
- norm_max: '1.0'
- normalize: 'true'
- save_csv: 'true'
- save_plot: 'true'
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 执行一次站控-扫码-拉曼流程的大函数入口，参数以字符串形式传入。
- properties:
- feedback: {}
- goal:
- properties:
- integration_time:
- default: '5000'
- type: string
- laser_power:
- default: '200'
- type: string
- norm_max:
- default: '1.0'
- type: string
- normalize:
- default: 'true'
- type: string
- save_csv:
- default: 'true'
- type: string
- save_plot:
- default: 'true'
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: run_once参数
- type: object
- type: UniLabJsonCommand
- auto-safe_read:
- feedback: {}
- goal: {}
- goal_default:
- client: null
- delay: 0.3
- func: null
- name: null
- retries: 3
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- client:
- type: string
- delay:
- default: 0.3
- type: string
- func:
- type: string
- name:
- type: string
- retries:
- default: 3
- type: string
- required:
- - client
- - name
- - func
- type: object
- result: {}
- required:
- - goal
- title: safe_read参数
- type: object
- type: UniLabJsonCommand
- auto-safe_write:
- feedback: {}
- goal: {}
- goal_default:
- client: null
- delay: 0.3
- func: null
- name: null
- retries: 3
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- client:
- type: string
- delay:
- default: 0.3
- type: string
- func:
- type: string
- name:
- type: string
- retries:
- default: 3
- type: string
- required:
- - client
- - name
- - func
- type: object
- result: {}
- required:
- - goal
- title: safe_write参数
- type: object
- type: UniLabJsonCommand
- auto-wait_with_quit_check:
- feedback: {}
- goal: {}
- goal_default:
- addr_quit: 270
- robot: null
- seconds: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- addr_quit:
- default: 270
- type: string
- robot:
- type: string
- seconds:
- type: string
- required:
- - robot
- - seconds
- type: object
- result: {}
- required:
- - goal
- title: wait_with_quit_check参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.opsky_Raman.opsky_ATR30007:opsky_ATR30007
- status_types: {}
- type: python
- config_info: []
- description: OPSKY ATR30007 光纤拉曼模块，提供单一入口大函数以执行一次完整流程。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- plc_ip:
- default: 192.168.1.88
- type: string
- plc_port:
- default: 502
- type: integer
- robot_ip:
- default: 192.168.1.200
- type: string
- robot_port:
- default: 502
- type: integer
- scan_csv_file:
- default: scan_results.csv
- type: string
- required: []
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/organic_miscellaneous.yaml b/unilabos/registry/devices/organic_miscellaneous.yaml
deleted file mode 100644
index 3085c823..00000000
--- a/unilabos/registry/devices/organic_miscellaneous.yaml
+++ /dev/null
@@ -1,486 +0,0 @@
-rotavap.one:
- category:
- - organic_miscellaneous
- class:
- action_value_mappings:
- auto-cmd_write:
- feedback: {}
- goal: {}
- goal_default:
- cmd: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cmd_write的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- cmd:
- type: string
- required:
- - cmd
- type: object
- result: {}
- required:
- - goal
- title: cmd_write参数
- type: object
- type: UniLabJsonCommand
- auto-main_loop:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: main_loop的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: main_loop参数
- type: object
- type: UniLabJsonCommand
- auto-set_pump_time:
- feedback: {}
- goal: {}
- goal_default:
- time: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_pump_time的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- time:
- type: string
- required:
- - time
- type: object
- result: {}
- required:
- - goal
- title: set_pump_time参数
- type: object
- type: UniLabJsonCommand
- auto-set_rotate_time:
- feedback: {}
- goal: {}
- goal_default:
- time: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_rotate_time的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- time:
- type: string
- required:
- - time
- type: object
- result: {}
- required:
- - goal
- title: set_rotate_time参数
- type: object
- type: UniLabJsonCommand
- set_timer:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.rotavap.rotavap_one:RotavapOne
- status_types: {}
- type: python
- config_info: []
- description: 旋转蒸发仪设备，用于有机化学实验中的溶剂回收和浓缩操作。该设备通过串口通信控制，集成旋转和真空泵功能，支持定时控制和自动化操作。具备旋转速度调节、真空度控制、温度管理等功能，实现高效的溶剂蒸发和回收。适用于有机合成、天然产物提取、药物制备等需要溶剂去除和浓缩的实验室应用场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- port:
- type: string
- rate:
- default: 9600
- type: string
- required:
- - port
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
-separator.homemade:
- category:
- - organic_miscellaneous
- class:
- action_value_mappings:
- auto-read_sensor_loop:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: read_sensor_loop的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: read_sensor_loop参数
- type: object
- type: UniLabJsonCommand
- auto-valve_open:
- feedback: {}
- goal: {}
- goal_default:
- condition: null
- value: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: valve_open的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- condition:
- type: string
- value:
- type: string
- required:
- - condition
- - value
- type: object
- result: {}
- required:
- - goal
- title: valve_open参数
- type: object
- type: UniLabJsonCommand
- auto-write:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: write的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: string
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: write参数
- type: object
- type: UniLabJsonCommand
- stir:
- feedback:
- status: status
- goal:
- settling_time: settling_time
- stir_speed: stir_speed
- stir_time: stir_time,
- goal_default:
- event: ''
- settling_time: ''
- stir_speed: 0.0
- stir_time: 0.0
- time: ''
- time_spec: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: Stir_Feedback
- type: object
- goal:
- properties:
- event:
- type: string
- settling_time:
- type: string
- stir_speed:
- type: number
- stir_time:
- type: number
- time:
- type: string
- time_spec:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - time
- - event
- - time_spec
- - stir_time
- - stir_speed
- - settling_time
- title: Stir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Stir_Result
- type: object
- required:
- - goal
- title: Stir
- type: object
- type: Stir
- valve_open_cmd:
- feedback:
- status: status
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
- status_types: {}
- type: python
- config_info: []
- description: 液-液分离器设备，基于自制Grbl控制器的自动化分离系统。该设备集成搅拌、沉降、阀门控制和电导率传感器，通过串口通信实现精确的分离操作控制。支持自动搅拌、分层沉降、基于传感器反馈的智能分液等功能。适用于有机化学中的萃取分离、相分离、液-液提取等需要精确分离控制的实验应用。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate_executor:
- default: 115200
- type: integer
- baudrate_sensor:
- default: 115200
- type: integer
- port_executor:
- type: string
- port_sensor:
- type: string
- required:
- - port_executor
- - port_sensor
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/post_process_station.yaml b/unilabos/registry/devices/post_process_station.yaml
deleted file mode 100644
index be42bad4..00000000
--- a/unilabos/registry/devices/post_process_station.yaml
+++ /dev/null
@@ -1,747 +0,0 @@
-post_process_station:
- category:
- - post_process_station
- class:
- action_value_mappings:
- auto-load_config:
- feedback: {}
- goal: {}
- goal_default:
- config_path: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- config_path:
- type: string
- required:
- - config_path
- type: object
- result: {}
- required:
- - goal
- title: load_config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: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- auto-print_cache_stats:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: print_cache_stats参数
- type: object
- type: UniLabJsonCommand
- auto-set_node_value:
- feedback: {}
- goal: {}
- goal_default:
- name: null
- value: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- name:
- type: string
- value:
- type: string
- required:
- - name
- - value
- type: object
- result: {}
- required:
- - goal
- title: set_node_value参数
- type: object
- type: UniLabJsonCommand
- disconnect:
- feedback: {}
- goal:
- command: {}
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- read_node:
- feedback:
- result: result
- goal:
- command: node_name
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- trigger_cleaning_action:
- feedback: {}
- goal:
- acetone_inner_wall_cleaning_count: acetone_inner_wall_cleaning_count
- acetone_inner_wall_cleaning_injection: acetone_inner_wall_cleaning_injection
- acetone_inner_wall_cleaning_waste_time: acetone_inner_wall_cleaning_waste_time
- acetone_outer_wall_cleaning_count: acetone_outer_wall_cleaning_count
- acetone_outer_wall_cleaning_injection: acetone_outer_wall_cleaning_injection
- acetone_outer_wall_cleaning_wait_time: acetone_outer_wall_cleaning_wait_time
- acetone_outer_wall_cleaning_waste_time: acetone_outer_wall_cleaning_waste_time
- acetone_pump_cleaning_suction_count: acetone_pump_cleaning_suction_count
- acetone_stirrer_cleaning_count: acetone_stirrer_cleaning_count
- acetone_stirrer_cleaning_injection: acetone_stirrer_cleaning_injection
- acetone_stirrer_cleaning_wait_time: acetone_stirrer_cleaning_wait_time
- acetone_stirrer_cleaning_waste_time: acetone_stirrer_cleaning_waste_time
- filtration_liquid_selection: filtration_liquid_selection
- injection_pump_forward_empty_suction_count: injection_pump_forward_empty_suction_count
- injection_pump_reverse_empty_suction_count: injection_pump_reverse_empty_suction_count
- nmp_inner_wall_cleaning_count: nmp_inner_wall_cleaning_count
- nmp_inner_wall_cleaning_injection: nmp_inner_wall_cleaning_injection
- nmp_inner_wall_cleaning_waste_time: nmp_inner_wall_cleaning_waste_time
- nmp_outer_wall_cleaning_count: nmp_outer_wall_cleaning_count
- nmp_outer_wall_cleaning_injection: nmp_outer_wall_cleaning_injection
- nmp_outer_wall_cleaning_wait_time: nmp_outer_wall_cleaning_wait_time
- nmp_outer_wall_cleaning_waste_time: nmp_outer_wall_cleaning_waste_time
- nmp_pump_cleaning_suction_count: nmp_pump_cleaning_suction_count
- nmp_stirrer_cleaning_count: nmp_stirrer_cleaning_count
- nmp_stirrer_cleaning_injection: nmp_stirrer_cleaning_injection
- nmp_stirrer_cleaning_wait_time: nmp_stirrer_cleaning_wait_time
- nmp_stirrer_cleaning_waste_time: nmp_stirrer_cleaning_waste_time
- pipe_blowing_time: pipe_blowing_time
- water_inner_wall_cleaning_count: water_inner_wall_cleaning_count
- water_inner_wall_cleaning_injection: water_inner_wall_cleaning_injection
- water_inner_wall_cleaning_waste_time: water_inner_wall_cleaning_waste_time
- water_outer_wall_cleaning_count: water_outer_wall_cleaning_count
- water_outer_wall_cleaning_injection: water_outer_wall_cleaning_injection
- water_outer_wall_cleaning_wait_time: water_outer_wall_cleaning_wait_time
- water_outer_wall_cleaning_waste_time: water_outer_wall_cleaning_waste_time
- water_pump_cleaning_suction_count: water_pump_cleaning_suction_count
- water_stirrer_cleaning_count: water_stirrer_cleaning_count
- water_stirrer_cleaning_injection: water_stirrer_cleaning_injection
- water_stirrer_cleaning_wait_time: water_stirrer_cleaning_wait_time
- water_stirrer_cleaning_waste_time: water_stirrer_cleaning_waste_time
- goal_default:
- acetone_inner_wall_cleaning_count: 0
- acetone_inner_wall_cleaning_injection: 0.0
- acetone_inner_wall_cleaning_waste_time: 0
- acetone_outer_wall_cleaning_count: 0
- acetone_outer_wall_cleaning_injection: 0.0
- acetone_outer_wall_cleaning_wait_time: 0
- acetone_outer_wall_cleaning_waste_time: 0
- acetone_pump_cleaning_suction_count: 0
- acetone_stirrer_cleaning_count: 0
- acetone_stirrer_cleaning_injection: 0.0
- acetone_stirrer_cleaning_wait_time: 0
- acetone_stirrer_cleaning_waste_time: 0
- filtration_liquid_selection: 0
- injection_pump_forward_empty_suction_count: 0
- injection_pump_reverse_empty_suction_count: 0
- nmp_inner_wall_cleaning_count: 0
- nmp_inner_wall_cleaning_injection: 0.0
- nmp_inner_wall_cleaning_waste_time: 0
- nmp_outer_wall_cleaning_count: 0
- nmp_outer_wall_cleaning_injection: 0.0
- nmp_outer_wall_cleaning_wait_time: 0
- nmp_outer_wall_cleaning_waste_time: 0
- nmp_pump_cleaning_suction_count: 0
- nmp_stirrer_cleaning_count: 0
- nmp_stirrer_cleaning_injection: 0.0
- nmp_stirrer_cleaning_wait_time: 0
- nmp_stirrer_cleaning_waste_time: 0
- pipe_blowing_time: 0
- water_inner_wall_cleaning_count: 0
- water_inner_wall_cleaning_injection: 0.0
- water_inner_wall_cleaning_waste_time: 0
- water_outer_wall_cleaning_count: 0
- water_outer_wall_cleaning_injection: 0.0
- water_outer_wall_cleaning_wait_time: 0
- water_outer_wall_cleaning_waste_time: 0
- water_pump_cleaning_suction_count: 0
- water_stirrer_cleaning_count: 0
- water_stirrer_cleaning_injection: 0.0
- water_stirrer_cleaning_wait_time: 0
- water_stirrer_cleaning_waste_time: 0
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: PostProcessTriggerClean_Feedback
- type: object
- goal:
- properties:
- acetone_inner_wall_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_inner_wall_cleaning_injection:
- type: number
- acetone_inner_wall_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_outer_wall_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_outer_wall_cleaning_injection:
- type: number
- acetone_outer_wall_cleaning_wait_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_outer_wall_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_pump_cleaning_suction_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_stirrer_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_stirrer_cleaning_injection:
- type: number
- acetone_stirrer_cleaning_wait_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- acetone_stirrer_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- filtration_liquid_selection:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- injection_pump_forward_empty_suction_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- injection_pump_reverse_empty_suction_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_inner_wall_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_inner_wall_cleaning_injection:
- type: number
- nmp_inner_wall_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_outer_wall_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_outer_wall_cleaning_injection:
- type: number
- nmp_outer_wall_cleaning_wait_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_outer_wall_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_pump_cleaning_suction_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_stirrer_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_stirrer_cleaning_injection:
- type: number
- nmp_stirrer_cleaning_wait_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- nmp_stirrer_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- pipe_blowing_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_inner_wall_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_inner_wall_cleaning_injection:
- type: number
- water_inner_wall_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_outer_wall_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_outer_wall_cleaning_injection:
- type: number
- water_outer_wall_cleaning_wait_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_outer_wall_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_pump_cleaning_suction_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_stirrer_cleaning_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_stirrer_cleaning_injection:
- type: number
- water_stirrer_cleaning_wait_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- water_stirrer_cleaning_waste_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - nmp_outer_wall_cleaning_injection
- - nmp_outer_wall_cleaning_count
- - nmp_outer_wall_cleaning_wait_time
- - nmp_outer_wall_cleaning_waste_time
- - nmp_inner_wall_cleaning_injection
- - nmp_inner_wall_cleaning_count
- - nmp_pump_cleaning_suction_count
- - nmp_inner_wall_cleaning_waste_time
- - nmp_stirrer_cleaning_injection
- - nmp_stirrer_cleaning_count
- - nmp_stirrer_cleaning_wait_time
- - nmp_stirrer_cleaning_waste_time
- - water_outer_wall_cleaning_injection
- - water_outer_wall_cleaning_count
- - water_outer_wall_cleaning_wait_time
- - water_outer_wall_cleaning_waste_time
- - water_inner_wall_cleaning_injection
- - water_inner_wall_cleaning_count
- - water_pump_cleaning_suction_count
- - water_inner_wall_cleaning_waste_time
- - water_stirrer_cleaning_injection
- - water_stirrer_cleaning_count
- - water_stirrer_cleaning_wait_time
- - water_stirrer_cleaning_waste_time
- - acetone_outer_wall_cleaning_injection
- - acetone_outer_wall_cleaning_count
- - acetone_outer_wall_cleaning_wait_time
- - acetone_outer_wall_cleaning_waste_time
- - acetone_inner_wall_cleaning_injection
- - acetone_inner_wall_cleaning_count
- - acetone_pump_cleaning_suction_count
- - acetone_inner_wall_cleaning_waste_time
- - acetone_stirrer_cleaning_injection
- - acetone_stirrer_cleaning_count
- - acetone_stirrer_cleaning_wait_time
- - acetone_stirrer_cleaning_waste_time
- - pipe_blowing_time
- - injection_pump_forward_empty_suction_count
- - injection_pump_reverse_empty_suction_count
- - filtration_liquid_selection
- title: PostProcessTriggerClean_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: PostProcessTriggerClean_Result
- type: object
- required:
- - goal
- title: PostProcessTriggerClean
- type: object
- type: PostProcessTriggerClean
- trigger_grab_action:
- feedback: {}
- goal:
- raw_tank_number: raw_tank_number
- reaction_tank_number: reaction_tank_number
- goal_default:
- raw_tank_number: 0
- reaction_tank_number: 0
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: PostProcessGrab_Feedback
- type: object
- goal:
- properties:
- raw_tank_number:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- reaction_tank_number:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - reaction_tank_number
- - raw_tank_number
- title: PostProcessGrab_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: PostProcessGrab_Result
- type: object
- required:
- - goal
- title: PostProcessGrab
- type: object
- type: PostProcessGrab
- trigger_post_processing:
- feedback: {}
- goal:
- atomization_fast_speed: atomization_fast_speed
- atomization_pressure_kpa: atomization_pressure_kpa
- first_powder_mixing_tim: first_powder_mixing_tim
- first_powder_wash_count: first_powder_wash_count
- first_wash_water_amount: first_wash_water_amount
- initial_water_amount: initial_water_amount
- injection_pump_push_speed: injection_pump_push_speed
- injection_pump_suction_speed: injection_pump_suction_speed
- pre_filtration_mixing_time: pre_filtration_mixing_time
- raw_liquid_suction_count: raw_liquid_suction_count
- second_powder_mixing_time: second_powder_mixing_time
- second_powder_wash_count: second_powder_wash_count
- second_wash_water_amount: second_wash_water_amount
- wash_slow_speed: wash_slow_speed
- goal_default:
- atomization_fast_speed: 0.0
- atomization_pressure_kpa: 0
- first_powder_mixing_tim: 0
- first_powder_wash_count: 0
- first_wash_water_amount: 0.0
- initial_water_amount: 0.0
- injection_pump_push_speed: 0
- injection_pump_suction_speed: 0
- pre_filtration_mixing_time: 0
- raw_liquid_suction_count: 0
- second_powder_mixing_time: 0
- second_powder_wash_count: 0
- second_wash_water_amount: 0.0
- wash_slow_speed: 0.0
- handles: {}
- result:
- return_info: return_info
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: PostProcessTriggerPostPro_Feedback
- type: object
- goal:
- properties:
- atomization_fast_speed:
- type: number
- atomization_pressure_kpa:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- first_powder_mixing_tim:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- first_powder_wash_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- first_wash_water_amount:
- type: number
- initial_water_amount:
- type: number
- injection_pump_push_speed:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- injection_pump_suction_speed:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- pre_filtration_mixing_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- raw_liquid_suction_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- second_powder_mixing_time:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- second_powder_wash_count:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- second_wash_water_amount:
- type: number
- wash_slow_speed:
- type: number
- required:
- - atomization_fast_speed
- - wash_slow_speed
- - injection_pump_suction_speed
- - injection_pump_push_speed
- - raw_liquid_suction_count
- - first_wash_water_amount
- - second_wash_water_amount
- - first_powder_mixing_tim
- - second_powder_mixing_time
- - first_powder_wash_count
- - second_powder_wash_count
- - initial_water_amount
- - pre_filtration_mixing_time
- - atomization_pressure_kpa
- title: PostProcessTriggerPostPro_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: PostProcessTriggerPostPro_Result
- type: object
- required:
- - goal
- title: PostProcessTriggerPostPro
- type: object
- type: PostProcessTriggerPostPro
- write_node:
- feedback:
- result: result
- goal:
- command: json_input
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
- status_types:
- cache_stats: dict
- node_value: String
- type: python
- config_info: []
- description: 后处理站
- handles: []
- icon: post_process_station.webp
- init_param_schema:
- config:
- properties:
- cache_timeout:
- default: 5.0
- type: number
- config_path:
- type: string
- deck:
- type: string
- password:
- type: string
- subscription_interval:
- default: 500
- type: integer
- url:
- type: string
- use_subscription:
- default: true
- type: boolean
- username:
- type: string
- required:
- - url
- type: object
- data:
- properties:
- cache_stats:
- type: object
- node_value:
- type: string
- required:
- - node_value
- - cache_stats
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml
deleted file mode 100644
index 40fd9d3e..00000000
--- a/unilabos/registry/devices/pump_and_valve.yaml
+++ /dev/null
@@ -1,1435 +0,0 @@
-solenoid_valve:
- category:
- - pump_and_valve
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: close的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed参数
- type: object
- type: UniLabJsonCommand
- auto-is_open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_open的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_open参数
- type: object
- type: UniLabJsonCommand
- auto-open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: open参数
- type: object
- type: UniLabJsonCommand
- auto-read_data:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: read_data的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: read_data参数
- type: object
- type: UniLabJsonCommand
- auto-send_command:
- feedback: {}
- goal: {}
- goal_default:
- command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: send_command的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- command:
- type: string
- required:
- - command
- type: object
- result: {}
- required:
- - goal
- title: send_command参数
- type: object
- type: UniLabJsonCommand
- set_valve_position:
- feedback: {}
- goal:
- string: position
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
- status_types:
- status: str
- valve_position: str
- type: python
- config_info: []
- description: 电磁阀控制设备，用于精确的流体路径控制和开关操作。该设备通过串口通信控制电磁阀的开关状态，支持远程操作和状态监测。具备快速响应、可靠密封、状态反馈等特性，广泛应用于流体输送、样品进样、路径切换等需要精确流体控制的实验室自动化应用。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- io_device_port:
- type: string
- required:
- - io_device_port
- type: object
- data:
- properties:
- status:
- type: string
- valve_position:
- type: string
- required:
- - status
- - valve_position
- type: object
- version: 1.0.0
-solenoid_valve.mock:
- category:
- - pump_and_valve
- class:
- action_value_mappings:
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed参数
- type: object
- type: UniLabJsonCommand
- auto-is_open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_open的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_open参数
- type: object
- type: UniLabJsonCommand
- auto-set_valve_position:
- feedback: {}
- goal: {}
- goal_default:
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_valve_position的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- position:
- type: string
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: set_valve_position参数
- type: object
- type: UniLabJsonCommand
- close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
- status_types:
- status: str
- valve_position: str
- type: python
- config_info: []
- description: 模拟电磁阀设备，用于系统测试和开发调试。该设备模拟真实电磁阀的开关操作和状态变化，提供与实际设备相同的控制接口和反馈机制。支持流体路径的虚拟控制，便于在没有实际硬件的情况下进行流体系统的集成测试和算法验证。适用于系统开发、流程调试和培训演示等场景。
- handles:
- - data_type: fluid
- handler_key: in
- io_type: target
- label: in
- side: NORTH
- - data_type: fluid
- handler_key: out
- io_type: source
- label: out
- side: SOUTH
- icon: ''
- init_param_schema:
- config:
- properties:
- port:
- default: COM6
- type: string
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- valve_position:
- type: string
- required:
- - status
- - valve_position
- type: object
- version: 1.0.0
-syringe_pump_with_valve.runze.SY03B-T06:
- category:
- - pump_and_valve
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: close的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommand
- auto-pull_plunger:
- feedback: {}
- goal: {}
- goal_default:
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: pull_plunger的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: pull_plunger参数
- type: object
- type: UniLabJsonCommand
- auto-push_plunger:
- feedback: {}
- goal: {}
- goal_default:
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: push_plunger的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: push_plunger参数
- type: object
- type: UniLabJsonCommand
- auto-query_aux_input_status_1:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_aux_input_status_1的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_aux_input_status_1参数
- type: object
- type: UniLabJsonCommand
- auto-query_aux_input_status_2:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_aux_input_status_2的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_aux_input_status_2参数
- type: object
- type: UniLabJsonCommand
- auto-query_backlash_position:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_backlash_position的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_backlash_position参数
- type: object
- type: UniLabJsonCommand
- auto-query_command_buffer_status:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_command_buffer_status的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_command_buffer_status参数
- type: object
- type: UniLabJsonCommand
- auto-query_software_version:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_software_version的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_software_version参数
- type: object
- type: UniLabJsonCommand
- auto-send_command:
- feedback: {}
- goal: {}
- goal_default:
- full_command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: send_command的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- full_command:
- type: string
- required:
- - full_command
- type: object
- result: {}
- required:
- - goal
- title: send_command参数
- type: object
- type: UniLabJsonCommand
- auto-set_baudrate:
- feedback: {}
- goal: {}
- goal_default:
- baudrate: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_baudrate的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- baudrate:
- type: string
- required:
- - baudrate
- type: object
- result: {}
- required:
- - goal
- title: set_baudrate参数
- type: object
- type: UniLabJsonCommand
- auto-set_max_velocity:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_max_velocity的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- required:
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: set_max_velocity参数
- type: object
- type: UniLabJsonCommand
- auto-set_position:
- feedback: {}
- goal: {}
- goal_default:
- max_velocity: null
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_position的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- max_velocity:
- type: number
- position:
- type: number
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: set_position参数
- type: object
- type: UniLabJsonCommand
- auto-set_valve_position:
- feedback: {}
- goal: {}
- goal_default:
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_valve_position的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- position:
- type: string
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: set_valve_position参数
- type: object
- type: UniLabJsonCommand
- auto-set_velocity_grade:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_velocity_grade的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: string
- required:
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: set_velocity_grade参数
- type: object
- type: UniLabJsonCommand
- auto-stop_operation:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: stop_operation的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop_operation参数
- type: object
- type: UniLabJsonCommand
- auto-wait_error:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_error的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_error参数
- type: object
- type: UniLabJsonCommand
- hardware_interface:
- name: hardware_interface
- read: send_command
- write: send_command
- module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
- status_types:
- max_velocity: float
- mode: int
- plunger_position: String
- position: float
- status: str
- valve_position: str
- velocity_end: String
- velocity_grade: String
- velocity_init: String
- type: python
- config_info: []
- description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
- handles:
- - data_key: fluid_port_1
- data_source: executor
- data_type: fluid
- description: 八通阀门端口1
- handler_key: '1'
- io_type: source
- label: '1'
- side: NORTH
- - data_key: fluid_port_2
- data_source: executor
- data_type: fluid
- description: 八通阀门端口2
- handler_key: '2'
- io_type: source
- label: '2'
- side: EAST
- - data_key: fluid_port_3
- data_source: executor
- data_type: fluid
- description: 八通阀门端口3
- handler_key: '3'
- io_type: source
- label: '3'
- side: SOUTH
- - data_key: fluid_port_4
- data_source: executor
- data_type: fluid
- description: 八通阀门端口4
- handler_key: '4'
- io_type: source
- label: '4'
- side: SOUTH
- - data_key: fluid_port_5
- data_source: executor
- data_type: fluid
- description: 八通阀门端口5
- handler_key: '5'
- io_type: source
- label: '5'
- side: EAST
- - data_key: fluid_port_6
- data_source: executor
- data_type: fluid
- description: 八通阀门端口6
- handler_key: '6'
- io_type: source
- label: '6'
- side: NORTH
- - data_key: fluid_port_6
- data_source: executor
- data_type: fluid
- description: 六通阀门端口6-特殊输入
- handler_key: '6'
- io_type: target
- label: 6-in
- side: WEST
- icon: ''
- init_param_schema:
- config:
- properties:
- address:
- default: '1'
- type: string
- max_volume:
- default: 25.0
- type: number
- mode:
- type: object
- port:
- type: string
- required:
- - port
- type: object
- data:
- properties:
- max_velocity:
- type: number
- mode:
- type: integer
- plunger_position:
- type: string
- position:
- type: number
- status:
- type: string
- valve_position:
- type: string
- velocity_end:
- type: string
- velocity_grade:
- type: string
- velocity_init:
- type: string
- required:
- - status
- - mode
- - max_velocity
- - velocity_grade
- - velocity_init
- - velocity_end
- - valve_position
- - position
- - plunger_position
- type: object
- version: 1.0.0
-syringe_pump_with_valve.runze.SY03B-T08:
- category:
- - pump_and_valve
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: close的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommand
- auto-pull_plunger:
- feedback: {}
- goal: {}
- goal_default:
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: pull_plunger的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: pull_plunger参数
- type: object
- type: UniLabJsonCommand
- auto-push_plunger:
- feedback: {}
- goal: {}
- goal_default:
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: push_plunger的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: push_plunger参数
- type: object
- type: UniLabJsonCommand
- auto-query_aux_input_status_1:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_aux_input_status_1的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_aux_input_status_1参数
- type: object
- type: UniLabJsonCommand
- auto-query_aux_input_status_2:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_aux_input_status_2的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_aux_input_status_2参数
- type: object
- type: UniLabJsonCommand
- auto-query_backlash_position:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_backlash_position的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_backlash_position参数
- type: object
- type: UniLabJsonCommand
- auto-query_command_buffer_status:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_command_buffer_status的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_command_buffer_status参数
- type: object
- type: UniLabJsonCommand
- auto-query_software_version:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: query_software_version的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: query_software_version参数
- type: object
- type: UniLabJsonCommand
- auto-send_command:
- feedback: {}
- goal: {}
- goal_default:
- full_command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: send_command的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- full_command:
- type: string
- required:
- - full_command
- type: object
- result: {}
- required:
- - goal
- title: send_command参数
- type: object
- type: UniLabJsonCommand
- auto-set_baudrate:
- feedback: {}
- goal: {}
- goal_default:
- baudrate: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_baudrate的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- baudrate:
- type: string
- required:
- - baudrate
- type: object
- result: {}
- required:
- - goal
- title: set_baudrate参数
- type: object
- type: UniLabJsonCommand
- auto-set_max_velocity:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_max_velocity的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- required:
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: set_max_velocity参数
- type: object
- type: UniLabJsonCommand
- auto-set_position:
- feedback: {}
- goal: {}
- goal_default:
- max_velocity: null
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_position的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- max_velocity:
- type: number
- position:
- type: number
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: set_position参数
- type: object
- type: UniLabJsonCommand
- auto-set_valve_position:
- feedback: {}
- goal: {}
- goal_default:
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_valve_position的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- position:
- type: string
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: set_valve_position参数
- type: object
- type: UniLabJsonCommand
- auto-set_velocity_grade:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_velocity_grade的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: string
- required:
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: set_velocity_grade参数
- type: object
- type: UniLabJsonCommand
- auto-stop_operation:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: stop_operation的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop_operation参数
- type: object
- type: UniLabJsonCommand
- auto-wait_error:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_error的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_error参数
- type: object
- type: UniLabJsonCommand
- hardware_interface:
- name: hardware_interface
- read: send_command
- write: send_command
- module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
- status_types:
- max_velocity: float
- mode: int
- plunger_position: String
- position: float
- status: str
- valve_position: str
- velocity_end: String
- velocity_grade: String
- velocity_init: String
- type: python
- config_info: []
- description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
- handles:
- - data_key: fluid_port_1
- data_source: executor
- data_type: fluid
- description: 八通阀门端口1
- handler_key: '1'
- io_type: source
- label: '1'
- side: NORTH
- - data_key: fluid_port_2
- data_source: executor
- data_type: fluid
- description: 八通阀门端口2
- handler_key: '2'
- io_type: source
- label: '2'
- side: EAST
- - data_key: fluid_port_3
- data_source: executor
- data_type: fluid
- description: 八通阀门端口3
- handler_key: '3'
- io_type: source
- label: '3'
- side: EAST
- - data_key: fluid_port_4
- data_source: executor
- data_type: fluid
- description: 八通阀门端口4
- handler_key: '4'
- io_type: source
- label: '4'
- side: SOUTH
- - data_key: fluid_port_5
- data_source: executor
- data_type: fluid
- description: 八通阀门端口5
- handler_key: '5'
- io_type: source
- label: '5'
- side: SOUTH
- - data_key: fluid_port_6
- data_source: executor
- data_type: fluid
- description: 八通阀门端口6
- handler_key: '6'
- io_type: source
- label: '6'
- side: WEST
- - data_key: fluid_port_7
- data_source: executor
- data_type: fluid
- description: 八通阀门端口7
- handler_key: '7'
- io_type: source
- label: '7'
- side: WEST
- - data_key: fluid_port_8
- data_source: executor
- data_type: fluid
- description: 八通阀门端口8-特殊输入
- handler_key: '8'
- io_type: target
- label: '8'
- side: WEST
- - data_key: fluid_port_8
- data_source: executor
- data_type: fluid
- description: 八通阀门端口8
- handler_key: '8'
- io_type: source
- label: '8'
- side: NORTH
- icon: ''
- init_param_schema:
- config:
- properties:
- address:
- default: '1'
- type: string
- max_volume:
- default: 25.0
- type: number
- mode:
- type: object
- port:
- type: string
- required:
- - port
- type: object
- data:
- properties:
- max_velocity:
- type: number
- mode:
- type: integer
- plunger_position:
- type: string
- position:
- type: number
- status:
- type: string
- valve_position:
- type: string
- velocity_end:
- type: string
- velocity_grade:
- type: string
- velocity_init:
- type: string
- required:
- - status
- - mode
- - max_velocity
- - velocity_grade
- - velocity_init
- - velocity_end
- - valve_position
- - position
- - plunger_position
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml
deleted file mode 100644
index b7d10a60..00000000
--- a/unilabos/registry/devices/reaction_station_bioyond.yaml
+++ /dev/null
@@ -1,816 +0,0 @@
-reaction_station.bioyond:
- category:
- - work_station
- - reaction_station_bioyond
- class:
- action_value_mappings:
- auto-create_order:
- feedback: {}
- goal: {}
- goal_default:
- json_str: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- json_str:
- type: string
- required:
- - json_str
- type: object
- result: {}
- required:
- - goal
- title: create_order参数
- type: object
- type: UniLabJsonCommand
- auto-hard_delete_merged_workflows:
- feedback: {}
- goal: {}
- goal_default:
- workflow_ids: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- workflow_ids:
- items:
- type: string
- type: array
- required:
- - workflow_ids
- type: object
- result: {}
- required:
- - goal
- title: hard_delete_merged_workflows参数
- type: object
- type: UniLabJsonCommand
- auto-merge_workflow_with_parameters:
- feedback: {}
- goal: {}
- goal_default:
- json_str: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- json_str:
- type: string
- required:
- - json_str
- type: object
- result: {}
- required:
- - goal
- title: merge_workflow_with_parameters参数
- type: object
- type: UniLabJsonCommand
- auto-process_temperature_cutoff_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_temperature_cutoff_report参数
- type: object
- type: UniLabJsonCommand
- auto-process_web_workflows:
- feedback: {}
- goal: {}
- goal_default:
- web_workflow_json: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- web_workflow_json:
- type: string
- required:
- - web_workflow_json
- type: object
- result: {}
- required:
- - goal
- title: process_web_workflows参数
- type: object
- type: UniLabJsonCommand
- auto-skip_titration_steps:
- feedback: {}
- goal: {}
- goal_default:
- preintake_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- preintake_id:
- type: string
- required:
- - preintake_id
- type: object
- result: {}
- required:
- - goal
- title: skip_titration_steps参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_multiple_orders_and_get_reports:
- feedback: {}
- goal: {}
- goal_default:
- batch_create_result: null
- check_interval: 10
- timeout: 7200
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- batch_create_result:
- type: string
- check_interval:
- default: 10
- type: integer
- timeout:
- default: 7200
- type: integer
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_multiple_orders_and_get_reports参数
- type: object
- type: UniLabJsonCommand
- auto-workflow_step_query:
- feedback: {}
- goal: {}
- goal_default:
- workflow_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- workflow_id:
- type: string
- required:
- - workflow_id
- type: object
- result: {}
- required:
- - goal
- title: workflow_step_query参数
- type: object
- type: UniLabJsonCommand
- drip_back:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- temperature: temperature
- time: time
- titration_type: titration_type
- torque_variation: torque_variation
- volume: volume
- goal_default:
- assign_material_name: ''
- temperature: ''
- time: ''
- titration_type: ''
- torque_variation: ''
- volume: ''
- handles: {}
- result: {}
- schema:
- description: 滴回去
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称（不能为空）
- type: string
- temperature:
- description: 温度设定(°C)
- type: string
- time:
- description: 观察时间(分钟)
- type: string
- titration_type:
- description: 是否滴定(1=否, 2=是)
- type: string
- torque_variation:
- description: 是否观察 (1=否, 2=是)
- type: string
- volume:
- description: 分液公式(μL)
- type: string
- required:
- - volume
- - assign_material_name
- - time
- - torque_variation
- - titration_type
- - temperature
- type: object
- result: {}
- required:
- - goal
- title: drip_back参数
- type: object
- type: UniLabJsonCommand
- extract_actuals_from_batch_reports:
- feedback: {}
- goal:
- batch_reports_result: batch_reports_result
- goal_default:
- batch_reports_result: ''
- handles:
- input:
- - data_key: batch_reports_result
- data_source: handle
- data_type: string
- handler_key: BATCH_REPORTS_RESULT
- io_type: source
- label: Batch Order Completion Reports
- output:
- - data_key: return_info
- data_source: executor
- data_type: string
- handler_key: ACTUALS_EXTRACTED
- io_type: sink
- label: Extracted Actuals
- result:
- return_info: return_info
- schema:
- description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
- properties:
- feedback: {}
- goal:
- properties:
- batch_reports_result:
- description: 批量任务完成信息JSON字符串或对象，包含reports数组
- type: string
- required:
- - batch_reports_result
- type: object
- result:
- properties:
- return_info:
- description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
- actualVolume
- type: string
- required:
- - return_info
- title: extract_actuals_from_batch_reports结果
- type: object
- required:
- - goal
- title: extract_actuals_from_batch_reports参数
- type: object
- type: UniLabJsonCommand
- liquid_feeding_beaker:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- temperature: temperature
- time: time
- titration_type: titration_type
- torque_variation: torque_variation
- volume: volume
- goal_default:
- assign_material_name: ''
- temperature: ''
- time: ''
- titration_type: ''
- torque_variation: ''
- volume: ''
- handles: {}
- result: {}
- schema:
- description: 液体进料烧杯
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称
- type: string
- temperature:
- description: 温度设定(°C)
- type: string
- time:
- description: 观察时间(分钟)
- type: string
- titration_type:
- description: 是否滴定(1=否, 2=是)
- type: string
- torque_variation:
- description: 是否观察 (1=否, 2=是)
- type: string
- volume:
- description: 分液公式(μL)
- type: string
- required:
- - volume
- - assign_material_name
- - time
- - torque_variation
- - titration_type
- - temperature
- type: object
- result: {}
- required:
- - goal
- title: liquid_feeding_beaker参数
- type: object
- type: UniLabJsonCommand
- liquid_feeding_solvents:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- solvents: solvents
- temperature: temperature
- time: time
- titration_type: titration_type
- torque_variation: torque_variation
- volume: volume
- goal_default:
- assign_material_name: ''
- solvents: ''
- temperature: '25.00'
- time: '360'
- titration_type: '1'
- torque_variation: '2'
- volume: ''
- handles:
- input:
- - data_key: solvents
- data_source: handle
- data_type: object
- handler_key: solvents
- io_type: source
- label: Solvents Data From Calculation Node
- result: {}
- schema:
- description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称
- type: string
- solvents:
- description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
- type: string
- temperature:
- default: '25.00'
- description: 温度设定(°C),默认25.00
- type: string
- time:
- default: '360'
- description: 观察时间(分钟),默认360
- type: string
- titration_type:
- default: '1'
- description: 是否滴定(1=否, 2=是),默认1
- type: string
- torque_variation:
- default: '2'
- description: 是否观察 (1=否, 2=是),默认2
- type: string
- volume:
- description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
- type: string
- required:
- - assign_material_name
- type: object
- result: {}
- required:
- - goal
- title: liquid_feeding_solvents参数
- type: object
- type: UniLabJsonCommand
- liquid_feeding_titration:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- extracted_actuals: extracted_actuals
- feeding_order_data: feeding_order_data
- temperature: temperature
- time: time
- titration_type: titration_type
- torque_variation: torque_variation
- volume_formula: volume_formula
- x_value: x_value
- goal_default:
- assign_material_name: ''
- extracted_actuals: ''
- feeding_order_data: ''
- temperature: '25.00'
- time: '90'
- titration_type: '2'
- torque_variation: '2'
- volume_formula: ''
- x_value: ''
- handles:
- input:
- - data_key: extracted_actuals
- data_source: handle
- data_type: string
- handler_key: ACTUALS_EXTRACTED
- io_type: source
- label: Extracted Actuals From Reports
- - data_key: feeding_order_data
- data_source: handle
- data_type: object
- handler_key: feeding_order
- io_type: source
- label: Feeding Order Data From Calculation Node
- result: {}
- schema:
- description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称
- type: string
- extracted_actuals:
- description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
- type: string
- feeding_order_data:
- description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
- {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
- type: string
- temperature:
- default: '25.00'
- description: 温度设定(°C),默认25.00
- type: string
- time:
- default: '90'
- description: 观察时间(分钟),默认90
- type: string
- titration_type:
- default: '2'
- description: 是否滴定(1=否, 2=是),默认2
- type: string
- torque_variation:
- default: '2'
- description: 是否观察 (1=否, 2=是),默认2
- type: string
- volume_formula:
- description: 分液公式(μL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
- type: string
- x_value:
- description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
- type: string
- required:
- - assign_material_name
- type: object
- result: {}
- required:
- - goal
- title: liquid_feeding_titration参数
- type: object
- type: UniLabJsonCommand
- liquid_feeding_vials_non_titration:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- temperature: temperature
- time: time
- titration_type: titration_type
- torque_variation: torque_variation
- volume_formula: volume_formula
- goal_default:
- assign_material_name: ''
- temperature: ''
- time: ''
- titration_type: ''
- torque_variation: ''
- volume_formula: ''
- handles: {}
- result: {}
- schema:
- description: 液体进料小瓶(非滴定)
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称
- type: string
- temperature:
- description: 温度设定(°C)
- type: string
- time:
- description: 观察时间(分钟)
- type: string
- titration_type:
- description: 是否滴定(1=否, 2=是)
- type: string
- torque_variation:
- description: 是否观察 (1=否, 2=是)
- type: string
- volume_formula:
- description: 分液公式(μL)
- type: string
- required:
- - volume_formula
- - assign_material_name
- - time
- - torque_variation
- - titration_type
- - temperature
- type: object
- result: {}
- required:
- - goal
- title: liquid_feeding_vials_non_titration参数
- type: object
- type: UniLabJsonCommand
- process_and_execute_workflow:
- feedback: {}
- goal:
- task_name: task_name
- workflow_name: workflow_name
- goal_default:
- task_name: ''
- workflow_name: ''
- handles: {}
- result: {}
- schema:
- description: 处理并执行工作流
- properties:
- feedback: {}
- goal:
- properties:
- task_name:
- description: 任务名称
- type: string
- workflow_name:
- description: 工作流名称
- type: string
- required:
- - workflow_name
- - task_name
- type: object
- result: {}
- required:
- - goal
- title: process_and_execute_workflow参数
- type: object
- type: UniLabJsonCommand
- reactor_taken_in:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- cutoff: cutoff
- temperature: temperature
- goal_default:
- assign_material_name: ''
- cutoff: ''
- temperature: ''
- handles: {}
- result: {}
- schema:
- description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称
- type: string
- cutoff:
- description: 粘度上限
- type: string
- temperature:
- description: 温度设定(°C)
- type: string
- required:
- - cutoff
- - temperature
- - assign_material_name
- type: object
- result: {}
- required:
- - goal
- title: reactor_taken_in参数
- type: object
- type: UniLabJsonCommand
- reactor_taken_out:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result:
- properties:
- code:
- description: 操作结果代码(1表示成功,0表示失败)
- type: integer
- return_info:
- description: 操作结果详细信息
- type: string
- type: object
- required:
- - goal
- title: reactor_taken_out参数
- type: object
- type: UniLabJsonCommand
- solid_feeding_vials:
- feedback: {}
- goal:
- assign_material_name: assign_material_name
- material_id: material_id
- temperature: temperature
- time: time
- torque_variation: torque_variation
- goal_default:
- assign_material_name: ''
- material_id: ''
- temperature: ''
- time: ''
- torque_variation: ''
- handles: {}
- result: {}
- schema:
- description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
- properties:
- feedback: {}
- goal:
- properties:
- assign_material_name:
- description: 物料名称(用于获取试剂瓶位ID)
- type: string
- material_id:
- description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
- type: string
- temperature:
- description: 温度设定(°C)
- type: string
- time:
- description: 观察时间(分钟)
- type: string
- torque_variation:
- description: 是否观察 (1=否, 2=是)
- type: string
- required:
- - assign_material_name
- - material_id
- - time
- - torque_variation
- - temperature
- type: object
- result: {}
- required:
- - goal
- title: solid_feeding_vials参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
- protocol_type: []
- status_types:
- workflow_sequence: String
- type: python
- config_info: []
- description: Bioyond反应站
- handles: []
- icon: reaction_station.webp
- init_param_schema:
- config:
- properties:
- config:
- type: object
- deck:
- type: string
- protocol_type:
- type: string
- required: []
- type: object
- data:
- properties:
- workflow_sequence:
- items:
- type: string
- type: array
- required:
- - workflow_sequence
- type: object
- version: 1.0.0
-reaction_station.reactor:
- category:
- - reactor
- - reaction_station_bioyond
- class:
- action_value_mappings:
- auto-update_metrics:
- feedback: {}
- goal: {}
- goal_default:
- payload: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- payload:
- type: object
- required:
- - payload
- type: object
- result: {}
- required:
- - goal
- title: update_metrics参数
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
- status_types: {}
- type: python
- config_info: []
- description: 反应站子设备-反应器
- handles: []
- icon: reaction_station.webp
- init_param_schema:
- config:
- properties:
- config:
- type: object
- deck:
- type: string
- protocol_type:
- type: string
- required: []
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/robot_agv.yaml b/unilabos/registry/devices/robot_agv.yaml
deleted file mode 100644
index 9f45bd5e..00000000
--- a/unilabos/registry/devices/robot_agv.yaml
+++ /dev/null
@@ -1,110 +0,0 @@
-agv.SEER:
- category:
- - robot_agv
- class:
- action_value_mappings:
- auto-send:
- feedback: {}
- goal: {}
- goal_default:
- cmd: null
- ex_data: ''
- obj: receive_socket
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: AGV底层通信命令发送函数。通过TCP socket连接向AGV发送底层控制命令，支持pose（位置）、status（状态）、nav（导航）等命令类型。用于获取AGV当前位置坐标、运行状态或发送导航指令。该函数封装了AGV的通信协议，将命令转换为十六进制数据包并处理响应解析。
- properties:
- feedback: {}
- goal:
- properties:
- cmd:
- type: string
- ex_data:
- default: ''
- type: string
- obj:
- default: receive_socket
- type: string
- required:
- - cmd
- type: object
- result: {}
- required:
- - goal
- title: send参数
- type: object
- type: UniLabJsonCommand
- send_nav_task:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.agv.agv_navigator:AgvNavigator
- status_types:
- pose: list
- status: str
- type: python
- config_info: []
- description: SEER AGV自动导引车设备，用于实验室内物料和设备的自主移动运输。该AGV通过TCP socket与导航系统通信，具备精确的定位和路径规划能力。支持实时位置监控、状态查询和导航任务执行，可在预设的实验室环境中自主移动至指定位置。适用于样品运输、设备转移、多工位协作等实验室自动化物流场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- host:
- type: string
- required:
- - host
- type: object
- data:
- properties:
- pose:
- type: array
- status:
- type: string
- required:
- - pose
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml
deleted file mode 100644
index 147eab4d..00000000
--- a/unilabos/registry/devices/robot_arm.yaml
+++ /dev/null
@@ -1,806 +0,0 @@
-robotic_arm.SCARA_with_slider.moveit.virtual:
- category:
- - robot_arm
- class:
- action_value_mappings:
- auto-check_tf_update_actions:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: check_tf_update_actions的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: check_tf_update_actions参数
- type: object
- type: UniLabJsonCommand
- auto-moveit_joint_task:
- feedback: {}
- goal: {}
- goal_default:
- joint_names: null
- joint_positions: null
- move_group: null
- retry: 10
- speed: 1
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: moveit_joint_task的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- joint_names:
- type: string
- joint_positions:
- type: string
- move_group:
- type: string
- retry:
- default: 10
- type: string
- speed:
- default: 1
- type: string
- required:
- - move_group
- - joint_positions
- type: object
- result: {}
- required:
- - goal
- title: moveit_joint_task参数
- type: object
- type: UniLabJsonCommand
- auto-moveit_task:
- feedback: {}
- goal: {}
- goal_default:
- cartesian: false
- move_group: null
- offsets:
- - 0
- - 0
- - 0
- position: null
- quaternion: null
- retry: 10
- speed: 1
- target_link: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: moveit_task的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- cartesian:
- default: false
- type: string
- move_group:
- type: string
- offsets:
- default:
- - 0
- - 0
- - 0
- type: string
- position:
- type: string
- quaternion:
- type: string
- retry:
- default: 10
- type: string
- speed:
- default: 1
- type: string
- target_link:
- type: string
- required:
- - move_group
- - position
- - quaternion
- type: object
- result: {}
- required:
- - goal
- title: moveit_task参数
- type: object
- type: UniLabJsonCommand
- auto-post_init:
- feedback: {}
- goal: {}
- goal_default:
- ros_node: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: post_init的参数schema
- 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-resource_manager:
- feedback: {}
- goal: {}
- goal_default:
- parent_link: null
- resource: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: resource_manager的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- parent_link:
- type: string
- resource:
- type: string
- required:
- - resource
- - parent_link
- type: object
- result: {}
- required:
- - goal
- title: resource_manager参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_resource_action:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_for_resource_action的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_resource_action参数
- type: object
- type: UniLabJsonCommand
- pick_and_place:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- set_position:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- set_status:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
- status_types: {}
- type: python
- config_info: []
- description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- device_config:
- type: string
- joint_poses:
- type: string
- moveit_type:
- type: string
- rotation:
- type: string
- required:
- - moveit_type
- - joint_poses
- type: object
- data:
- properties: {}
- required: []
- type: object
- model:
- mesh: arm_slider
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
- type: device
- version: 1.0.0
-robotic_arm.UR:
- category:
- - robot_arm
- class:
- action_value_mappings:
- auto-arm_init:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: arm_init参数
- type: object
- type: UniLabJsonCommand
- auto-load_pose_data:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: string
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: load_pose_data参数
- type: object
- type: UniLabJsonCommand
- auto-load_pose_file:
- feedback: {}
- goal: {}
- goal_default:
- file: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
- properties:
- feedback: {}
- goal:
- properties:
- file:
- type: string
- required:
- - file
- type: object
- result: {}
- required:
- - goal
- title: load_pose_file参数
- type: object
- type: UniLabJsonCommand
- auto-reload_pose:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: reload_pose参数
- type: object
- type: UniLabJsonCommand
- move_pos_task:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.agv.ur_arm_task:UrArmTask
- status_types:
- arm_pose: list
- arm_status: str
- gripper_pose: float
- gripper_status: str
- type: python
- config_info: []
- description: Universal Robots机械臂设备，用于实验室精密操作和自动化作业。该设备集成了UR机械臂本体、Robotiq夹爪和RTDE通信接口，支持六自由度精确运动控制和力觉反馈。具备实时位置监控、状态反馈、轨迹规划等功能，可执行复杂的多点位运动任务。适用于样品抓取、精密装配、实验器具操作等需要高精度和高重复性的实验室自动化场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- host:
- type: string
- retry:
- default: 30
- type: string
- required:
- - host
- type: object
- data:
- properties:
- arm_pose:
- type: array
- arm_status:
- type: string
- gripper_pose:
- type: number
- gripper_status:
- type: string
- required:
- - arm_pose
- - gripper_pose
- - arm_status
- - gripper_status
- type: object
- version: 1.0.0
-robotic_arm.elite:
- category:
- - robot_arm
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-modbus_close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: modbus_close参数
- type: object
- type: UniLabJsonCommand
- auto-modbus_read_holding_registers:
- feedback: {}
- goal: {}
- goal_default:
- quantity: null
- start_addr: null
- unit_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- quantity:
- type: string
- start_addr:
- type: string
- unit_id:
- type: string
- required:
- - unit_id
- - start_addr
- - quantity
- type: object
- result: {}
- required:
- - goal
- title: modbus_read_holding_registers参数
- type: object
- type: UniLabJsonCommand
- auto-modbus_task:
- feedback: {}
- goal: {}
- goal_default:
- job_id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- job_id:
- type: string
- required:
- - job_id
- type: object
- result: {}
- required:
- - goal
- title: modbus_task参数
- type: object
- type: UniLabJsonCommand
- auto-modbus_write_single_register:
- feedback: {}
- goal: {}
- goal_default:
- register_addr: null
- unit_id: null
- value: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- register_addr:
- type: string
- unit_id:
- type: string
- value:
- type: string
- required:
- - unit_id
- - register_addr
- - value
- type: object
- result: {}
- required:
- - goal
- title: modbus_write_single_register参数
- type: object
- type: UniLabJsonCommand
- auto-parse_success_response:
- feedback: {}
- goal: {}
- goal_default:
- response: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- response:
- type: string
- required:
- - response
- type: object
- result: {}
- required:
- - goal
- title: parse_success_response参数
- type: object
- type: UniLabJsonCommand
- auto-send_command:
- feedback: {}
- goal: {}
- goal_default:
- command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- command:
- type: string
- required:
- - command
- type: object
- result: {}
- required:
- - goal
- title: send_command参数
- type: object
- type: UniLabJsonCommand
- modbus_task_cmd:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.arm.elite_robot:EliteRobot
- status_types:
- actual_joint_positions: String
- arm_pose: String
- type: python
- config_info: []
- description: Elite robot arm
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- device_id:
- type: string
- host:
- type: string
- required:
- - device_id
- - host
- type: object
- data:
- properties:
- actual_joint_positions:
- type: string
- arm_pose:
- items:
- type: number
- type: array
- required:
- - arm_pose
- - actual_joint_positions
- type: object
- model:
- mesh: elite_robot
- type: device
- version: 1.0.0
diff --git a/unilabos/registry/devices/robot_gripper.yaml b/unilabos/registry/devices/robot_gripper.yaml
deleted file mode 100644
index 295c48a0..00000000
--- a/unilabos/registry/devices/robot_gripper.yaml
+++ /dev/null
@@ -1,611 +0,0 @@
-gripper.misumi_rz:
- category:
- - robot_gripper
- class:
- action_value_mappings:
- auto-data_loop:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: data_loop的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: data_loop参数
- type: object
- type: UniLabJsonCommand
- auto-data_reader:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: data_reader的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: data_reader参数
- type: object
- type: UniLabJsonCommand
- auto-gripper_move:
- feedback: {}
- goal: {}
- goal_default:
- force: null
- pos: null
- speed: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 夹爪抓取运动控制函数。控制夹爪的开合运动，支持位置、速度、力矩的精确设定。位置参数控制夹爪开合程度，速度参数控制运动快慢，力矩参数控制夹持强度。该函数提供安全的力控制，避免损坏被抓取物体，适用于各种形状和材质的物品抓取。
- properties:
- feedback: {}
- goal:
- properties:
- force:
- type: string
- pos:
- type: string
- speed:
- type: string
- required:
- - pos
- - speed
- - force
- type: object
- result: {}
- required:
- - goal
- title: gripper_move参数
- type: object
- type: UniLabJsonCommand
- auto-init_gripper:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 夹爪初始化函数。执行Misumi RZ夹爪的完整初始化流程，包括Modbus通信建立、电机参数配置、传感器校准等。该函数确保夹爪系统从安全状态恢复到可操作状态，是夹爪使用前的必要步骤。初始化完成后夹爪将处于就绪状态，可接收抓取和旋转指令。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: init_gripper参数
- type: object
- type: UniLabJsonCommand
- auto-modbus_crc:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: modbus_crc的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: string
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: modbus_crc参数
- type: object
- type: UniLabJsonCommand
- auto-move_and_rotate:
- feedback: {}
- goal: {}
- goal_default:
- grasp_F: null
- grasp_pos: null
- grasp_v: null
- spin_F: null
- spin_pos: null
- spin_v: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: move_and_rotate的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- grasp_F:
- type: string
- grasp_pos:
- type: string
- grasp_v:
- type: string
- spin_F:
- type: string
- spin_pos:
- type: string
- spin_v:
- type: string
- required:
- - spin_pos
- - grasp_pos
- - spin_v
- - grasp_v
- - spin_F
- - grasp_F
- type: object
- result: {}
- required:
- - goal
- title: move_and_rotate参数
- type: object
- type: UniLabJsonCommand
- auto-node_gripper_move:
- feedback: {}
- goal: {}
- goal_default:
- cmd: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 节点夹爪移动任务函数。接收逗号分隔的命令字符串，解析位置、速度、力矩参数并执行夹爪抓取动作。该函数等待运动完成并返回执行结果，提供同步的运动控制接口。适用于需要可靠完成确认的精密抓取操作。
- properties:
- feedback: {}
- goal:
- properties:
- cmd:
- type: string
- required:
- - cmd
- type: object
- result: {}
- required:
- - goal
- title: node_gripper_move参数
- type: object
- type: UniLabJsonCommand
- auto-node_rotate_move:
- feedback: {}
- goal: {}
- goal_default:
- cmd: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 节点旋转移动任务函数。接收逗号分隔的命令字符串，解析角度、速度、力矩参数并执行夹爪旋转动作。该函数等待旋转完成并返回执行结果，提供同步的旋转控制接口。适用于需要精确角度定位和完成确认的旋转操作。
- properties:
- feedback: {}
- goal:
- properties:
- cmd:
- type: string
- required:
- - cmd
- type: object
- result: {}
- required:
- - goal
- title: node_rotate_move参数
- type: object
- type: UniLabJsonCommand
- auto-read_address:
- feedback: {}
- goal: {}
- goal_default:
- address: null
- data_len: null
- id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: read_address的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- address:
- type: string
- data_len:
- type: string
- id:
- type: string
- required:
- - id
- - address
- - data_len
- type: object
- result: {}
- required:
- - goal
- title: read_address参数
- type: object
- type: UniLabJsonCommand
- auto-rotate_move_abs:
- feedback: {}
- goal: {}
- goal_default:
- force: null
- pos: null
- speed: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 夹爪绝对位置旋转控制函数。控制夹爪主轴旋转到指定的绝对角度位置，支持360度连续旋转。位置参数指定目标角度，速度参数控制旋转速率，力矩参数设定旋转阻力限制。该函数提供高精度的角度定位，适用于需要精确方向控制的操作场景。
- properties:
- feedback: {}
- goal:
- properties:
- force:
- type: string
- pos:
- type: string
- speed:
- type: string
- required:
- - pos
- - speed
- - force
- type: object
- result: {}
- required:
- - goal
- title: rotate_move_abs参数
- type: object
- type: UniLabJsonCommand
- auto-send_cmd:
- feedback: {}
- goal: {}
- goal_default:
- address: null
- data: null
- fun: null
- id: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: send_cmd的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- address:
- type: string
- data:
- type: string
- fun:
- type: string
- id:
- type: string
- required:
- - id
- - fun
- - address
- - data
- type: object
- result: {}
- required:
- - goal
- title: send_cmd参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_gripper:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_for_gripper的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_gripper参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_gripper_init:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_for_gripper_init的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_gripper_init参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_rotate:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_for_rotate的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_rotate参数
- type: object
- type: UniLabJsonCommand
- execute_command_from_outer:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.motor.Grasp:EleGripper
- status_types:
- status: str
- type: python
- config_info: []
- description: Misumi RZ系列电子夹爪设备，集成旋转和抓取双重功能的精密夹爪系统。该设备通过Modbus RTU协议与控制系统通信，支持位置、速度、力矩的精确控制。具备高精度的位置反馈、实时状态监控和故障检测功能。适用于需要精密抓取和旋转操作的实验室自动化场景，如样品管理、精密装配、器件操作等应用。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate:
- default: 115200
- type: string
- id:
- default: 9
- type: string
- port:
- type: string
- pos_error:
- default: -11
- type: string
- required:
- - port
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
-gripper.mock:
- category:
- - robot_gripper
- class:
- action_value_mappings:
- auto-edit_id:
- feedback: {}
- goal: {}
- goal_default:
- params: '{}'
- resource:
- Gripper1: {}
- wf_name: gripper_run
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 模拟夹爪资源ID编辑函数。用于测试和演示资源管理功能，模拟修改夹爪资源的标识信息。该函数接收工作流名称、参数和资源对象，模拟真实的资源更新过程并返回修改后的资源信息。适用于系统测试和开发调试场景。
- properties:
- feedback: {}
- goal:
- properties:
- params:
- default: '{}'
- type: string
- resource:
- default:
- Gripper1: {}
- type: object
- wf_name:
- default: gripper_run
- type: string
- required: []
- type: object
- result: {}
- required:
- - goal
- title: edit_id参数
- type: object
- type: UniLabJsonCommand
- push_to:
- feedback:
- effort: torque
- position: position
- goal:
- command.max_effort: torque
- command.position: position
- goal_default:
- command:
- max_effort: 0.0
- position: 0.0
- handles: {}
- result:
- effort: torque
- position: position
- schema:
- description: ''
- properties:
- feedback:
- properties:
- effort:
- type: number
- position:
- type: number
- reached_goal:
- type: boolean
- stalled:
- type: boolean
- required:
- - position
- - effort
- - stalled
- - reached_goal
- title: GripperCommand_Feedback
- type: object
- goal:
- properties:
- command:
- properties:
- max_effort:
- type: number
- position:
- type: number
- required:
- - position
- - max_effort
- title: command
- type: object
- required:
- - command
- title: GripperCommand_Goal
- type: object
- result:
- properties:
- effort:
- type: number
- position:
- type: number
- reached_goal:
- type: boolean
- stalled:
- type: boolean
- required:
- - position
- - effort
- - stalled
- - reached_goal
- title: GripperCommand_Result
- type: object
- required:
- - goal
- title: GripperCommand
- type: object
- type: GripperCommand
- module: unilabos.devices.gripper.mock:MockGripper
- status_types:
- position: float
- status: str
- torque: float
- velocity: float
- type: python
- config_info: []
- description: 模拟夹爪设备，用于系统测试和开发调试。该设备模拟真实夹爪的位置、速度、力矩等物理特性，支持虚拟的抓取和移动操作。提供与真实夹爪相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于软件开发、系统调试和培训演示等场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties: {}
- required: []
- type: object
- data:
- properties:
- position:
- type: number
- status:
- type: string
- torque:
- type: number
- velocity:
- type: number
- required:
- - position
- - velocity
- - torque
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml
deleted file mode 100644
index 0f8506e9..00000000
--- a/unilabos/registry/devices/robot_linear_motion.yaml
+++ /dev/null
@@ -1,1007 +0,0 @@
-linear_motion.grbl:
- category:
- - robot_linear_motion
- class:
- action_value_mappings:
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: CNC设备初始化函数。执行Grbl CNC的完整初始化流程，包括归零操作、轴校准和状态复位。该函数将所有轴移动到原点位置(0,0,0)，确保设备处于已知的参考状态。初始化完成后设备进入空闲状态，可接收后续的运动指令。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommand
- auto-set_position:
- feedback: {}
- goal: {}
- goal_default:
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: CNC绝对位置设定函数。控制CNC设备移动到指定的三维坐标位置(x,y,z)。该函数支持安全限位检查，防止超出设备工作范围。移动过程中会监控设备状态，确保安全到达目标位置。适用于精确定位和轨迹控制操作。
- properties:
- feedback: {}
- goal:
- properties:
- position:
- type: object
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: set_position参数
- type: object
- type: UniLabJsonCommand
- auto-stop_operation:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: CNC操作停止函数。立即停止当前正在执行的所有CNC运动，包括轴移动和主轴旋转。该函数用于紧急停止或任务中断，确保设备和工件的安全。停止后设备将保持当前位置，等待新的指令。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop_operation参数
- type: object
- type: UniLabJsonCommand
- auto-wait_error:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_error的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_error参数
- type: object
- type: UniLabJsonCommandAsync
- move_through_points:
- feedback:
- current_pose.pose.position: position
- estimated_time_remaining.sec: time_remaining
- navigation_time.sec: time_spent
- number_of_poses_remaining: pose_number_remaining
- goal:
- poses[].pose.position: positions[]
- goal_default:
- behavior_tree: ''
- poses:
- - header:
- frame_id: ''
- stamp:
- nanosec: 0
- sec: 0
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_pose:
- properties:
- header:
- properties:
- frame_id:
- type: string
- stamp:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: stamp
- type: object
- required:
- - stamp
- - frame_id
- title: header
- type: object
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- required:
- - header
- - pose
- title: current_pose
- type: object
- distance_remaining:
- type: number
- estimated_time_remaining:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: estimated_time_remaining
- type: object
- navigation_time:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: navigation_time
- type: object
- number_of_poses_remaining:
- maximum: 32767
- minimum: -32768
- type: integer
- number_of_recoveries:
- maximum: 32767
- minimum: -32768
- type: integer
- required:
- - current_pose
- - navigation_time
- - estimated_time_remaining
- - number_of_recoveries
- - distance_remaining
- - number_of_poses_remaining
- title: NavigateThroughPoses_Feedback
- type: object
- goal:
- properties:
- behavior_tree:
- type: string
- poses:
- items:
- properties:
- header:
- properties:
- frame_id:
- type: string
- stamp:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: stamp
- type: object
- required:
- - stamp
- - frame_id
- title: header
- type: object
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- required:
- - header
- - pose
- title: poses
- type: object
- type: array
- required:
- - poses
- - behavior_tree
- title: NavigateThroughPoses_Goal
- type: object
- result:
- properties:
- result:
- properties: {}
- required: []
- title: result
- type: object
- required:
- - result
- title: NavigateThroughPoses_Result
- type: object
- required:
- - goal
- title: NavigateThroughPoses
- type: object
- type: NavigateThroughPoses
- set_spindle_speed:
- feedback:
- position: spindle_speed
- goal:
- position: spindle_speed
- goal_default:
- max_velocity: 0.0
- min_duration:
- nanosec: 0
- sec: 0
- position: 0.0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- error:
- type: number
- header:
- properties:
- frame_id:
- type: string
- stamp:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: stamp
- type: object
- required:
- - stamp
- - frame_id
- title: header
- type: object
- position:
- type: number
- velocity:
- type: number
- required:
- - header
- - position
- - velocity
- - error
- title: SingleJointPosition_Feedback
- type: object
- goal:
- properties:
- max_velocity:
- type: number
- min_duration:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: min_duration
- type: object
- position:
- type: number
- required:
- - position
- - min_duration
- - max_velocity
- title: SingleJointPosition_Goal
- type: object
- result:
- properties: {}
- required: []
- title: SingleJointPosition_Result
- type: object
- required:
- - goal
- title: SingleJointPosition
- type: object
- type: SingleJointPosition
- module: unilabos.devices.cnc.grbl_sync:GrblCNC
- status_types:
- position: unilabos.messages:Point3D
- spindle_speed: float
- status: str
- type: python
- config_info: []
- description: Grbl数控机床（CNC）设备，用于实验室精密加工和三轴定位操作。该设备基于Grbl固件，通过串口通信控制步进电机实现X、Y、Z三轴的精确运动。支持绝对定位、轨迹规划、主轴控制和实时状态监控。具备安全限位保护和运动平滑控制功能。适用于精密钻孔、铣削、雕刻、样品制备等需要高精度定位和加工的实验室应用场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- address:
- default: '1'
- type: string
- limits:
- default:
- - -150
- - 150
- - -200
- - 0
- - -80
- - 0
- items:
- type: integer
- type: array
- port:
- type: string
- required:
- - port
- type: object
- data:
- properties:
- position:
- type: object
- spindle_speed:
- type: number
- status:
- type: string
- required:
- - status
- - position
- - spindle_speed
- type: object
- version: 1.0.0
-linear_motion.toyo_xyz.sim:
- category:
- - robot_linear_motion
- class:
- action_value_mappings:
- auto-check_tf_update_actions:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: check_tf_update_actions的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: check_tf_update_actions参数
- type: object
- type: UniLabJsonCommand
- auto-moveit_joint_task:
- feedback: {}
- goal: {}
- goal_default:
- joint_names: null
- joint_positions: null
- move_group: null
- retry: 10
- speed: 1
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: moveit_joint_task的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- joint_names:
- type: string
- joint_positions:
- type: string
- move_group:
- type: string
- retry:
- default: 10
- type: string
- speed:
- default: 1
- type: string
- required:
- - move_group
- - joint_positions
- type: object
- result: {}
- required:
- - goal
- title: moveit_joint_task参数
- type: object
- type: UniLabJsonCommand
- auto-moveit_task:
- feedback: {}
- goal: {}
- goal_default:
- cartesian: false
- move_group: null
- offsets:
- - 0
- - 0
- - 0
- position: null
- quaternion: null
- retry: 10
- speed: 1
- target_link: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: moveit_task的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- cartesian:
- default: false
- type: string
- move_group:
- type: string
- offsets:
- default:
- - 0
- - 0
- - 0
- type: string
- position:
- type: string
- quaternion:
- type: string
- retry:
- default: 10
- type: string
- speed:
- default: 1
- type: string
- target_link:
- type: string
- required:
- - move_group
- - position
- - quaternion
- type: object
- result: {}
- required:
- - goal
- title: moveit_task参数
- type: object
- type: UniLabJsonCommand
- auto-post_init:
- feedback: {}
- goal: {}
- goal_default:
- ros_node: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: post_init的参数schema
- 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-resource_manager:
- feedback: {}
- goal: {}
- goal_default:
- parent_link: null
- resource: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: resource_manager的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- parent_link:
- type: string
- resource:
- type: string
- required:
- - resource
- - parent_link
- type: object
- result: {}
- required:
- - goal
- title: resource_manager参数
- type: object
- type: UniLabJsonCommand
- auto-wait_for_resource_action:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: wait_for_resource_action的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: wait_for_resource_action参数
- type: object
- type: UniLabJsonCommand
- pick_and_place:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- set_position:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- set_status:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
- status_types: {}
- type: python
- config_info: []
- description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- device_config:
- type: string
- joint_poses:
- type: string
- moveit_type:
- type: string
- rotation:
- type: string
- required:
- - moveit_type
- - joint_poses
- type: object
- data:
- properties: {}
- required: []
- type: object
- model:
- mesh: toyo_xyz
- type: device
- version: 1.0.0
-motor.iCL42:
- category:
- - robot_linear_motion
- class:
- action_value_mappings:
- auto-execute_run_motor:
- feedback: {}
- goal: {}
- goal_default:
- mode: null
- position: null
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
- properties:
- feedback: {}
- goal:
- properties:
- mode:
- type: string
- position:
- type: number
- velocity:
- type: integer
- required:
- - mode
- - position
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: execute_run_motor参数
- type: object
- type: UniLabJsonCommand
- auto-init_device:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: init_device参数
- type: object
- type: UniLabJsonCommand
- auto-run_motor:
- feedback: {}
- goal: {}
- goal_default:
- mode: null
- position: null
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
- properties:
- feedback: {}
- goal:
- properties:
- mode:
- type: string
- position:
- type: number
- velocity:
- type: integer
- required:
- - mode
- - position
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: run_motor参数
- type: object
- type: UniLabJsonCommand
- execute_command_from_outer:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.motor.iCL42:iCL42Driver
- status_types:
- is_executing_run: bool
- motor_position: int
- success: bool
- type: python
- config_info: []
- description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- device_address:
- default: 1
- type: integer
- device_com:
- default: COM9
- type: string
- required: []
- type: object
- data:
- properties:
- is_executing_run:
- type: boolean
- motor_position:
- type: integer
- success:
- type: boolean
- required:
- - motor_position
- - is_executing_run
- - success
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/solid_dispenser.yaml b/unilabos/registry/devices/solid_dispenser.yaml
deleted file mode 100644
index 9bceb54b..00000000
--- a/unilabos/registry/devices/solid_dispenser.yaml
+++ /dev/null
@@ -1,387 +0,0 @@
-solid_dispenser.laiyu:
- category:
- - solid_dispenser
- class:
- action_value_mappings:
- add_powder_tube:
- feedback: {}
- goal:
- compound_mass: compound_mass
- powder_tube_number: powder_tube_number
- target_tube_position: target_tube_position
- goal_default:
- compound_mass: 0.0
- powder_tube_number: 0
- target_tube_position: ''
- handles: {}
- result:
- actual_mass_mg: actual_mass_mg
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: SolidDispenseAddPowderTube_Feedback
- type: object
- goal:
- properties:
- compound_mass:
- type: number
- powder_tube_number:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- target_tube_position:
- type: string
- required:
- - powder_tube_number
- - target_tube_position
- - compound_mass
- title: SolidDispenseAddPowderTube_Goal
- type: object
- result:
- properties:
- actual_mass_mg:
- type: number
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - actual_mass_mg
- - success
- title: SolidDispenseAddPowderTube_Result
- type: object
- required:
- - goal
- title: SolidDispenseAddPowderTube
- type: object
- type: SolidDispenseAddPowderTube
- auto-calculate_crc:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: string
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: calculate_crc参数
- type: object
- type: UniLabJsonCommand
- auto-send_command:
- feedback: {}
- goal: {}
- goal_default:
- command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。
- properties:
- feedback: {}
- goal:
- properties:
- command:
- type: string
- required:
- - command
- type: object
- result: {}
- required:
- - goal
- title: send_command参数
- type: object
- type: UniLabJsonCommand
- discharge:
- feedback: {}
- goal:
- float_input: float_input
- goal_default:
- float_in: 0.0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: FloatSingleInput_Feedback
- type: object
- goal:
- properties:
- float_in:
- type: number
- required:
- - float_in
- title: FloatSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: FloatSingleInput_Result
- type: object
- required:
- - goal
- title: FloatSingleInput
- type: object
- type: FloatSingleInput
- move_to_plate:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- move_to_xyz:
- feedback: {}
- goal:
- x: x
- y: y
- z: z
- goal_default:
- x: 0.0
- y: 0.0
- z: 0.0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: Point3DSeparateInput_Feedback
- type: object
- goal:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: Point3DSeparateInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: Point3DSeparateInput_Result
- type: object
- required:
- - goal
- title: Point3DSeparateInput
- type: object
- type: Point3DSeparateInput
- pick_powder_tube:
- feedback: {}
- goal:
- int_input: int_input
- goal_default:
- int_input: 0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: IntSingleInput_Feedback
- type: object
- goal:
- properties:
- int_input:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - int_input
- title: IntSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: IntSingleInput_Result
- type: object
- required:
- - goal
- title: IntSingleInput
- type: object
- type: IntSingleInput
- put_powder_tube:
- feedback: {}
- goal:
- int_input: int_input
- goal_default:
- int_input: 0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: IntSingleInput_Feedback
- type: object
- goal:
- properties:
- int_input:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - int_input
- title: IntSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: IntSingleInput_Result
- type: object
- required:
- - goal
- title: IntSingleInput
- type: object
- type: IntSingleInput
- reset:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- module: unilabos.devices.powder_dispense.laiyu:Laiyu
- status_types:
- status: str
- type: python
- config_info: []
- description: 来渝固体粉末自动分装设备，用于实验室化学试剂的精确称量和分装。该设备通过Modbus RTU协议与控制系统通信，集成了精密天平、三轴运动平台、粉筒管理系统等组件。支持多种粉末试剂的自动拿取、精确称量、定点分装和归位操作。具备高精度称量、位置控制和批量处理能力，适用于化学合成、药物研发、材料制备等需要精确固体试剂配制的实验室应用场景。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate:
- default: 115200
- type: string
- port:
- type: string
- timeout:
- default: 0.5
- type: string
- required:
- - port
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml
deleted file mode 100644
index 874fe517..00000000
--- a/unilabos/registry/devices/temperature.yaml
+++ /dev/null
@@ -1,769 +0,0 @@
-chiller:
- category:
- - temperature
- class:
- action_value_mappings:
- auto-build_modbus_frame:
- feedback: {}
- goal: {}
- goal_default:
- device_address: null
- function_code: null
- register_address: null
- value: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: build_modbus_frame的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- device_address:
- type: integer
- function_code:
- type: integer
- register_address:
- type: integer
- value:
- type: integer
- required:
- - device_address
- - function_code
- - register_address
- - value
- type: object
- result: {}
- required:
- - goal
- title: build_modbus_frame参数
- type: object
- type: UniLabJsonCommand
- auto-convert_temperature_to_modbus_value:
- feedback: {}
- goal: {}
- goal_default:
- decimal_points: 1
- temperature: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: convert_temperature_to_modbus_value的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- decimal_points:
- default: 1
- type: integer
- temperature:
- type: number
- required:
- - temperature
- type: object
- result: {}
- required:
- - goal
- title: convert_temperature_to_modbus_value参数
- type: object
- type: UniLabJsonCommand
- auto-modbus_crc:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: modbus_crc的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: string
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: modbus_crc参数
- type: object
- type: UniLabJsonCommand
- auto-stop:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: stop的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop参数
- type: object
- type: UniLabJsonCommand
- set_temperature:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.temperature.chiller:Chiller
- status_types: {}
- type: python
- config_info: []
- description: 实验室制冷设备，用于精确的温度控制和冷却操作。该设备通过Modbus RTU协议与控制系统通信，支持精确的温度设定和监控。具备快速降温、恒温控制和温度保持功能，广泛应用于需要低温环境的化学反应、样品保存、结晶操作等实验场景。提供稳定可靠的冷却性能，确保实验过程的温度精度。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- port:
- type: string
- rate:
- default: 9600
- type: string
- required:
- - port
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
-heaterstirrer.dalong:
- category:
- - temperature
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: close的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-set_stir_speed:
- feedback: {}
- goal: {}
- goal_default:
- speed: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_stir_speed的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- speed:
- type: number
- required:
- - speed
- type: object
- result: {}
- required:
- - goal
- title: set_stir_speed参数
- type: object
- type: UniLabJsonCommand
- auto-set_temp_inner:
- feedback: {}
- goal: {}
- goal_default:
- temp: null
- type: warning
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_temp_inner的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- temp:
- type: number
- type:
- default: warning
- type: string
- required:
- - temp
- type: object
- result: {}
- required:
- - goal
- title: set_temp_inner参数
- type: object
- type: UniLabJsonCommand
- heatchill:
- feedback:
- status: status
- goal:
- purpose: purpose
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- pressure: ''
- purpose: ''
- reflux_solvent: ''
- stir: false
- stir_speed: 0.0
- temp: 0.0
- temp_spec: ''
- time: ''
- time_spec: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChill_Feedback
- type: object
- goal:
- properties:
- pressure:
- type: string
- purpose:
- type: string
- reflux_solvent:
- type: string
- stir:
- type: boolean
- stir_speed:
- type: number
- temp:
- type: number
- temp_spec:
- type: string
- time:
- type: string
- time_spec:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - temp
- - time
- - temp_spec
- - time_spec
- - pressure
- - reflux_solvent
- - stir
- - stir_speed
- - purpose
- title: HeatChill_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: HeatChill_Result
- type: object
- required:
- - goal
- title: HeatChill
- type: object
- type: HeatChill
- set_temp_target:
- feedback: {}
- goal:
- command: temp
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- set_temp_warning:
- feedback: {}
- goal:
- command: temp
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
- status_types:
- status: str
- stir_speed: float
- temp: float
- temp_target: float
- temp_warning: float
- type: python
- config_info: []
- description: 大龙加热搅拌器，集成加热和搅拌双重功能的实验室设备。该设备通过串口通信控制，支持精确的温度调节、搅拌速度控制和安全保护功能。具备实时温度监测、目标温度设定、安全温度报警等特性。适用于化学合成、样品制备、反应控制等需要同时进行加热和搅拌的实验操作，提供稳定均匀的反应环境。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- baudrate:
- default: 9600
- type: integer
- port:
- default: COM6
- type: string
- temp_warning:
- default: 50.0
- type: string
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- stir_speed:
- type: number
- temp:
- type: number
- temp_target:
- type: number
- temp_warning:
- type: number
- required:
- - status
- - stir_speed
- - temp
- - temp_warning
- - temp_target
- type: object
- version: 1.0.0
-tempsensor:
- category:
- - temperature
- class:
- action_value_mappings:
- auto-build_modbus_request:
- feedback: {}
- goal: {}
- goal_default:
- device_id: null
- function_code: null
- register_address: null
- register_count: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: build_modbus_request的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- device_id:
- type: string
- function_code:
- type: string
- register_address:
- type: string
- register_count:
- type: string
- required:
- - device_id
- - function_code
- - register_address
- - register_count
- type: object
- result: {}
- required:
- - goal
- title: build_modbus_request参数
- type: object
- type: UniLabJsonCommand
- auto-calculate_crc:
- feedback: {}
- goal: {}
- goal_default:
- data: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: calculate_crc的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- data:
- type: string
- required:
- - data
- type: object
- result: {}
- required:
- - goal
- title: calculate_crc参数
- type: object
- type: UniLabJsonCommand
- auto-read_modbus_response:
- feedback: {}
- goal: {}
- goal_default:
- response: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: read_modbus_response的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- response:
- type: string
- required:
- - response
- type: object
- result: {}
- required:
- - goal
- title: read_modbus_response参数
- type: object
- type: UniLabJsonCommand
- auto-send_prototype_command:
- feedback: {}
- goal: {}
- goal_default:
- command: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: send_prototype_command的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- command:
- type: string
- required:
- - command
- type: object
- result: {}
- required:
- - goal
- title: send_prototype_command参数
- type: object
- type: UniLabJsonCommand
- set_warning:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.temperature.sensor_node:TempSensorNode
- status_types:
- value: float
- type: python
- config_info: []
- description: 高精度温度传感器设备，用于实验室环境和设备的温度监测。该传感器通过Modbus RTU协议与控制系统通信，提供实时准确的温度数据。具备高精度测量、报警温度设定、数据稳定性好等特点。适用于反应器监控、环境温度监测、设备保护等需要精确温度测量的实验场景，为实验安全和数据可靠性提供保障。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- address:
- type: string
- baudrate:
- default: 9600
- type: string
- port:
- type: string
- warning:
- type: string
- required:
- - port
- - warning
- - address
- type: object
- data:
- properties:
- value:
- type: number
- required:
- - value
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml
deleted file mode 100644
index 77ac5336..00000000
--- a/unilabos/registry/devices/virtual_device.yaml
+++ /dev/null
@@ -1,5794 +0,0 @@
-virtual_centrifuge:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- centrifuge:
- feedback:
- current_speed: current_speed
- current_status: status
- current_temp: current_temp
- progress: progress
- goal:
- speed: speed
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- speed: 0.0
- temp: 0.0
- time: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- message: message
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_speed:
- type: number
- current_status:
- type: string
- current_temp:
- type: number
- progress:
- type: number
- required:
- - progress
- - current_speed
- - current_temp
- - current_status
- title: Centrifuge_Feedback
- type: object
- goal:
- properties:
- speed:
- type: number
- temp:
- type: number
- time:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - speed
- - time
- - temp
- title: Centrifuge_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Centrifuge_Result
- type: object
- required:
- - goal
- title: Centrifuge
- type: object
- type: Centrifuge
- module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge
- status_types:
- centrifuge_state: str
- current_speed: float
- current_temp: float
- max_speed: float
- max_temp: float
- message: str
- min_temp: float
- progress: float
- status: str
- target_speed: float
- target_temp: float
- time_remaining: float
- type: python
- config_info: []
- description: Virtual Centrifuge for CentrifugeProtocol Testing
- handles:
- - data_key: vessel
- data_source: handle
- data_type: transport
- description: 需要离心的样品容器
- handler_key: centrifuge
- io_type: target
- label: centrifuge
- side: NORTH
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: string
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- centrifuge_state:
- type: string
- current_speed:
- type: number
- current_temp:
- type: number
- max_speed:
- type: number
- max_temp:
- type: number
- message:
- type: string
- min_temp:
- type: number
- progress:
- type: number
- status:
- type: string
- target_speed:
- type: number
- target_temp:
- type: number
- time_remaining:
- type: number
- required:
- - status
- - centrifuge_state
- - current_speed
- - target_speed
- - current_temp
- - target_temp
- - max_speed
- - max_temp
- - min_temp
- - time_remaining
- - progress
- - message
- type: object
- version: 1.0.0
-virtual_column:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- run_column:
- feedback:
- current_status: current_status
- processed_volume: processed_volume
- progress: progress
- goal:
- column: column
- from_vessel: from_vessel
- to_vessel: to_vessel
- goal_default:
- column: ''
- from_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- pct1: ''
- pct2: ''
- ratio: ''
- rf: ''
- solvent1: ''
- solvent2: ''
- to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- message: current_status
- return_info: current_status
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: RunColumn_Feedback
- type: object
- goal:
- properties:
- column:
- type: string
- from_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_vessel
- type: object
- pct1:
- type: string
- pct2:
- type: string
- ratio:
- type: string
- rf:
- type: string
- solvent1:
- type: string
- solvent2:
- type: string
- to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_vessel
- type: object
- required:
- - from_vessel
- - to_vessel
- - column
- - rf
- - pct1
- - pct2
- - solvent1
- - solvent2
- - ratio
- title: RunColumn_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: RunColumn_Result
- type: object
- required:
- - goal
- title: RunColumn
- type: object
- type: RunColumn
- module: unilabos.devices.virtual.virtual_column:VirtualColumn
- status_types:
- column_diameter: float
- column_length: float
- column_state: str
- current_flow_rate: float
- current_phase: str
- current_status: str
- final_volume: float
- max_flow_rate: float
- processed_volume: float
- progress: float
- status: str
- type: python
- config_info: []
- description: Virtual Column Chromatography Device for RunColumn Protocol Testing
- handles:
- - data_key: from_vessel
- data_source: handle
- data_type: transport
- description: 样品输入口
- handler_key: columnin
- io_type: target
- label: columnin
- side: WEST
- - data_key: to_vessel
- data_source: handle
- data_type: transport
- description: 产物输出口
- handler_key: columnout
- io_type: source
- label: columnout
- side: EAST
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: object
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- column_diameter:
- type: number
- column_length:
- type: number
- column_state:
- type: string
- current_flow_rate:
- type: number
- current_phase:
- type: string
- current_status:
- type: string
- final_volume:
- type: number
- max_flow_rate:
- type: number
- processed_volume:
- type: number
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - column_state
- - current_flow_rate
- - max_flow_rate
- - column_length
- - column_diameter
- - processed_volume
- - progress
- - current_status
- - current_phase
- - final_volume
- type: object
- version: 1.0.0
-virtual_filter:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- filter:
- feedback:
- current_status: current_status
- current_temp: current_temp
- filtered_volume: filtered_volume
- progress: progress
- goal:
- continue_heatchill: continue_heatchill
- filtrate_vessel: filtrate_vessel
- stir: stir
- stir_speed: stir_speed
- temp: temp
- vessel: vessel
- volume: volume
- goal_default:
- continue_heatchill: false
- filtrate_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- stir: false
- stir_speed: 0.0
- temp: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: 0.0
- handles: {}
- result:
- message: message
- return_info: message
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- current_temp:
- type: number
- filtered_volume:
- type: number
- progress:
- type: number
- required:
- - progress
- - current_temp
- - filtered_volume
- - current_status
- title: Filter_Feedback
- type: object
- goal:
- properties:
- continue_heatchill:
- type: boolean
- filtrate_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: filtrate_vessel
- type: object
- stir:
- type: boolean
- stir_speed:
- type: number
- temp:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: number
- required:
- - vessel
- - filtrate_vessel
- - stir
- - stir_speed
- - temp
- - continue_heatchill
- - volume
- title: Filter_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Filter_Result
- type: object
- required:
- - goal
- title: Filter
- type: object
- type: Filter
- module: unilabos.devices.virtual.virtual_filter:VirtualFilter
- status_types:
- current_status: str
- current_temp: float
- filtered_volume: float
- max_stir_speed: float
- max_temp: float
- max_volume: float
- message: str
- progress: float
- status: str
- type: python
- config_info: []
- description: Virtual Filter for FilterProtocol Testing
- handles:
- - data_key: vessel_in
- data_source: handle
- data_type: transport
- description: 需要过滤的样品容器
- handler_key: filterin
- io_type: target
- label: filter_in
- side: NORTH
- - data_key: filtrate_out
- data_source: handle
- data_type: transport
- description: 滤液出口
- handler_key: filtrateout
- io_type: source
- label: filtrate_out
- side: SOUTH
- - data_key: retentate_out
- data_source: handle
- data_type: transport
- description: 滤渣/固体出口
- handler_key: retentateout
- io_type: source
- label: retentate_out
- side: EAST
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: string
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- current_status:
- type: string
- current_temp:
- type: number
- filtered_volume:
- type: number
- max_stir_speed:
- type: number
- max_temp:
- type: number
- max_volume:
- type: number
- message:
- type: string
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- - current_temp
- - current_status
- - filtered_volume
- - message
- - max_temp
- - max_stir_speed
- - max_volume
- type: object
- version: 1.0.0
-virtual_gas_source:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed参数
- type: object
- type: UniLabJsonCommand
- auto-is_open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_open的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_open参数
- type: object
- type: UniLabJsonCommand
- close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_status:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource
- status_types:
- status: str
- type: python
- config_info: []
- description: Virtual gas source
- handles:
- - data_key: fluid_out
- data_source: executor
- data_type: fluid
- description: 气源出气口
- handler_key: gassource
- io_type: source
- label: gassource
- side: SOUTH
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: string
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
-virtual_heatchill:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- heat_chill:
- feedback:
- status: status
- goal:
- purpose: purpose
- stir: stir
- stir_speed: stir_speed
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- pressure: ''
- purpose: ''
- reflux_solvent: ''
- stir: false
- stir_speed: 0.0
- temp: 0.0
- temp_spec: ''
- time: ''
- time_spec: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChill_Feedback
- type: object
- goal:
- properties:
- pressure:
- type: string
- purpose:
- type: string
- reflux_solvent:
- type: string
- stir:
- type: boolean
- stir_speed:
- type: number
- temp:
- type: number
- temp_spec:
- type: string
- time:
- type: string
- time_spec:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - temp
- - time
- - temp_spec
- - time_spec
- - pressure
- - reflux_solvent
- - stir
- - stir_speed
- - purpose
- title: HeatChill_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: HeatChill_Result
- type: object
- required:
- - goal
- title: HeatChill
- type: object
- type: HeatChill
- heat_chill_start:
- feedback:
- status: status
- goal:
- purpose: purpose
- temp: temp
- vessel: vessel
- goal_default:
- purpose: ''
- temp: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChillStart_Feedback
- type: object
- goal:
- properties:
- purpose:
- type: string
- temp:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - temp
- - purpose
- title: HeatChillStart_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: HeatChillStart_Result
- type: object
- required:
- - goal
- title: HeatChillStart
- type: object
- type: HeatChillStart
- heat_chill_stop:
- feedback:
- status: status
- goal:
- vessel: vessel
- goal_default:
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChillStop_Feedback
- type: object
- goal:
- properties:
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- title: HeatChillStop_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: HeatChillStop_Result
- type: object
- required:
- - goal
- title: HeatChillStop
- type: object
- type: HeatChillStop
- module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill
- status_types:
- is_stirring: bool
- max_stir_speed: float
- max_temp: float
- min_temp: float
- operation_mode: str
- progress: float
- remaining_time: float
- status: str
- stir_speed: float
- type: python
- config_info: []
- description: Virtual HeatChill for HeatChillProtocol Testing
- handles:
- - data_key: vessel
- data_source: handle
- data_type: mechanical
- description: 加热/冷却器的物理连接口
- handler_key: heatchill
- io_type: source
- label: heatchill
- side: NORTH
- icon: Heater.webp
- init_param_schema:
- config:
- properties:
- config:
- type: object
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- is_stirring:
- type: boolean
- max_stir_speed:
- type: number
- max_temp:
- type: number
- min_temp:
- type: number
- operation_mode:
- type: string
- progress:
- type: number
- remaining_time:
- type: number
- status:
- type: string
- stir_speed:
- type: number
- required:
- - status
- - operation_mode
- - is_stirring
- - stir_speed
- - remaining_time
- - progress
- - max_temp
- - min_temp
- - max_stir_speed
- type: object
- version: 1.0.0
-virtual_multiway_valve:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: close的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-is_at_port:
- feedback: {}
- goal: {}
- goal_default:
- port_number: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_at_port的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- port_number:
- type: integer
- required:
- - port_number
- type: object
- result: {}
- required:
- - goal
- title: is_at_port参数
- type: object
- type: UniLabJsonCommand
- auto-is_at_position:
- feedback: {}
- goal: {}
- goal_default:
- position: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_at_position的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- position:
- type: integer
- required:
- - position
- type: object
- result: {}
- required:
- - goal
- title: is_at_position参数
- type: object
- type: UniLabJsonCommand
- auto-is_at_pump_position:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_at_pump_position的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_at_pump_position参数
- type: object
- type: UniLabJsonCommand
- auto-open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: open参数
- type: object
- type: UniLabJsonCommand
- auto-reset:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: reset的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: reset参数
- type: object
- type: UniLabJsonCommand
- auto-set_to_port:
- feedback: {}
- goal: {}
- goal_default:
- port_number: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_to_port的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- port_number:
- type: integer
- required:
- - port_number
- type: object
- result: {}
- required:
- - goal
- title: set_to_port参数
- type: object
- type: UniLabJsonCommand
- auto-set_to_pump_position:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_to_pump_position的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: set_to_pump_position参数
- type: object
- type: UniLabJsonCommand
- auto-switch_between_pump_and_port:
- feedback: {}
- goal: {}
- goal_default:
- port_number: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: switch_between_pump_and_port的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- port_number:
- type: integer
- required:
- - port_number
- type: object
- result: {}
- required:
- - goal
- title: switch_between_pump_and_port参数
- type: object
- type: UniLabJsonCommand
- set_position:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- set_valve_position:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
- status_types:
- current_port: str
- current_position: int
- flow_path: str
- status: str
- target_position: int
- valve_position: int
- valve_state: str
- type: python
- config_info: []
- description: Virtual 8-Way Valve for flow direction control
- handles:
- - data_key: fluid_in
- data_source: handle
- data_type: fluid
- description: 八通阀门进液口
- handler_key: transferpump
- io_type: target
- label: transferpump
- side: NORTH
- - data_key: fluid_port_1
- data_source: executor
- data_type: fluid
- description: 八通阀门端口1
- handler_key: '1'
- io_type: source
- label: '1'
- side: NORTH
- - data_key: fluid_port_2
- data_source: executor
- data_type: fluid
- description: 八通阀门端口2
- handler_key: '2'
- io_type: source
- label: '2'
- side: EAST
- - data_key: fluid_port_3
- data_source: executor
- data_type: fluid
- description: 八通阀门端口3
- handler_key: '3'
- io_type: source
- label: '3'
- side: EAST
- - data_key: fluid_port_4
- data_source: executor
- data_type: fluid
- description: 八通阀门端口4
- handler_key: '4'
- io_type: source
- label: '4'
- side: SOUTH
- - data_key: fluid_port_5
- data_source: executor
- data_type: fluid
- description: 八通阀门端口5
- handler_key: '5'
- io_type: source
- label: '5'
- side: SOUTH
- - data_key: fluid_port_6
- data_source: executor
- data_type: fluid
- description: 八通阀门端口6
- handler_key: '6'
- io_type: source
- label: '6'
- side: WEST
- - data_key: fluid_port_7
- data_source: executor
- data_type: fluid
- description: 八通阀门端口7
- handler_key: '7'
- io_type: source
- label: '7'
- side: WEST
- - data_key: fluid_port_8
- data_source: executor
- data_type: fluid
- description: 八通阀门端口8-特殊输入
- handler_key: '8'
- io_type: target
- label: '8'
- side: WEST
- - data_key: fluid_port_8
- data_source: executor
- data_type: fluid
- description: 八通阀门端口8
- handler_key: '8'
- io_type: source
- label: '8'
- side: NORTH
- icon: EightPipeline.webp
- init_param_schema:
- config:
- properties:
- port:
- default: VIRTUAL
- type: string
- positions:
- default: 8
- type: integer
- required: []
- type: object
- data:
- properties:
- current_port:
- type: string
- current_position:
- type: integer
- flow_path:
- type: string
- status:
- type: string
- target_position:
- type: integer
- valve_position:
- type: integer
- valve_state:
- type: string
- required:
- - status
- - valve_state
- - current_position
- - target_position
- - current_port
- - valve_position
- - flow_path
- type: object
- version: 1.0.0
-virtual_rotavap:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- evaporate:
- feedback:
- current_device: current_device
- status: status
- goal:
- pressure: pressure
- stir_speed: stir_speed
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- pressure: 0.0
- solvent: ''
- stir_speed: 0.0
- temp: 0.0
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- message: message
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_device:
- type: string
- status:
- type: string
- time_remaining:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_remaining
- type: object
- time_spent:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_spent
- type: object
- required:
- - status
- - current_device
- - time_spent
- - time_remaining
- title: Evaporate_Feedback
- type: object
- goal:
- properties:
- pressure:
- type: number
- solvent:
- type: string
- stir_speed:
- type: number
- temp:
- type: number
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - pressure
- - temp
- - time
- - stir_speed
- - solvent
- title: Evaporate_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: Evaporate_Result
- type: object
- required:
- - goal
- title: Evaporate
- type: object
- type: Evaporate
- module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap
- status_types:
- current_temp: float
- evaporated_volume: float
- max_rotation_speed: float
- max_temp: float
- message: str
- progress: float
- remaining_time: float
- rotation_speed: float
- rotavap_state: str
- status: str
- vacuum_pressure: float
- type: python
- config_info: []
- description: Virtual Rotary Evaporator for EvaporateProtocol Testing
- handles:
- - data_key: vessel_in
- data_source: handle
- data_type: fluid
- description: 样品连接口
- handler_key: samplein
- io_type: target
- label: sample_in
- side: NORTH
- - data_key: product_out
- data_source: handle
- data_type: fluid
- description: 浓缩产物出口
- handler_key: productout
- io_type: source
- label: product_out
- side: SOUTH
- - data_key: solvent_out
- data_source: handle
- data_type: fluid
- description: 冷凝溶剂出口
- handler_key: solventout
- io_type: source
- label: solvent_out
- side: EAST
- icon: Rotaryevaporator.webp
- init_param_schema:
- config:
- properties:
- config:
- type: string
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- current_temp:
- type: number
- evaporated_volume:
- type: number
- max_rotation_speed:
- type: number
- max_temp:
- type: number
- message:
- type: string
- progress:
- type: number
- remaining_time:
- type: number
- rotation_speed:
- type: number
- rotavap_state:
- type: string
- status:
- type: string
- vacuum_pressure:
- type: number
- required:
- - status
- - rotavap_state
- - current_temp
- - rotation_speed
- - vacuum_pressure
- - evaporated_volume
- - progress
- - message
- - max_temp
- - max_rotation_speed
- - remaining_time
- type: object
- version: 1.0.0
-virtual_separator:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- separate:
- feedback:
- current_status: status
- progress: progress
- goal:
- from_vessel: from_vessel
- product_phase: product_phase
- purpose: purpose
- repeats: repeats
- separation_vessel: separation_vessel
- settling_time: settling_time
- solvent: solvent
- solvent_volume: solvent_volume
- stir_speed: stir_speed
- stir_time: stir_time
- through: through
- to_vessel: to_vessel
- waste_phase_to_vessel: waste_phase_to_vessel
- goal_default:
- from_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- product_phase: ''
- product_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- purpose: ''
- repeats: 0
- separation_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- settling_time: 0.0
- solvent: ''
- solvent_volume: ''
- stir_speed: 0.0
- stir_time: 0.0
- through: ''
- to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: ''
- waste_phase_to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- waste_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- message: message
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: Separate_Feedback
- type: object
- goal:
- properties:
- from_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_vessel
- type: object
- product_phase:
- type: string
- product_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: product_vessel
- type: object
- purpose:
- type: string
- repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- separation_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: separation_vessel
- type: object
- settling_time:
- type: number
- solvent:
- type: string
- solvent_volume:
- type: string
- stir_speed:
- type: number
- stir_time:
- type: number
- through:
- type: string
- to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_vessel
- type: object
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: string
- waste_phase_to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_phase_to_vessel
- type: object
- waste_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_vessel
- type: object
- required:
- - vessel
- - purpose
- - product_phase
- - from_vessel
- - separation_vessel
- - to_vessel
- - waste_phase_to_vessel
- - product_vessel
- - waste_vessel
- - solvent
- - solvent_volume
- - volume
- - through
- - repeats
- - stir_time
- - stir_speed
- - settling_time
- title: Separate_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Separate_Result
- type: object
- required:
- - goal
- title: Separate
- type: object
- type: Separate
- module: unilabos.devices.virtual.virtual_separator:VirtualSeparator
- status_types:
- has_phases: bool
- message: str
- phase_separation: bool
- progress: float
- separator_state: str
- settling_time: float
- status: str
- stir_speed: float
- volume: float
- type: python
- config_info: []
- description: Virtual Separator for SeparateProtocol Testing
- handles:
- - data_key: from_vessel
- data_source: handle
- data_type: fluid
- description: 需要分离的混合液体输入口
- handler_key: separatorin
- io_type: target
- label: separator_in
- side: NORTH
- - data_key: bottom_outlet
- data_source: executor
- data_type: fluid
- description: 下相（重相）液体输出口
- handler_key: bottomphaseout
- io_type: source
- label: bottom_phase_out
- side: SOUTH
- - data_key: mechanical_port
- data_source: handle
- data_type: mechanical
- description: 用于连接搅拌器等机械设备的接口
- handler_key: bind
- io_type: target
- label: bind
- side: WEST
- icon: Separator.webp
- init_param_schema:
- config:
- properties:
- config:
- type: string
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- has_phases:
- type: boolean
- message:
- type: string
- phase_separation:
- type: boolean
- progress:
- type: number
- separator_state:
- type: string
- settling_time:
- type: number
- status:
- type: string
- stir_speed:
- type: number
- volume:
- type: number
- required:
- - status
- - separator_state
- - volume
- - has_phases
- - phase_separation
- - stir_speed
- - settling_time
- - progress
- - message
- type: object
- version: 1.0.0
-virtual_solenoid_valve:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed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-reset:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: reset的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: reset参数
- type: object
- type: UniLabJsonCommandAsync
- auto-toggle:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: toggle的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: toggle参数
- type: object
- type: UniLabJsonCommand
- close:
- feedback: {}
- goal:
- command: CLOSED
- goal_default: {}
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_status:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- set_valve_position:
- feedback: {}
- goal:
- command: command
- goal_default:
- command: ''
- handles: {}
- result:
- message: message
- success: success
- valve_position: valve_position
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: SendCmd_Feedback
- type: object
- goal:
- properties:
- command:
- type: string
- required:
- - command
- title: SendCmd_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SendCmd_Result
- type: object
- required:
- - goal
- title: SendCmd
- type: object
- type: SendCmd
- module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
- status_types:
- is_open: bool
- status: str
- valve_position: str
- valve_state: str
- type: python
- config_info: []
- description: Virtual Solenoid Valve for simple on/off flow control
- handles:
- - data_key: fluid_port_in
- data_source: handle
- data_type: fluid
- description: 电磁阀的进液口
- handler_key: in
- io_type: target
- label: in
- side: NORTH
- - data_key: fluid_port_out
- data_source: handle
- data_type: fluid
- description: 电磁阀的出液口
- handler_key: out
- io_type: source
- label: out
- side: SOUTH
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: object
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- is_open:
- type: boolean
- status:
- type: string
- valve_position:
- type: string
- valve_state:
- type: string
- required:
- - status
- - valve_state
- - is_open
- - valve_position
- type: object
- version: 1.0.0
-virtual_solid_dispenser:
- category:
- - virtual_device
- class:
- action_value_mappings:
- add_solid:
- feedback:
- current_status: status
- progress: progress
- goal:
- equiv: equiv
- event: event
- mass: mass
- mol: mol
- purpose: purpose
- rate_spec: rate_spec
- ratio: ratio
- reagent: reagent
- vessel: vessel
- goal_default:
- amount: ''
- equiv: ''
- event: ''
- mass: ''
- mol: ''
- purpose: ''
- rate_spec: ''
- ratio: ''
- reagent: ''
- stir: false
- stir_speed: 0.0
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- viscous: false
- volume: ''
- handles: {}
- result:
- message: message
- return_info: return_info
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- required:
- - progress
- - current_status
- title: Add_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- equiv:
- type: string
- event:
- type: string
- mass:
- type: string
- mol:
- type: string
- purpose:
- type: string
- rate_spec:
- type: string
- ratio:
- type: string
- reagent:
- type: string
- stir:
- type: boolean
- stir_speed:
- type: number
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- viscous:
- type: boolean
- volume:
- type: string
- required:
- - vessel
- - reagent
- - volume
- - mass
- - amount
- - time
- - stir
- - stir_speed
- - viscous
- - purpose
- - event
- - mol
- - rate_spec
- - equiv
- - ratio
- title: Add_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Add_Result
- type: object
- required:
- - goal
- title: Add
- type: object
- type: Add
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-find_solid_reagent_bottle:
- feedback: {}
- goal: {}
- goal_default:
- reagent_name: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- reagent_name:
- type: string
- required:
- - reagent_name
- type: object
- result: {}
- required:
- - goal
- title: find_solid_reagent_bottle参数
- type: object
- type: UniLabJsonCommand
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- auto-parse_mass_string:
- feedback: {}
- goal: {}
- goal_default:
- mass_str: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- mass_str:
- type: string
- required:
- - mass_str
- type: object
- result: {}
- required:
- - goal
- title: parse_mass_string参数
- type: object
- type: UniLabJsonCommand
- auto-parse_mol_string:
- feedback: {}
- goal: {}
- goal_default:
- mol_str: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- mol_str:
- type: string
- required:
- - mol_str
- type: object
- result: {}
- required:
- - goal
- title: parse_mol_string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
- module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
- status_types:
- current_reagent: str
- dispensed_amount: float
- status: str
- total_operations: int
- type: python
- config_info: []
- description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and
- molar additions
- handles:
- - data_key: solid_out
- data_source: executor
- data_type: resource
- description: 固体试剂输出口
- handler_key: SolidOut
- io_type: source
- label: SolidOut
- side: SOUTH
- - data_key: solid_in
- data_source: handle
- data_type: resource
- description: 固体试剂输入口（连接试剂瓶）
- handler_key: SolidIn
- io_type: target
- label: SolidIn
- side: NORTH
- icon: ''
- init_param_schema:
- config:
- properties:
- config:
- type: object
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- current_reagent:
- type: string
- dispensed_amount:
- type: number
- status:
- type: string
- total_operations:
- type: integer
- required:
- - status
- - current_reagent
- - dispensed_amount
- - total_operations
- type: object
- version: 1.0.0
-virtual_stirrer:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- 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
- start_stir:
- feedback:
- status: status
- goal:
- purpose: purpose
- stir_speed: stir_speed
- vessel: vessel
- goal_default:
- purpose: ''
- stir_speed: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_speed:
- type: number
- current_status:
- type: string
- progress:
- type: number
- required:
- - progress
- - current_speed
- - current_status
- title: StartStir_Feedback
- type: object
- goal:
- properties:
- purpose:
- type: string
- stir_speed:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - stir_speed
- - purpose
- title: StartStir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: StartStir_Result
- type: object
- required:
- - goal
- title: StartStir
- type: object
- type: StartStir
- stir:
- feedback:
- status: status
- goal:
- settling_time: settling_time
- stir_speed: stir_speed
- stir_time: stir_time
- goal_default:
- event: ''
- settling_time: ''
- stir_speed: 0.0
- stir_time: 0.0
- time: ''
- time_spec: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: Stir_Feedback
- type: object
- goal:
- properties:
- event:
- type: string
- settling_time:
- type: string
- stir_speed:
- type: number
- stir_time:
- type: number
- time:
- type: string
- time_spec:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - time
- - event
- - time_spec
- - stir_time
- - stir_speed
- - settling_time
- title: Stir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Stir_Result
- type: object
- required:
- - goal
- title: Stir
- type: object
- type: Stir
- stop_stir:
- feedback:
- status: status
- goal:
- vessel: vessel
- goal_default:
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles: {}
- result:
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- required:
- - progress
- - current_status
- title: StopStir_Feedback
- type: object
- goal:
- properties:
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- title: StopStir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: StopStir_Result
- type: object
- required:
- - goal
- title: StopStir
- type: object
- type: StopStir
- module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer
- status_types:
- current_speed: float
- current_vessel: str
- device_info: dict
- is_stirring: bool
- max_speed: float
- min_speed: float
- operation_mode: str
- remaining_time: float
- status: str
- type: python
- config_info: []
- description: Virtual Stirrer for StirProtocol Testing
- handles:
- - data_key: vessel
- data_source: handle
- data_type: mechanical
- description: 搅拌器的机械连接口
- handler_key: stirrer
- io_type: source
- label: stirrer
- side: NORTH
- icon: Stirrer.webp
- init_param_schema:
- config:
- properties:
- config:
- type: object
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- current_speed:
- type: number
- current_vessel:
- type: string
- device_info:
- type: object
- is_stirring:
- type: boolean
- max_speed:
- type: number
- min_speed:
- type: number
- operation_mode:
- type: string
- remaining_time:
- type: number
- status:
- type: string
- required:
- - status
- - operation_mode
- - current_vessel
- - current_speed
- - is_stirring
- - remaining_time
- - max_speed
- - min_speed
- - device_info
- type: object
- version: 1.0.0
-virtual_transfer_pump:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-aspirate:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: aspirate的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: aspirate参数
- type: object
- type: UniLabJsonCommandAsync
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-dispense:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: dispense的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: dispense参数
- type: object
- type: UniLabJsonCommandAsync
- auto-empty_syringe:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: empty_syringe的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- required: []
- type: object
- result: {}
- required:
- - goal
- title: empty_syringe参数
- type: object
- type: UniLabJsonCommandAsync
- auto-fill_syringe:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: fill_syringe的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- required: []
- type: object
- result: {}
- required:
- - goal
- title: fill_syringe参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- auto-is_empty:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_empty的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_empty参数
- type: object
- type: UniLabJsonCommand
- auto-is_full:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_full的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_full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-pull_plunger:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: pull_plunger的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: pull_plunger参数
- type: object
- type: UniLabJsonCommandAsync
- auto-push_plunger:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- volume: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: push_plunger的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- volume:
- type: number
- required:
- - volume
- type: object
- result: {}
- required:
- - goal
- title: push_plunger参数
- type: object
- type: UniLabJsonCommandAsync
- auto-set_max_velocity:
- feedback: {}
- goal: {}
- goal_default:
- velocity: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: set_max_velocity的参数schema
- properties:
- feedback: {}
- goal:
- properties:
- velocity:
- type: number
- required:
- - velocity
- type: object
- result: {}
- required:
- - goal
- title: set_max_velocity参数
- type: object
- type: UniLabJsonCommand
- auto-stop_operation:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: stop_operation的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: stop_operation参数
- type: object
- type: UniLabJsonCommandAsync
- set_position:
- feedback:
- current_position: current_position
- progress: progress
- status: status
- goal:
- max_velocity: max_velocity
- position: position
- goal_default:
- max_velocity: 0.0
- position: 0.0
- handles: {}
- result:
- message: message
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_position:
- type: number
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - current_position
- - progress
- title: SetPumpPosition_Feedback
- type: object
- goal:
- properties:
- max_velocity:
- type: number
- position:
- type: number
- required:
- - position
- - max_velocity
- title: SetPumpPosition_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- - message
- title: SetPumpPosition_Result
- type: object
- required:
- - goal
- title: SetPumpPosition
- type: object
- type: SetPumpPosition
- transfer:
- feedback:
- current_status: current_status
- progress: progress
- transferred_volume: transferred_volume
- goal:
- amount: amount
- from_vessel: from_vessel
- rinsing_repeats: rinsing_repeats
- rinsing_solvent: rinsing_solvent
- rinsing_volume: rinsing_volume
- solid: solid
- time: time
- to_vessel: to_vessel
- viscous: viscous
- volume: volume
- goal_default:
- amount: ''
- from_vessel: ''
- rinsing_repeats: 0
- rinsing_solvent: ''
- rinsing_volume: 0.0
- solid: false
- time: 0.0
- to_vessel: ''
- viscous: false
- volume: 0.0
- handles: {}
- result:
- message: message
- success: success
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- transferred_volume:
- type: number
- required:
- - progress
- - transferred_volume
- - current_status
- title: Transfer_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- from_vessel:
- type: string
- rinsing_repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- rinsing_solvent:
- type: string
- rinsing_volume:
- type: number
- solid:
- type: boolean
- time:
- type: number
- to_vessel:
- type: string
- viscous:
- type: boolean
- volume:
- type: number
- required:
- - from_vessel
- - to_vessel
- - volume
- - amount
- - time
- - viscous
- - rinsing_solvent
- - rinsing_volume
- - rinsing_repeats
- - solid
- title: Transfer_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Transfer_Result
- type: object
- required:
- - goal
- title: Transfer
- type: object
- type: Transfer
- module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump
- status_types:
- current_volume: float
- max_velocity: float
- position: float
- remaining_capacity: float
- status: str
- transfer_rate: float
- type: python
- config_info: []
- description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style)
- handles:
- - data_key: fluid_port
- data_source: handle
- data_type: fluid
- description: 注射器式转移泵的连接口
- handler_key: transferpump
- io_type: source
- label: transferpump
- side: SOUTH
- icon: Pump.webp
- init_param_schema:
- config:
- properties:
- config:
- type: object
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- current_volume:
- type: number
- max_velocity:
- type: number
- position:
- type: number
- remaining_capacity:
- type: number
- status:
- type: string
- transfer_rate:
- type: number
- required:
- - status
- - position
- - current_volume
- - max_velocity
- - transfer_rate
- - remaining_capacity
- type: object
- version: 1.0.0
-virtual_vacuum_pump:
- category:
- - virtual_device
- class:
- action_value_mappings:
- auto-cleanup:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: cleanup的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: cleanup参数
- type: object
- type: UniLabJsonCommandAsync
- auto-initialize:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: initialize的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: initialize参数
- type: object
- type: UniLabJsonCommandAsync
- auto-is_closed:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_closed的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_closed参数
- type: object
- type: UniLabJsonCommand
- auto-is_open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: is_open的参数schema
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: is_open参数
- type: object
- type: UniLabJsonCommand
- close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- open:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_status:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump
- status_types:
- status: str
- type: python
- config_info: []
- description: Virtual vacuum pump
- handles:
- - data_key: fluid_in
- data_source: handle
- data_type: fluid
- description: 真空泵进气口
- handler_key: vacuumpump
- io_type: source
- label: vacuumpump
- side: SOUTH
- icon: Vacuum.webp
- init_param_schema:
- config:
- properties:
- config:
- type: string
- device_id:
- type: string
- required: []
- type: object
- data:
- properties:
- status:
- type: string
- required:
- - status
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml
deleted file mode 100644
index e1be7f3d..00000000
--- a/unilabos/registry/devices/work_station.yaml
+++ /dev/null
@@ -1,6051 +0,0 @@
-workstation:
- category:
- - work_station
- class:
- action_value_mappings:
- AGVTransferProtocol:
- feedback: {}
- goal:
- from_repo: from_repo
- from_repo_position: from_repo_position
- to_repo: to_repo
- to_repo_position: to_repo_position
- goal_default:
- from_repo:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- from_repo_position: ''
- to_repo:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- to_repo_position: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: AGVTransfer_Feedback
- type: object
- goal:
- properties:
- from_repo:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_repo
- type: object
- from_repo_position:
- type: string
- to_repo:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_repo
- type: object
- to_repo_position:
- type: string
- required:
- - from_repo
- - from_repo_position
- - to_repo
- - to_repo_position
- title: AGVTransfer_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: AGVTransfer_Result
- type: object
- required:
- - goal
- title: AGVTransfer
- type: object
- type: AGVTransfer
- AddProtocol:
- feedback: {}
- goal:
- amount: amount
- equiv: equiv
- event: event
- mass: mass
- mol: mol
- purpose: purpose
- rate_spec: rate_spec
- ratio: ratio
- reagent: reagent
- stir: stir
- stir_speed: stir_speed
- time: time
- vessel: vessel
- viscous: viscous
- volume: volume
- goal_default:
- amount: ''
- equiv: ''
- event: ''
- mass: ''
- mol: ''
- purpose: ''
- rate_spec: ''
- ratio: ''
- reagent: ''
- stir: false
- stir_speed: 0.0
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- viscous: false
- volume: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: reagent
- data_source: handle
- data_type: resource
- handler_key: reagent
- label: Reagent
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- required:
- - progress
- - current_status
- title: Add_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- equiv:
- type: string
- event:
- type: string
- mass:
- type: string
- mol:
- type: string
- purpose:
- type: string
- rate_spec:
- type: string
- ratio:
- type: string
- reagent:
- type: string
- stir:
- type: boolean
- stir_speed:
- type: number
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- viscous:
- type: boolean
- volume:
- type: string
- required:
- - vessel
- - reagent
- - volume
- - mass
- - amount
- - time
- - stir
- - stir_speed
- - viscous
- - purpose
- - event
- - mol
- - rate_spec
- - equiv
- - ratio
- title: Add_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Add_Result
- type: object
- required:
- - goal
- title: Add
- type: object
- type: Add
- AdjustPHProtocol:
- feedback: {}
- goal:
- ph_value: ph_value
- reagent: reagent
- settling_time: settling_time
- stir: stir
- stir_speed: stir_speed
- stir_time: stir_time
- vessel: vessel
- volume: volume
- goal_default:
- ph_value: 0.0
- reagent: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: reagent
- data_source: handle
- data_type: resource
- handler_key: reagent
- label: Reagent
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: AdjustPH_Feedback
- type: object
- goal:
- properties:
- ph_value:
- type: number
- reagent:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - ph_value
- - reagent
- title: AdjustPH_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: AdjustPH_Result
- type: object
- required:
- - goal
- title: AdjustPH
- type: object
- type: AdjustPH
- CentrifugeProtocol:
- feedback: {}
- goal:
- speed: speed
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- speed: 0.0
- temp: 0.0
- time: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_speed:
- type: number
- current_status:
- type: string
- current_temp:
- type: number
- progress:
- type: number
- required:
- - progress
- - current_speed
- - current_temp
- - current_status
- title: Centrifuge_Feedback
- type: object
- goal:
- properties:
- speed:
- type: number
- temp:
- type: number
- time:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - speed
- - time
- - temp
- title: Centrifuge_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Centrifuge_Result
- type: object
- required:
- - goal
- title: Centrifuge
- type: object
- type: Centrifuge
- CleanProtocol:
- feedback: {}
- goal:
- repeats: repeats
- solvent: solvent
- temp: temp
- vessel: vessel
- volume: volume
- goal_default:
- repeats: 0
- solvent: ''
- temp: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: 0.0
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Solvent
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_device:
- type: string
- status:
- type: string
- time_remaining:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_remaining
- type: object
- time_spent:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_spent
- type: object
- required:
- - status
- - current_device
- - time_spent
- - time_remaining
- title: Clean_Feedback
- type: object
- goal:
- properties:
- repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- solvent:
- type: string
- temp:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: number
- required:
- - vessel
- - solvent
- - volume
- - temp
- - repeats
- title: Clean_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: Clean_Result
- type: object
- required:
- - goal
- title: Clean
- type: object
- type: Clean
- CleanVesselProtocol:
- feedback: {}
- goal:
- repeats: repeats
- solvent: solvent
- temp: temp
- vessel: vessel
- volume: volume
- goal_default:
- repeats: 0
- solvent: ''
- temp: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: 0.0
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Solvent
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: CleanVessel_Feedback
- type: object
- goal:
- properties:
- repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- solvent:
- type: string
- temp:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: number
- required:
- - vessel
- - solvent
- - volume
- - temp
- - repeats
- title: CleanVessel_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: CleanVessel_Result
- type: object
- required:
- - goal
- title: CleanVessel
- type: object
- type: CleanVessel
- DissolveProtocol:
- feedback: {}
- goal:
- amount: amount
- event: event
- mass: mass
- mol: mol
- reagent: reagent
- solvent: solvent
- stir_speed: stir_speed
- temp: temp
- time: time
- vessel: vessel
- volume: volume
- goal_default:
- amount: ''
- event: ''
- mass: ''
- mol: ''
- reagent: ''
- solvent: ''
- stir_speed: 0.0
- temp: ''
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Solvent
- - data_key: reagent
- data_source: handle
- data_type: resource
- handler_key: reagent
- label: Reagent
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: Dissolve_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- event:
- type: string
- mass:
- type: string
- mol:
- type: string
- reagent:
- type: string
- solvent:
- type: string
- stir_speed:
- type: number
- temp:
- type: string
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: string
- required:
- - vessel
- - solvent
- - volume
- - amount
- - temp
- - time
- - stir_speed
- - mass
- - mol
- - reagent
- - event
- title: Dissolve_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Dissolve_Result
- type: object
- required:
- - goal
- title: Dissolve
- type: object
- type: Dissolve
- DryProtocol:
- feedback: {}
- goal:
- compound: compound
- vessel: vessel
- goal_default:
- compound: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: Dry_Feedback
- type: object
- goal:
- properties:
- compound:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - compound
- - vessel
- title: Dry_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Dry_Result
- type: object
- required:
- - goal
- title: Dry
- type: object
- type: Dry
- EvacuateAndRefillProtocol:
- feedback: {}
- goal:
- gas: gas
- vessel: vessel
- goal_default:
- gas: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_device:
- type: string
- status:
- type: string
- time_remaining:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_remaining
- type: object
- time_spent:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_spent
- type: object
- required:
- - status
- - current_device
- - time_spent
- - time_remaining
- title: EvacuateAndRefill_Feedback
- type: object
- goal:
- properties:
- gas:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - gas
- title: EvacuateAndRefill_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: EvacuateAndRefill_Result
- type: object
- required:
- - goal
- title: EvacuateAndRefill
- type: object
- type: EvacuateAndRefill
- EvaporateProtocol:
- feedback: {}
- goal:
- pressure: pressure
- solvent: solvent
- stir_speed: stir_speed
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- pressure: 0.0
- solvent: ''
- stir_speed: 0.0
- temp: 0.0
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Evaporation Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Eluting Solvent
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: VesselOut
- label: Evaporation Vessel
- placeholder_keys:
- vessel: unilabos_nodes
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_device:
- type: string
- status:
- type: string
- time_remaining:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_remaining
- type: object
- time_spent:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_spent
- type: object
- required:
- - status
- - current_device
- - time_spent
- - time_remaining
- title: Evaporate_Feedback
- type: object
- goal:
- properties:
- pressure:
- type: number
- solvent:
- type: string
- stir_speed:
- type: number
- temp:
- type: number
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - pressure
- - temp
- - time
- - stir_speed
- - solvent
- title: Evaporate_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: Evaporate_Result
- type: object
- required:
- - goal
- title: Evaporate
- type: object
- type: Evaporate
- FilterProtocol:
- feedback: {}
- goal:
- continue_heatchill: continue_heatchill
- filtrate_vessel: filtrate_vessel
- stir: stir
- stir_speed: stir_speed
- temp: temp
- vessel: vessel
- volume: volume
- goal_default:
- continue_heatchill: false
- filtrate_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- stir: false
- stir_speed: 0.0
- temp: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: 0.0
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: filtrate_vessel
- data_source: handle
- data_type: resource
- handler_key: FiltrateVessel
- label: Filtrate Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- - data_key: filtrate_vessel
- data_source: executor
- data_type: resource
- handler_key: FiltrateOut
- label: Filtrate Vessel
- placeholder_keys:
- filtrate_vessel: unilabos_resources
- vessel: unilabos_nodes
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- current_temp:
- type: number
- filtered_volume:
- type: number
- progress:
- type: number
- required:
- - progress
- - current_temp
- - filtered_volume
- - current_status
- title: Filter_Feedback
- type: object
- goal:
- properties:
- continue_heatchill:
- type: boolean
- filtrate_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: filtrate_vessel
- type: object
- stir:
- type: boolean
- stir_speed:
- type: number
- temp:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: number
- required:
- - vessel
- - filtrate_vessel
- - stir
- - stir_speed
- - temp
- - continue_heatchill
- - volume
- title: Filter_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Filter_Result
- type: object
- required:
- - goal
- title: Filter
- type: object
- type: Filter
- FilterThroughProtocol:
- feedback: {}
- goal:
- eluting_repeats: eluting_repeats
- eluting_solvent: eluting_solvent
- eluting_volume: eluting_volume
- filter_through: filter_through
- from_vessel: from_vessel
- residence_time: residence_time
- to_vessel: to_vessel
- goal_default:
- eluting_repeats: 0
- eluting_solvent: ''
- eluting_volume: 0.0
- filter_through:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- from_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- residence_time: 0.0
- to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVessel
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVessel
- label: To Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Eluting Solvent
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVesselOut
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVesselOut
- label: To Vessel
- placeholder_keys:
- from_vessel: unilabos_resources
- to_vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: FilterThrough_Feedback
- type: object
- goal:
- properties:
- eluting_repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- eluting_solvent:
- type: string
- eluting_volume:
- type: number
- filter_through:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: filter_through
- type: object
- from_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_vessel
- type: object
- residence_time:
- type: number
- to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_vessel
- type: object
- required:
- - from_vessel
- - to_vessel
- - filter_through
- - eluting_solvent
- - eluting_volume
- - eluting_repeats
- - residence_time
- title: FilterThrough_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: FilterThrough_Result
- type: object
- required:
- - goal
- title: FilterThrough
- type: object
- type: FilterThrough
- HeatChillProtocol:
- feedback: {}
- goal:
- pressure: pressure
- purpose: purpose
- reflux_solvent: reflux_solvent
- stir: stir
- stir_speed: stir_speed
- temp: temp
- temp_spec: temp_spec
- time: time
- time_spec: time_spec
- vessel: vessel
- goal_default:
- pressure: ''
- purpose: ''
- reflux_solvent: ''
- stir: false
- stir_speed: 0.0
- temp: 0.0
- temp_spec: ''
- time: ''
- time_spec: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChill_Feedback
- type: object
- goal:
- properties:
- pressure:
- type: string
- purpose:
- type: string
- reflux_solvent:
- type: string
- stir:
- type: boolean
- stir_speed:
- type: number
- temp:
- type: number
- temp_spec:
- type: string
- time:
- type: string
- time_spec:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - temp
- - time
- - temp_spec
- - time_spec
- - pressure
- - reflux_solvent
- - stir
- - stir_speed
- - purpose
- title: HeatChill_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: HeatChill_Result
- type: object
- required:
- - goal
- title: HeatChill
- type: object
- type: HeatChill
- HeatChillStartProtocol:
- feedback: {}
- goal:
- purpose: purpose
- temp: temp
- vessel: vessel
- goal_default:
- purpose: ''
- temp: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChillStart_Feedback
- type: object
- goal:
- properties:
- purpose:
- type: string
- temp:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - temp
- - purpose
- title: HeatChillStart_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: HeatChillStart_Result
- type: object
- required:
- - goal
- title: HeatChillStart
- type: object
- type: HeatChillStart
- HeatChillStopProtocol:
- feedback: {}
- goal:
- vessel: vessel
- goal_default:
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: HeatChillStop_Feedback
- type: object
- goal:
- properties:
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- title: HeatChillStop_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: HeatChillStop_Result
- type: object
- required:
- - goal
- title: HeatChillStop
- type: object
- type: HeatChillStop
- HydrogenateProtocol:
- feedback: {}
- goal:
- temp: temp
- time: time
- vessel: vessel
- goal_default:
- temp: ''
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: Hydrogenate_Feedback
- type: object
- goal:
- properties:
- temp:
- type: string
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - temp
- - time
- - vessel
- title: Hydrogenate_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Hydrogenate_Result
- type: object
- required:
- - goal
- title: Hydrogenate
- type: object
- type: Hydrogenate
- PumpTransferProtocol:
- feedback: {}
- goal:
- amount: amount
- event: event
- flowrate: flowrate
- from_vessel: from_vessel
- rate_spec: rate_spec
- rinsing_repeats: rinsing_repeats
- rinsing_solvent: rinsing_solvent
- rinsing_volume: rinsing_volume
- solid: solid
- through: through
- time: time
- to_vessel: to_vessel
- transfer_flowrate: transfer_flowrate
- viscous: viscous
- volume: volume
- goal_default:
- amount: ''
- event: ''
- flowrate: 0.0
- from_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- rate_spec: ''
- rinsing_repeats: 0
- rinsing_solvent: ''
- rinsing_volume: 0.0
- solid: false
- through: ''
- time: 0.0
- to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- transfer_flowrate: 0.0
- viscous: false
- volume: 0.0
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVessel
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVessel
- label: To Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Rinsing Solvent
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVesselOut
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVesselOut
- label: To Vessel
- placeholder_keys:
- from_vessel: unilabos_nodes
- to_vessel: unilabos_nodes
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_device:
- type: string
- status:
- type: string
- time_remaining:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_remaining
- type: object
- time_spent:
- properties:
- nanosec:
- maximum: 4294967295
- minimum: 0
- type: integer
- sec:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - sec
- - nanosec
- title: time_spent
- type: object
- required:
- - status
- - current_device
- - time_spent
- - time_remaining
- title: PumpTransfer_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- event:
- type: string
- flowrate:
- type: number
- from_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_vessel
- type: object
- rate_spec:
- type: string
- rinsing_repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- rinsing_solvent:
- type: string
- rinsing_volume:
- type: number
- solid:
- type: boolean
- through:
- type: string
- time:
- type: number
- to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_vessel
- type: object
- transfer_flowrate:
- type: number
- viscous:
- type: boolean
- volume:
- type: number
- required:
- - from_vessel
- - to_vessel
- - volume
- - amount
- - time
- - viscous
- - rinsing_solvent
- - rinsing_volume
- - rinsing_repeats
- - solid
- - flowrate
- - transfer_flowrate
- - rate_spec
- - event
- - through
- title: PumpTransfer_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: PumpTransfer_Result
- type: object
- required:
- - goal
- title: PumpTransfer
- type: object
- type: PumpTransfer
- RecrystallizeProtocol:
- feedback: {}
- goal:
- ratio: ratio
- solvent1: solvent1
- solvent2: solvent2
- vessel: vessel
- volume: volume
- goal_default:
- ratio: ''
- solvent1: ''
- solvent2: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: solvent1
- data_source: handle
- data_type: resource
- handler_key: solvent1
- label: Solvent 1
- - data_key: solvent2
- data_source: handle
- data_type: resource
- handler_key: solvent2
- label: Solvent 2
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: Recrystallize_Feedback
- type: object
- goal:
- properties:
- ratio:
- type: string
- solvent1:
- type: string
- solvent2:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: string
- required:
- - ratio
- - solvent1
- - solvent2
- - vessel
- - volume
- title: Recrystallize_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Recrystallize_Result
- type: object
- required:
- - goal
- title: Recrystallize
- type: object
- type: Recrystallize
- ResetHandlingProtocol:
- feedback: {}
- goal:
- solvent: solvent
- goal_default:
- solvent: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Solvent
- output: []
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: ResetHandling_Feedback
- type: object
- goal:
- properties:
- solvent:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - solvent
- - vessel
- title: ResetHandling_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: ResetHandling_Result
- type: object
- required:
- - goal
- title: ResetHandling
- type: object
- type: ResetHandling
- RunColumnProtocol:
- feedback: {}
- goal:
- column: column
- from_vessel: from_vessel
- to_vessel: to_vessel
- goal_default:
- column: ''
- from_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- pct1: ''
- pct2: ''
- ratio: ''
- rf: ''
- solvent1: ''
- solvent2: ''
- to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVessel
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVessel
- label: To Vessel
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVesselOut
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVesselOut
- label: To Vessel
- placeholder_keys:
- column: unilabos_devices
- from_vessel: unilabos_resources
- to_vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: RunColumn_Feedback
- type: object
- goal:
- properties:
- column:
- type: string
- from_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_vessel
- type: object
- pct1:
- type: string
- pct2:
- type: string
- ratio:
- type: string
- rf:
- type: string
- solvent1:
- type: string
- solvent2:
- type: string
- to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_vessel
- type: object
- required:
- - from_vessel
- - to_vessel
- - column
- - rf
- - pct1
- - pct2
- - solvent1
- - solvent2
- - ratio
- title: RunColumn_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: RunColumn_Result
- type: object
- required:
- - goal
- title: RunColumn
- type: object
- type: RunColumn
- SeparateProtocol:
- feedback: {}
- goal:
- from_vessel: from_vessel
- product_phase: product_phase
- purpose: purpose
- repeats: repeats
- separation_vessel: separation_vessel
- settling_time: settling_time
- solvent: solvent
- solvent_volume: solvent_volume
- stir_speed: stir_speed
- stir_time: stir_time
- through: through
- to_vessel: to_vessel
- waste_phase_to_vessel: waste_phase_to_vessel
- goal_default:
- from_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- product_phase: ''
- product_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- purpose: ''
- repeats: 0
- separation_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- settling_time: 0.0
- solvent: ''
- solvent_volume: ''
- stir_speed: 0.0
- stir_time: 0.0
- through: ''
- to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: ''
- waste_phase_to_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- waste_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVessel
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVessel
- label: To Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Solvent
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVesselOut
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVesselOut
- label: To Vessel
- placeholder_keys:
- from_vessel: unilabos_resources
- to_vessel: unilabos_resources
- waste_phase_to_vessel: unilabos_resources
- waste_vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: Separate_Feedback
- type: object
- goal:
- properties:
- from_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: from_vessel
- type: object
- product_phase:
- type: string
- product_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: product_vessel
- type: object
- purpose:
- type: string
- repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- separation_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: separation_vessel
- type: object
- settling_time:
- type: number
- solvent:
- type: string
- solvent_volume:
- type: string
- stir_speed:
- type: number
- stir_time:
- type: number
- through:
- type: string
- to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: to_vessel
- type: object
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: string
- waste_phase_to_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_phase_to_vessel
- type: object
- waste_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: waste_vessel
- type: object
- required:
- - vessel
- - purpose
- - product_phase
- - from_vessel
- - separation_vessel
- - to_vessel
- - waste_phase_to_vessel
- - product_vessel
- - waste_vessel
- - solvent
- - solvent_volume
- - volume
- - through
- - repeats
- - stir_time
- - stir_speed
- - settling_time
- title: Separate_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Separate_Result
- type: object
- required:
- - goal
- title: Separate
- type: object
- type: Separate
- StartStirProtocol:
- feedback: {}
- goal:
- purpose: purpose
- stir_speed: stir_speed
- vessel: vessel
- goal_default:
- purpose: ''
- stir_speed: 0.0
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_speed:
- type: number
- current_status:
- type: string
- progress:
- type: number
- required:
- - progress
- - current_speed
- - current_status
- title: StartStir_Feedback
- type: object
- goal:
- properties:
- purpose:
- type: string
- stir_speed:
- type: number
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - stir_speed
- - purpose
- title: StartStir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: StartStir_Result
- type: object
- required:
- - goal
- title: StartStir
- type: object
- type: StartStir
- StirProtocol:
- feedback: {}
- goal:
- event: event
- settling_time: settling_time
- stir_speed: stir_speed
- stir_time: stir_time
- time: time
- time_spec: time_spec
- vessel: vessel
- goal_default:
- event: ''
- settling_time: ''
- stir_speed: 0.0
- stir_time: 0.0
- time: ''
- time_spec: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- status:
- type: string
- required:
- - status
- title: Stir_Feedback
- type: object
- goal:
- properties:
- event:
- type: string
- settling_time:
- type: string
- stir_speed:
- type: number
- stir_time:
- type: number
- time:
- type: string
- time_spec:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- - time
- - event
- - time_spec
- - stir_time
- - stir_speed
- - settling_time
- title: Stir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Stir_Result
- type: object
- required:
- - goal
- title: Stir
- type: object
- type: Stir
- StopStirProtocol:
- feedback: {}
- goal:
- vessel: vessel
- goal_default:
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- output:
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: VesselOut
- label: Vessel
- placeholder_keys:
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- required:
- - progress
- - current_status
- title: StopStir_Feedback
- type: object
- goal:
- properties:
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- required:
- - vessel
- title: StopStir_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: StopStir_Result
- type: object
- required:
- - goal
- title: StopStir
- type: object
- type: StopStir
- TransferProtocol:
- feedback: {}
- goal:
- amount: amount
- from_vessel: from_vessel
- rinsing_repeats: rinsing_repeats
- rinsing_solvent: rinsing_solvent
- rinsing_volume: rinsing_volume
- solid: solid
- time: time
- to_vessel: to_vessel
- viscous: viscous
- volume: volume
- goal_default:
- amount: ''
- from_vessel: ''
- rinsing_repeats: 0
- rinsing_solvent: ''
- rinsing_volume: 0.0
- solid: false
- time: 0.0
- to_vessel: ''
- viscous: false
- volume: 0.0
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVessel
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVessel
- label: To Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Rinsing Solvent
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: FromVesselOut
- label: From Vessel
- - data_key: vessel
- data_source: executor
- data_type: resource
- handler_key: ToVesselOut
- label: To Vessel
- placeholder_keys:
- from_vessel: unilabos_nodes
- to_vessel: unilabos_nodes
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- current_status:
- type: string
- progress:
- type: number
- transferred_volume:
- type: number
- required:
- - progress
- - transferred_volume
- - current_status
- title: Transfer_Feedback
- type: object
- goal:
- properties:
- amount:
- type: string
- from_vessel:
- type: string
- rinsing_repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- rinsing_solvent:
- type: string
- rinsing_volume:
- type: number
- solid:
- type: boolean
- time:
- type: number
- to_vessel:
- type: string
- viscous:
- type: boolean
- volume:
- type: number
- required:
- - from_vessel
- - to_vessel
- - volume
- - amount
- - time
- - viscous
- - rinsing_solvent
- - rinsing_volume
- - rinsing_repeats
- - solid
- title: Transfer_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: Transfer_Result
- type: object
- required:
- - goal
- title: Transfer
- type: object
- type: Transfer
- WashSolidProtocol:
- feedback: {}
- goal:
- filtrate_vessel: filtrate_vessel
- repeats: repeats
- solvent: solvent
- stir: stir
- stir_speed: stir_speed
- temp: temp
- time: time
- vessel: vessel
- volume: volume
- goal_default:
- event: ''
- filtrate_vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- mass: ''
- repeats: 0
- repeats_spec: ''
- solvent: ''
- stir: false
- stir_speed: 0.0
- temp: 0.0
- time: ''
- vessel:
- category: ''
- children: []
- config: ''
- data: ''
- id: ''
- name: ''
- parent: ''
- pose:
- orientation:
- w: 1.0
- x: 0.0
- y: 0.0
- z: 0.0
- position:
- x: 0.0
- y: 0.0
- z: 0.0
- sample_id: ''
- type: ''
- volume: ''
- volume_spec: ''
- handles:
- input:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: Vessel
- label: Vessel
- - data_key: solvent
- data_source: handle
- data_type: resource
- handler_key: solvent
- label: Solvent
- - data_key: filtrate_vessel
- data_source: handle
- data_type: resource
- handler_key: filtrate_vessel
- label: Filtrate Vessel
- output:
- - data_key: vessel
- data_source: handle
- data_type: resource
- handler_key: VesselOut
- label: Vessel Out
- - data_key: filtrate_vessel
- data_source: executor
- data_type: resource
- handler_key: filtrate_vessel_out
- label: Filtrate Vessel
- placeholder_keys:
- filtrate_vessel: unilabos_resources
- vessel: unilabos_resources
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties:
- progress:
- type: number
- status:
- type: string
- required:
- - status
- - progress
- title: WashSolid_Feedback
- type: object
- goal:
- properties:
- event:
- type: string
- filtrate_vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: filtrate_vessel
- type: object
- mass:
- type: string
- repeats:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- repeats_spec:
- type: string
- solvent:
- type: string
- stir:
- type: boolean
- stir_speed:
- type: number
- temp:
- type: number
- time:
- type: string
- vessel:
- properties:
- category:
- type: string
- children:
- items:
- type: string
- type: array
- config:
- type: string
- data:
- type: string
- id:
- type: string
- name:
- type: string
- parent:
- type: string
- pose:
- properties:
- orientation:
- properties:
- w:
- type: number
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- - w
- title: orientation
- type: object
- position:
- properties:
- x:
- type: number
- y:
- type: number
- z:
- type: number
- required:
- - x
- - y
- - z
- title: position
- type: object
- required:
- - position
- - orientation
- title: pose
- type: object
- sample_id:
- type: string
- type:
- type: string
- required:
- - id
- - name
- - sample_id
- - children
- - parent
- - type
- - category
- - pose
- - config
- - data
- title: vessel
- type: object
- volume:
- type: string
- volume_spec:
- type: string
- required:
- - vessel
- - solvent
- - volume
- - filtrate_vessel
- - temp
- - stir
- - stir_speed
- - time
- - repeats
- - volume_spec
- - repeats_spec
- - mass
- - event
- title: WashSolid_Goal
- type: object
- result:
- properties:
- message:
- type: string
- return_info:
- type: string
- success:
- type: boolean
- required:
- - success
- - message
- - return_info
- title: WashSolid_Result
- type: object
- required:
- - goal
- title: WashSolid
- type: object
- type: WashSolid
- module: unilabos.devices.workstation.workstation_base:ProtocolNode
- status_types: {}
- type: python
- config_info: []
- description: Workstation
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- deck:
- type: string
- protocol_type:
- items:
- type: string
- type: array
- required:
- - protocol_type
- - deck
- type: object
- data:
- properties: {}
- required: []
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/xrd_d7mate.yaml b/unilabos/registry/devices/xrd_d7mate.yaml
deleted file mode 100644
index cbdf8aa8..00000000
--- a/unilabos/registry/devices/xrd_d7mate.yaml
+++ /dev/null
@@ -1,601 +0,0 @@
-xrd_d7mate:
- category:
- - xrd_d7mate
- class:
- action_value_mappings:
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 安全关闭与XRD D7-Mate设备的TCP连接，释放网络资源。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-connect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 与XRD D7-Mate设备建立TCP连接，配置超时参数。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: connect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: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- auto-start_from_string:
- feedback: {}
- goal: {}
- goal_default:
- params: null
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback: {}
- goal:
- properties:
- params:
- type: string
- required:
- - params
- type: object
- result: {}
- required:
- - goal
- title: start_from_string参数
- type: object
- type: UniLabJsonCommand
- get_current_acquire_data:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- get_sample_down:
- feedback: {}
- goal:
- sample_station: 1
- goal_default:
- int_input: 0
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: IntSingleInput_Feedback
- type: object
- goal:
- properties:
- int_input:
- maximum: 2147483647
- minimum: -2147483648
- type: integer
- required:
- - int_input
- title: IntSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: IntSingleInput_Result
- type: object
- required:
- - goal
- title: IntSingleInput
- type: object
- type: IntSingleInput
- get_sample_request:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- get_sample_status:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- send_sample_down_ready:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- send_sample_ready:
- feedback: {}
- goal:
- end_theta: 80.0
- exp_time: 0.5
- increment: 0.02
- sample_id: ''
- start_theta: 10.0
- goal_default:
- end_theta: 80.0
- exp_time: 0.5
- increment: 0.02
- sample_id: Sample001
- start_theta: 10.0
- handles: {}
- result: {}
- schema:
- description: 送样完成后，发送样品信息和采集参数
- properties:
- feedback:
- properties: {}
- required: []
- title: SampleReadyInput_Feedback
- type: object
- goal:
- properties:
- end_theta:
- description: 结束角度（≥5.5°，且必须大于start_theta）
- minimum: 5.5
- type: number
- exp_time:
- description: 曝光时间（0.1-5.0秒）
- maximum: 5.0
- minimum: 0.1
- type: number
- increment:
- description: 角度增量（≥0.005）
- minimum: 0.005
- type: number
- sample_id:
- description: 样品标识符
- type: string
- start_theta:
- description: 起始角度（≥5°）
- minimum: 5.0
- type: number
- required:
- - sample_id
- - start_theta
- - end_theta
- - increment
- - exp_time
- title: SampleReadyInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: SampleReadyInput_Result
- type: object
- required:
- - goal
- title: SampleReadyInput
- type: object
- type: UniLabJsonCommand
- set_power_off:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_power_on:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- set_voltage_current:
- feedback: {}
- goal:
- current: 30.0
- voltage: 40.0
- goal_default:
- current: 30.0
- voltage: 40.0
- handles: {}
- result: {}
- schema:
- description: 设置高压电源电压和电流
- properties:
- feedback:
- properties: {}
- required: []
- title: VoltageCurrentInput_Feedback
- type: object
- goal:
- properties:
- current:
- description: 电流值（mA）
- type: number
- voltage:
- description: 电压值（kV）
- type: number
- required:
- - voltage
- - current
- title: VoltageCurrentInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: VoltageCurrentInput_Result
- type: object
- required:
- - goal
- title: VoltageCurrentInput
- type: object
- type: UniLabJsonCommand
- start:
- feedback: {}
- goal: {}
- goal_default:
- end_theta: 80.0
- exp_time: 0.1
- increment: 0.05
- sample_id: 样品名称
- start_theta: 10.0
- string: ''
- wait_minutes: 3.0
- handles: {}
- result: {}
- schema:
- description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
- properties:
- feedback: {}
- goal:
- properties:
- end_theta:
- description: 结束角度（≥5.5°，且必须大于start_theta）
- minimum: 5.5
- type: string
- exp_time:
- description: 曝光时间（0.1-5.0秒）
- maximum: 5.0
- minimum: 0.1
- type: string
- increment:
- description: 角度增量（≥0.005）
- minimum: 0.005
- type: string
- sample_id:
- description: 样品标识符
- type: string
- start_theta:
- description: 起始角度（≥5°）
- minimum: 5.0
- type: string
- string:
- description: 字符串格式的参数输入，如果提供则优先解析使用
- type: string
- wait_minutes:
- description: 允许上样后等待分钟数
- minimum: 0.0
- type: number
- required:
- - sample_id
- - start_theta
- - end_theta
- - increment
- - exp_time
- title: StartWorkflow_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StartWorkflow_Result
- type: object
- required:
- - goal
- title: StartWorkflow
- type: object
- type: UniLabJsonCommand
- start_auto_mode:
- feedback: {}
- goal:
- status: true
- goal_default:
- status: true
- handles: {}
- result: {}
- schema:
- description: 启动或停止自动模式
- properties:
- feedback:
- properties: {}
- required: []
- title: BoolSingleInput_Feedback
- type: object
- goal:
- properties:
- status:
- description: True-启动自动模式，False-停止自动模式
- type: boolean
- required:
- - status
- title: BoolSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: BoolSingleInput_Result
- type: object
- required:
- - goal
- title: BoolSingleInput
- type: object
- type: UniLabJsonCommand
- module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
- status_types:
- current_acquire_data: dict
- sample_down: dict
- sample_request: dict
- sample_status: dict
- type: python
- config_info: []
- description: XRD D7-Mate X射线衍射分析设备，通过TCP通信实现远程控制与状态监控，支持自动模式控制、上样流程、数据获取、下样流程和高压电源控制等功能。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- host:
- default: 127.0.0.1
- type: string
- port:
- default: 6001
- type: string
- timeout:
- default: 10.0
- type: string
- required: []
- type: object
- data:
- properties:
- current_acquire_data:
- type: object
- sample_down:
- type: object
- sample_request:
- type: object
- sample_status:
- type: object
- required:
- - sample_request
- - current_acquire_data
- - sample_status
- - sample_down
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/devices/zhida_gcms.yaml b/unilabos/registry/devices/zhida_gcms.yaml
deleted file mode 100644
index 607af9b9..00000000
--- a/unilabos/registry/devices/zhida_gcms.yaml
+++ /dev/null
@@ -1,350 +0,0 @@
-zhida_gcms:
- category:
- - zhida_gcms
- class:
- action_value_mappings:
- abort:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- auto-close:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 安全关闭与智达 GCMS 设备的 TCP 连接，释放网络资源。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: close参数
- type: object
- type: UniLabJsonCommand
- auto-connect:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- placeholder_keys: {}
- result: {}
- schema:
- description: 与智达 GCMS 设备建立 TCP 连接，配置超时参数。
- properties:
- feedback: {}
- goal:
- properties: {}
- required: []
- type: object
- result: {}
- required:
- - goal
- title: connect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: string
- required:
- - ros_node
- type: object
- result: {}
- required:
- - goal
- title: post_init参数
- type: object
- type: UniLabJsonCommand
- get_methods:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- get_status:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- get_version:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- put_tray:
- feedback: {}
- goal: {}
- goal_default: {}
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: EmptyIn_Feedback
- type: object
- goal:
- properties: {}
- required: []
- title: EmptyIn_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- required:
- - return_info
- title: EmptyIn_Result
- type: object
- required:
- - goal
- title: EmptyIn
- type: object
- type: EmptyIn
- start:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- start_with_csv_file:
- feedback: {}
- goal:
- string: string
- goal_default:
- string: ''
- handles: {}
- result: {}
- schema:
- description: ''
- properties:
- feedback:
- properties: {}
- required: []
- title: StrSingleInput_Feedback
- type: object
- goal:
- properties:
- string:
- type: string
- required:
- - string
- title: StrSingleInput_Goal
- type: object
- result:
- properties:
- return_info:
- type: string
- success:
- type: boolean
- required:
- - return_info
- - success
- title: StrSingleInput_Result
- type: object
- required:
- - goal
- title: StrSingleInput
- type: object
- type: StrSingleInput
- module: unilabos.devices.zhida_gcms.zhida:ZhidaClient
- status_types:
- methods: dict
- status: str
- version: dict
- type: python
- config_info: []
- description: 智达气相色谱-质谱联用（GC-MS）分析设备，通过 TCP 通信实现远程控制与状态监控，支持方法管理与任务启动等功能。
- handles: []
- icon: ''
- init_param_schema:
- config:
- properties:
- host:
- default: 192.168.3.184
- type: string
- port:
- default: 5792
- type: string
- timeout:
- default: 10.0
- type: string
- required: []
- type: object
- data:
- properties:
- methods:
- type: object
- status:
- type: string
- version:
- type: object
- required:
- - status
- - methods
- - version
- type: object
- version: 1.0.0
diff --git a/unilabos/registry/resources/AI4M/bottle_carriers.yaml b/unilabos/registry/resources/AI4M/bottle_carriers.yaml
new file mode 100644
index 00000000..21ed6015
--- /dev/null
+++ b/unilabos/registry/resources/AI4M/bottle_carriers.yaml
@@ -0,0 +1,38 @@
+Hydrogel_Powder_Containing_1BottleCarrier:
+ category:
+ - bottle_carriers
+ class:
+ module: unilabos.devices.workstation.AI4M.bottle_carriers:Hydrogel_Powder_Containing_1BottleCarrier
+ type: pylabrobot
+ description: Hydrogel_Powder_Containing_1BottleCarrier
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ registry_type: resource
+ version: 1.0.0
+
+Hydrogel_Clean_1BottleCarrier:
+ category:
+ - bottle_carriers
+ class:
+ module: unilabos.devices.workstation.AI4M.bottle_carriers:Hydrogel_Clean_1BottleCarrier
+ type: pylabrobot
+ description: Hydrogel_Clean_1BottleCarrier
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ registry_type: resource
+ version: 1.0.0
+
+Hydrogel_Waste_1BottleCarrier:
+ category:
+ - bottle_carriers
+ class:
+ module: unilabos.devices.workstation.AI4M.bottle_carriers:Hydrogel_Waste_1BottleCarrier
+ type: pylabrobot
+ description: Hydrogel_Waste_1BottleCarrier
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ registry_type: resource
+ version: 1.0.0
\ No newline at end of file
diff --git a/unilabos/registry/resources/AI4M/bottles.yaml b/unilabos/registry/resources/AI4M/bottles.yaml
new file mode 100644
index 00000000..3b8bf06a
--- /dev/null
+++ b/unilabos/registry/resources/AI4M/bottles.yaml
@@ -0,0 +1,32 @@
+Hydrogel_Powder_Containing_Bottle:
+ category:
+ - bottles
+ class:
+ module: unilabos.devices.workstation.AI4M.bottles:Hydrogel_Powder_Containing_Bottle
+ type: pylabrobot
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ version: 1.0.0
+
+Hydrogel_Clean_Bottle:
+ category:
+ - bottles
+ class:
+ module: unilabos.devices.workstation.AI4M.bottles:Hydrogel_Clean_Bottle
+ type: pylabrobot
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ version: 1.0.0
+
+ Hydrogel_Waste_Bottle:
+ category:
+ - bottles
+ class:
+ module: unilabos.devices.workstation.AI4M.bottles:Hydrogel_Waste_Bottle
+ type: pylabrobot
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ version: 1.0.0
\ No newline at end of file
diff --git a/unilabos/registry/resources/AI4M/deck.yaml b/unilabos/registry/resources/AI4M/deck.yaml
new file mode 100644
index 00000000..834ff3d4
--- /dev/null
+++ b/unilabos/registry/resources/AI4M/deck.yaml
@@ -0,0 +1,12 @@
+AI4M_deck:
+ category:
+ - AI4M_deck
+ class:
+ module: unilabos.devices.workstation.AI4M.decks:AI4M_deck
+ type: pylabrobot
+ description: AI4M_deck
+ handles: []
+ icon: ''
+ init_param_schema: {}
+ registry_type: resource
+ version: 1.0.0
diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml
deleted file mode 100644
index 764a8aa5..00000000
--- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml
+++ /dev/null
@@ -1,48 +0,0 @@
-BIOYOND_PolymerStation_1BottleCarrier:
- category:
- - bottle_carriers
- class:
- module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier
- type: pylabrobot
- description: BIOYOND_PolymerStation_1BottleCarrier
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-BIOYOND_PolymerStation_1FlaskCarrier:
- category:
- - bottle_carriers
- class:
- module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier
- type: pylabrobot
- description: BIOYOND_PolymerStation_1FlaskCarrier
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-BIOYOND_PolymerStation_6StockCarrier:
- category:
- - bottle_carriers
- class:
- module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier
- type: pylabrobot
- description: BIOYOND_PolymerStation_6StockCarrier
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-BIOYOND_PolymerStation_8StockCarrier:
- category:
- - bottle_carriers
- class:
- module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_8StockCarrier
- type: pylabrobot
- description: BIOYOND_PolymerStation_8StockCarrier (2x4布局，8个位置)
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml
deleted file mode 100644
index 79aa712b..00000000
--- a/unilabos/registry/resources/bioyond/bottles.yaml
+++ /dev/null
@@ -1,84 +0,0 @@
-BIOYOND_PolymerStation_Flask:
- category:
- - bottles
- - flasks
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Flask
- type: pylabrobot
- description: 聚合站-烧杯容器
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_Liquid_Vial:
- category:
- - bottles
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_Reactor:
- category:
- - bottles
- - reactors
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_Reagent_Bottle:
- category:
- - bottles
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_Solid_Stock:
- category:
- - bottles
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_Solid_Vial:
- category:
- - bottles
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_Solution_Beaker:
- category:
- - bottles
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
-BIOYOND_PolymerStation_TipBox:
- category:
- - bottles
- - tip_boxes
- class:
- module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml
deleted file mode 100644
index bc158508..00000000
--- a/unilabos/registry/resources/bioyond/deck.yaml
+++ /dev/null
@@ -1,36 +0,0 @@
-BIOYOND_PolymerPreparationStation_Deck:
- category:
- - deck
- class:
- module: unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck
- type: pylabrobot
- description: BIOYOND PolymerPreparationStation Deck
- handles: []
- icon: 配液站.webp
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-BIOYOND_PolymerReactionStation_Deck:
- category:
- - deck
- class:
- module: unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck
- type: pylabrobot
- description: BIOYOND PolymerReactionStation Deck
- handles: []
- icon: 反应站.webp
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-YB_Deck11:
- category:
- - deck
- class:
- module: unilabos.resources.bioyond.decks:YB_Deck
- type: pylabrobot
- description: BIOYOND PolymerReactionStation Deck
- handles: []
- icon: 配液站.webp
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/common/resource_container.yaml b/unilabos/registry/resources/common/resource_container.yaml
deleted file mode 100644
index 48dcab59..00000000
--- a/unilabos/registry/resources/common/resource_container.yaml
+++ /dev/null
@@ -1,231 +0,0 @@
-disposal:
- category:
- - disposal
- - waste
- - resource_container
- class:
- module: unilabos.resources.disposal:Disposal
- type: unilabos
- description: 废料处理位置，用于处理实验废料
- handles:
- - data_key: disposal_access
- data_source: handle
- data_type: fluid
- handler_key: access
- io_type: target
- label: access
- side: NORTH
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-hplc_plate:
- category:
- - resource_container
- class:
- module: unilabos.devices.resource_container.container:PlateContainer
- type: python
- description: HPLC板
- handles: []
- icon: ''
- init_param_schema: {}
- model:
- mesh: hplc_plate/meshes/hplc_plate.stl
- mesh_tf:
- - 0
- - 0
- - 0
- - 0
- - 0
- - 3.1416
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-maintenance:
- category:
- - maintenance
- - position
- - resource_container
- class:
- module: unilabos.resources.maintenance:Maintenance
- type: unilabos
- description: 维护位置，用于设备维护和校准
- handles:
- - data_key: maintenance_access
- data_source: handle
- data_type: mechanical
- handler_key: access
- io_type: target
- label: access
- side: NORTH
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-plate:
- category:
- - plate
- - labware
- - resource_container
- class:
- module: unilabos.resources.plate:Plate
- type: unilabos
- description: 实验板，用于放置样品和试剂
- handles:
- - data_key: plate_access
- data_source: handle
- data_type: mechanical
- handler_key: access
- io_type: target
- label: access
- side: NORTH
- - data_key: sample_wells
- data_source: handle
- data_type: fluid
- handler_key: wells
- io_type: target
- label: wells
- side: CENTER
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-plate_96:
- category:
- - resource_container
- class:
- module: unilabos.devices.resource_container.container:PlateContainer
- type: python
- description: 96孔板
- handles: []
- icon: ''
- init_param_schema: {}
- model:
- mesh: plate_96/meshes/plate_96.stl
- mesh_tf:
- - 0
- - 0
- - 0
- - 0
- - 0
- - 0
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-plate_96_high:
- category:
- - resource_container
- class:
- module: unilabos.devices.resource_container.container:PlateContainer
- type: python
- description: 96孔板
- handles: []
- icon: ''
- init_param_schema: {}
- model:
- mesh: plate_96_high/meshes/plate_96_high.stl
- mesh_tf:
- - 0
- - 0.086
- - 0
- - 1.5708
- - 0
- - 1.5708
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-tip_rack:
- category:
- - tip_rack
- - labware
- - resource_container
- class:
- module: unilabos.resources.tip_rack:TipRack
- type: unilabos
- description: 枪头架资源，用于存放和管理移液器枪头
- handles:
- - data_key: tip_access
- data_source: handle
- data_type: mechanical
- handler_key: access
- io_type: target
- label: access
- side: NORTH
- - data_key: tip_pickup
- data_source: handle
- data_type: mechanical
- handler_key: pickup
- io_type: target
- label: pickup
- side: SOUTH
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-tiprack_96_high:
- category:
- - resource_container
- class:
- module: unilabos.devices.resource_container.container:TipRackContainer
- type: python
- description: 96孔板
- handles: []
- icon: ''
- 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_tf:
- - 0.0018
- - 0.0018
- - -0.03
- - -1.5708
- - 0
- - 0
- mesh: tiprack_96_high/meshes/tiprack_96_high.stl
- mesh_tf:
- - 0
- - 0.086
- - 0
- - 1.5708
- - 0
- - 1.5708
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-tiprack_box:
- category:
- - resource_container
- class:
- module: unilabos.devices.resource_container.container:TipRackContainer
- type: python
- description: 96针头盒
- handles: []
- icon: ''
- 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_tf:
- - 0.0045
- - 0.0045
- - 0
- - 0
- - 0
- - 0
- mesh: tiprack_box/meshes/tiprack_box.stl
- mesh_tf:
- - 0
- - 0
- - 0
- - 0
- - 0
- - 0
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/laiyu/container.yaml b/unilabos/registry/resources/laiyu/container.yaml
deleted file mode 100644
index 1652956e..00000000
--- a/unilabos/registry/resources/laiyu/container.yaml
+++ /dev/null
@@ -1,66 +0,0 @@
-bottle_container:
- category:
- - resource_container
- - container
- class:
- module: unilabos.devices.resource_container.container:BottleRackContainer
- type: python
- description: 96孔板
- handles: []
- icon: ''
- 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_tf:
- - 0.04
- - 0.04
- - 0
- - 0
- - 0
- - 0
- mesh: bottle_container/meshes/bottle_container.stl
- mesh_tf:
- - 0
- - 0
- - 0
- - 0
- - 0
- - 0
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-tube_container:
- category:
- - resource_container
- - container
- class:
- module: unilabos.devices.resource_container.container:TubeRackContainer
- type: python
- description: 96孔板
- handles: []
- icon: ''
- 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_tf:
- - 0.017
- - 0.017
- - 0
- - 0
- - 0
- - 0
- mesh: tube_container/meshes/tube_container.stl
- mesh_tf:
- - 0
- - 0
- - 0
- - 0
- - 0
- - 0
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/laiyu/deck.yaml b/unilabos/registry/resources/laiyu/deck.yaml
deleted file mode 100644
index e6d930a5..00000000
--- a/unilabos/registry/resources/laiyu/deck.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-TransformXYZDeck:
- category:
- - deck
- class:
- module: unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck
- type: pylabrobot
- description: Laiyu deck
- handles: []
- icon: ''
- 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
- type: device
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/opentrons/deck.yaml b/unilabos/registry/resources/opentrons/deck.yaml
deleted file mode 100644
index 8fa35ee5..00000000
--- a/unilabos/registry/resources/opentrons/deck.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-OTDeck:
- category:
- - deck
- class:
- module: pylabrobot.resources.opentrons.deck:OTDeck
- type: pylabrobot
- description: Opentrons deck
- handles: []
- icon: ''
- 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
- type: device
- registry_type: resource
- version: 1.0.0
-hplc_station:
- category:
- - deck
- class:
- module: unilabos.devices.resource_container.container:DeckContainer
- type: python
- description: hplc_station deck
- handles: []
- icon: ''
- init_param_schema: {}
- model:
- mesh: hplc_station
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
- type: device
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/opentrons/plate_adapters.yaml b/unilabos/registry/resources/opentrons/plate_adapters.yaml
deleted file mode 100644
index d2942d46..00000000
--- a/unilabos/registry/resources/opentrons/plate_adapters.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-Opentrons_96_adapter_Vb:
- category:
- - plate_adapters
- class:
- module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
- type: pylabrobot
- description: Opentrons 96 adapter Vb
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/opentrons/plates.yaml b/unilabos/registry/resources/opentrons/plates.yaml
deleted file mode 100644
index 02267ae0..00000000
--- a/unilabos/registry/resources/opentrons/plates.yaml
+++ /dev/null
@@ -1,211 +0,0 @@
-appliedbiosystemsmicroamp_384_wellplate_40ul:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:appliedbiosystemsmicroamp_384_wellplate_40ul
- type: pylabrobot
- description: Applied Biosystems microamp 384 wellplate 40ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-biorad_384_wellplate_50ul:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:biorad_384_wellplate_50ul
- type: pylabrobot
- description: BioRad 384 wellplate 50ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-biorad_96_wellplate_200ul_pcr:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:biorad_96_wellplate_200ul_pcr
- type: pylabrobot
- description: BioRad 96 wellplate 200ul pcr
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-corning_12_wellplate_6point9ml_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:corning_12_wellplate_6point9ml_flat
- type: pylabrobot
- description: Corning 12 wellplate 6.9ml flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-corning_24_wellplate_3point4ml_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:corning_24_wellplate_3point4ml_flat
- type: pylabrobot
- description: Corning 24 wellplate 3.4ml flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-corning_384_wellplate_112ul_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:corning_384_wellplate_112ul_flat
- type: pylabrobot
- description: Corning 384 wellplate 112ul flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-corning_48_wellplate_1point6ml_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:corning_48_wellplate_1point6ml_flat
- type: pylabrobot
- description: Corning 48 wellplate 1.6ml flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-corning_6_wellplate_16point8ml_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:corning_6_wellplate_16point8ml_flat
- type: pylabrobot
- description: Corning 6 wellplate 16.8ml flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-corning_96_wellplate_360ul_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:corning_96_wellplate_360ul_flat
- type: pylabrobot
- description: Corning 96 wellplate 360ul flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-nest_96_wellplate_100ul_pcr_full_skirt:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_100ul_pcr_full_skirt
- type: pylabrobot
- description: Nest 96 wellplate 100ul pcr full skirt
- handles: []
- icon: ''
- 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_tf:
- - 0.0018
- - 0.0018
- - 0
- - -1.5708
- - 0
- - 0
- mesh: tecan_nested_tip_rack/meshes/plate.stl
- mesh_tf:
- - 0.064
- - 0.043
- - 0
- - -1.5708
- - 0
- - 1.5708
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-nest_96_wellplate_200ul_flat:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_200ul_flat
- type: pylabrobot
- description: Nest 96 wellplate 200ul flat
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-nest_96_wellplate_2ml_deep:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep
- type: pylabrobot
- description: Nest 96 wellplate 2ml deep
- handles: []
- icon: ''
- init_param_schema: {}
- model:
- mesh: tecan_nested_tip_rack/meshes/plate.stl
- mesh_tf:
- - 0.064
- - 0.043
- - 0
- - -1.5708
- - 0
- - 1.5708
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-thermoscientificnunc_96_wellplate_1300ul:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:thermoscientificnunc_96_wellplate_1300ul
- type: pylabrobot
- description: Thermoscientific Nunc 96 wellplate 1300ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-thermoscientificnunc_96_wellplate_2000ul:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:thermoscientificnunc_96_wellplate_2000ul
- type: pylabrobot
- description: Thermoscientific Nunc 96 wellplate 2000ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-usascientific_96_wellplate_2point4ml_deep:
- category:
- - plates
- class:
- module: pylabrobot.resources.opentrons.plates:usascientific_96_wellplate_2point4ml_deep
- type: pylabrobot
- description: USAScientific 96 wellplate 2.4ml deep
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/opentrons/reservoirs.yaml b/unilabos/registry/resources/opentrons/reservoirs.yaml
deleted file mode 100644
index b2f7857b..00000000
--- a/unilabos/registry/resources/opentrons/reservoirs.yaml
+++ /dev/null
@@ -1,72 +0,0 @@
-agilent_1_reservoir_290ml:
- category:
- - reservoirs
- class:
- module: pylabrobot.resources.opentrons.reservoirs:agilent_1_reservoir_290ml
- type: pylabrobot
- description: Agilent 1 reservoir 290ml
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-axygen_1_reservoir_90ml:
- category:
- - reservoirs
- class:
- module: pylabrobot.resources.opentrons.reservoirs:axygen_1_reservoir_90ml
- type: pylabrobot
- description: Axygen 1 reservoir 90ml
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-nest_12_reservoir_15ml:
- category:
- - reservoirs
- class:
- module: pylabrobot.resources.opentrons.reservoirs:nest_12_reservoir_15ml
- type: pylabrobot
- description: Nest 12 reservoir 15ml
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-nest_1_reservoir_195ml:
- category:
- - reservoirs
- class:
- module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_195ml
- type: pylabrobot
- description: Nest 1 reservoir 195ml
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-nest_1_reservoir_290ml:
- category:
- - reservoirs
- class:
- module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_290ml
- type: pylabrobot
- description: Nest 1 reservoir 290ml
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-usascientific_12_reservoir_22ml:
- category:
- - reservoirs
- class:
- module: pylabrobot.resources.opentrons.reservoirs:usascientific_12_reservoir_22ml
- type: pylabrobot
- description: USAScientific 12 reservoir 22ml
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/opentrons/tip_racks.yaml b/unilabos/registry/resources/opentrons/tip_racks.yaml
deleted file mode 100644
index cbc7d6f1..00000000
--- a/unilabos/registry/resources/opentrons/tip_racks.yaml
+++ /dev/null
@@ -1,161 +0,0 @@
-eppendorf_96_tiprack_1000ul_eptips:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:eppendorf_96_tiprack_1000ul_eptips
- type: pylabrobot
- description: Eppendorf 96 tiprack 1000ul eptips
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-eppendorf_96_tiprack_10ul_eptips:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:eppendorf_96_tiprack_10ul_eptips
- type: pylabrobot
- description: Eppendorf 96 tiprack 10ul eptips
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-geb_96_tiprack_1000ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:geb_96_tiprack_1000ul
- type: pylabrobot
- description: Geb 96 tiprack 1000ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-geb_96_tiprack_10ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:geb_96_tiprack_10ul
- type: pylabrobot
- description: Geb 96 tiprack 10ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_filtertiprack_1000ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_1000ul
- type: pylabrobot
- description: Opentrons 96 filtertiprack 1000ul
- handles: []
- icon: ''
- init_param_schema: {}
- model:
- children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
- children_mesh_tf:
- - 0.0018
- - 0.0018
- - 0
- - -1.5708
- - 0
- - 0
- mesh: tecan_nested_tip_rack/meshes/plate.stl
- mesh_tf:
- - 0.064
- - 0.043
- - 0
- - -1.5708
- - 0
- - 1.5708
- path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
- type: resource
- registry_type: resource
- version: 1.0.0
-opentrons_96_filtertiprack_10ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_10ul
- type: pylabrobot
- description: Opentrons 96 filtertiprack 10ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_filtertiprack_200ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_200ul
- type: pylabrobot
- description: Opentrons 96 filtertiprack 200ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_filtertiprack_20ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_20ul
- type: pylabrobot
- description: Opentrons 96 filtertiprack 20ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_tiprack_1000ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_1000ul
- type: pylabrobot
- description: Opentrons 96 tiprack 1000ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_tiprack_10ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_10ul
- type: pylabrobot
- description: Opentrons 96 tiprack 10ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_tiprack_20ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_20ul
- type: pylabrobot
- description: Opentrons 96 tiprack 20ul
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_tiprack_300ul:
- category:
- - tip_racks
- class:
- module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_300ul
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
diff --git a/unilabos/registry/resources/opentrons/tube_racks.yaml b/unilabos/registry/resources/opentrons/tube_racks.yaml
deleted file mode 100644
index 32bf3e36..00000000
--- a/unilabos/registry/resources/opentrons/tube_racks.yaml
+++ /dev/null
@@ -1,240 +0,0 @@
-opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical
- type: pylabrobot
- description: Opentrons 10 tuberack falcon 4x50ml 6x15ml conical
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic
- type: pylabrobot
- description: Opentrons 10 tuberack falcon 4x50ml 6x15ml conical acrylic
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_nest_4x50ml_6x15ml_conical
- type: pylabrobot
- description: Opentrons 10 tuberack nest 4x50ml 6x15ml conical
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_15_tuberack_falcon_15ml_conical:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_15_tuberack_falcon_15ml_conical
- type: pylabrobot
- description: Opentrons 15 tuberack falcon 15ml conical
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_15_tuberack_nest_15ml_conical:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_15_tuberack_nest_15ml_conical
- type: pylabrobot
- description: Opentrons 15 tuberack nest 15ml conical
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_aluminumblock_generic_2ml_screwcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_aluminumblock_generic_2ml_screwcap
- type: pylabrobot
- description: Opentrons 24 aluminumblock generic 2ml screwcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_aluminumblock_nest_1point5ml_snapcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_aluminumblock_nest_1point5ml_snapcap
- type: pylabrobot
- description: Opentrons 24 aluminumblock nest 1.5ml snapcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap
- type: pylabrobot
- description: Opentrons 24 tuberack eppendorf 1.5ml safelock snapcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap
- type: pylabrobot
- description: Opentrons 24 tuberack eppendorf 2ml safelock snapcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic
- type: pylabrobot
- description: Opentrons 24 tuberack eppendorf 2ml safelock snapcap acrylic
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic
- type: pylabrobot
- description: Opentrons 24 tuberack generic 0.75ml snapcap acrylic
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_generic_2ml_screwcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_generic_2ml_screwcap
- type: pylabrobot
- description: Opentrons 24 tuberack generic 2ml screwcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_nest_0point5ml_screwcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_0point5ml_screwcap
- type: pylabrobot
- description: Opentrons 24 tuberack nest 0.5ml screwcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_nest_1point5ml_screwcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_1point5ml_screwcap
- type: pylabrobot
- description: Opentrons 24 tuberack nest 1.5ml screwcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_nest_1point5ml_snapcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_1point5ml_snapcap
- type: pylabrobot
- description: Opentrons 24 tuberack nest 1.5ml snapcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_nest_2ml_screwcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_2ml_screwcap
- type: pylabrobot
- description: Opentrons 24 tuberack nest 2ml screwcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_24_tuberack_nest_2ml_snapcap:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_2ml_snapcap
- type: pylabrobot
- description: Opentrons 24 tuberack nest 2ml snapcap
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_6_tuberack_falcon_50ml_conical:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_6_tuberack_falcon_50ml_conical
- type: pylabrobot
- description: Opentrons 6 tuberack falcon 50ml conical
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_6_tuberack_nest_50ml_conical:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_6_tuberack_nest_50ml_conical
- type: pylabrobot
- description: Opentrons 6 tuberack nest 50ml conical
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-opentrons_96_well_aluminum_block:
- category:
- - tube_racks
- class:
- module: pylabrobot.resources.opentrons.tube_racks:opentrons_96_well_aluminum_block
- type: pylabrobot
- description: Opentrons 96 well aluminum block
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/organic/container.yaml b/unilabos/registry/resources/organic/container.yaml
deleted file mode 100644
index a8fb9b6c..00000000
--- a/unilabos/registry/resources/organic/container.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-container:
- category:
- - container
- class:
- module: unilabos.resources.container:get_regular_container
- type: pylabrobot
- description: regular organic container
- handles:
- - data_key: fluid_in
- data_source: handle
- data_type: fluid
- handler_key: top
- io_type: target
- label: top
- side: NORTH
- - data_key: fluid_out
- data_source: handle
- data_type: fluid
- handler_key: bottom
- io_type: source
- label: bottom
- side: SOUTH
- - data_key: mechanical_port
- data_source: handle
- data_type: mechanical
- handler_key: bind
- io_type: target
- label: bind
- side: WEST
- icon: Flask.webp
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/organic/workstation.yaml b/unilabos/registry/resources/organic/workstation.yaml
deleted file mode 100644
index 5250dfc9..00000000
--- a/unilabos/registry/resources/organic/workstation.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-#get_workstation_plate_resource:
-# category:
-# - workstation
-# class:
-# module: unilabos.devices.workstation.workstation_base:get_workstation_plate_resource
-# type: pylabrobot
-# description: workstation example resource
-# handles: []
-# icon: ''
-# init_param_schema: {}
-# registry_type: resource
-# version: 1.0.0
diff --git a/unilabos/registry/resources/post_process/bottle_carriers.yaml b/unilabos/registry/resources/post_process/bottle_carriers.yaml
deleted file mode 100644
index ea30cb7d..00000000
--- a/unilabos/registry/resources/post_process/bottle_carriers.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-POST_PROCESS_Raw_1BottleCarrier:
- category:
- - bottle_carriers
- class:
- module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Raw_1BottleCarrier
- type: pylabrobot
- description: POST_PROCESS_Raw_1BottleCarrier
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-POST_PROCESS_Reaction_1BottleCarrier:
- category:
- - bottle_carriers
- class:
- module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Reaction_1BottleCarrier
- type: pylabrobot
- description: POST_PROCESS_Reaction_1BottleCarrier
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/post_process/bottles.yaml b/unilabos/registry/resources/post_process/bottles.yaml
deleted file mode 100644
index 25fc3977..00000000
--- a/unilabos/registry/resources/post_process/bottles.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-POST_PROCESS_PolymerStation_Reagent_Bottle:
- category:
- - bottles
- class:
- module: unilabos.devices.workstation.post_process.bottles:POST_PROCESS_PolymerStation_Reagent_Bottle
- type: pylabrobot
- handles: []
- icon: ''
- init_param_schema: {}
- version: 1.0.0
diff --git a/unilabos/registry/resources/post_process/deck.yaml b/unilabos/registry/resources/post_process/deck.yaml
deleted file mode 100644
index 621cafc6..00000000
--- a/unilabos/registry/resources/post_process/deck.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-post_process_deck:
- category:
- - post_process_deck
- - deck
- class:
- module: unilabos.devices.workstation.post_process.decks:post_process_deck
- type: pylabrobot
- description: post_process_deck
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/prcxi/plate_adapters.yaml b/unilabos/registry/resources/prcxi/plate_adapters.yaml
deleted file mode 100644
index a769fee3..00000000
--- a/unilabos/registry/resources/prcxi/plate_adapters.yaml
+++ /dev/null
@@ -1,117 +0,0 @@
-PRCXI_30mm_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter
- type: pylabrobot
- description: '30mm适配器 (Code: ZX-58-30)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter
- type: pylabrobot
- description: '适配器 (Code: Fhh478)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Deep10_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter
- type: pylabrobot
- description: '10ul专用深孔板适配器 (Code: ZX-002-10)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Deep300_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter
- type: pylabrobot
- description: '300ul深孔板适配器 (Code: ZX-002-300)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_PCR_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter
- type: pylabrobot
- description: '全裙边 PCR适配器 (Code: ZX-58-0001)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Reservoir_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter
- type: pylabrobot
- description: '储液槽 适配器 (Code: ZX-ADP-001)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Tip10_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter
- type: pylabrobot
- description: '吸头10ul 适配器 (Code: ZX-58-10)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Tip1250_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter
- type: pylabrobot
- description: 'Tip头适配器 1250uL (Code: ZX-58-1250)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_Tip300_Adapter:
- category:
- - prcxi
- - plate_adapters
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter
- type: pylabrobot
- description: 'ZHONGXI 适配器 300uL (Code: ZX-58-300)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/prcxi/plates.yaml b/unilabos/registry/resources/prcxi/plates.yaml
deleted file mode 100644
index 81e2ae96..00000000
--- a/unilabos/registry/resources/prcxi/plates.yaml
+++ /dev/null
@@ -1,143 +0,0 @@
-PRCXI_48_DeepWell:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
- type: pylabrobot
- description: '48孔深孔板 (Code: 22)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_96_DeepWell:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell
- type: pylabrobot
- description: '96深孔板 (Code: q2)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_AGenBio_4_troughplate:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate
- type: pylabrobot
- description: '4道储液槽 (Code: sdfrth654)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_BioER_96_wellplate:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate
- type: pylabrobot
- description: '2.2ml 深孔板 (Code: ZX-019-2.2)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_BioRad_384_wellplate:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate
- type: pylabrobot
- description: '384板 (Code: q3)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_CellTreat_96_wellplate:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate
- type: pylabrobot
- description: '细菌培养皿 (Code: ZX-78-096)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_PCR_Plate_200uL_nonskirted:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted
- type: pylabrobot
- description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_PCR_Plate_200uL_semiskirted:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted
- type: pylabrobot
- description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_PCR_Plate_200uL_skirted:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted
- type: pylabrobot
- description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_nest_12_troughplate:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate
- type: pylabrobot
- description: '12道储液槽 (Code: 12道储液槽)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_nest_1_troughplate:
- category:
- - prcxi
- - plates
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate
- type: pylabrobot
- description: '储液槽 (Code: ZX-58-10000)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/prcxi/tip_racks.yaml b/unilabos/registry/resources/prcxi/tip_racks.yaml
deleted file mode 100644
index 56a16db8..00000000
--- a/unilabos/registry/resources/prcxi/tip_racks.yaml
+++ /dev/null
@@ -1,78 +0,0 @@
-PRCXI_1000uL_Tips:
- category:
- - prcxi
- - tip_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips
- type: pylabrobot
- description: '1000μL Tip头 (Code: ZX-001-1000)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_10uL_Tips:
- category:
- - prcxi
- - tip_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips
- type: pylabrobot
- description: '10μL Tip头 (Code: ZX-001-10)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_10ul_eTips:
- category:
- - prcxi
- - tip_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips
- type: pylabrobot
- description: '10μL加长 Tip头 (Code: ZX-001-10+)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_1250uL_Tips:
- category:
- - prcxi
- - tip_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips
- type: pylabrobot
- description: '1250μL Tip头 (Code: ZX-001-1250)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_200uL_Tips:
- category:
- - prcxi
- - tip_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips
- type: pylabrobot
- description: '200μL Tip头 (Code: ZX-001-200)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
-PRCXI_300ul_Tips:
- category:
- - prcxi
- - tip_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips
- type: pylabrobot
- description: '300μL Tip头 (Code: ZX-001-300)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/prcxi/trash.yaml b/unilabos/registry/resources/prcxi/trash.yaml
deleted file mode 100644
index f87a7624..00000000
--- a/unilabos/registry/resources/prcxi/trash.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-PRCXI_trash:
- category:
- - prcxi
- - trash
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash
- type: pylabrobot
- description: '废弃槽 (Code: q1)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/registry/resources/prcxi/tube_racks.yaml b/unilabos/registry/resources/prcxi/tube_racks.yaml
deleted file mode 100644
index 0b1e07c6..00000000
--- a/unilabos/registry/resources/prcxi/tube_racks.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-PRCXI_EP_Adapter:
- category:
- - prcxi
- - tube_racks
- class:
- module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter
- type: pylabrobot
- description: 'ep适配器 (Code: 1)'
- handles: []
- icon: ''
- init_param_schema: {}
- registry_type: resource
- version: 1.0.0
diff --git a/unilabos/resources/bioyond/__init__.py b/unilabos/resources/bioyond/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py
deleted file mode 100644
index d79b8495..00000000
--- a/unilabos/resources/bioyond/bottle_carriers.py
+++ /dev/null
@@ -1,324 +0,0 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
-
-from unilabos.resources.itemized_carrier import BottleCarrier
-from unilabos.resources.bioyond.bottles import (
- BIOYOND_PolymerStation_Solid_Stock,
- BIOYOND_PolymerStation_Solid_Vial,
- BIOYOND_PolymerStation_Liquid_Vial,
- BIOYOND_PolymerStation_Solution_Beaker,
- BIOYOND_PolymerStation_Reagent_Bottle,
- BIOYOND_PolymerStation_Flask,
-)
-# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
-
-
-# ============================================================================
-# 聚合站（PolymerStation）载体定义（统一入口）
-# ============================================================================
-
-def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
- """聚合站-6孔样品板 - 2x3布局
-
- 参数:
- - name: 载架名称前缀
-
- 说明:
- - 统一站点命名为 PolymerStation，使用 PolymerStation 的 Vial 资源类
- - A行（PLR y=0，对应 Bioyond 位置A01~A03）使用 Liquid_Vial（10% 分装小瓶）
- - B行（PLR y=1，对应 Bioyond 位置B01~B03）使用 Solid_Vial（90% 分装小瓶）
- """
-
- # 载架尺寸 (mm)
- carrier_size_x = 127.8
- carrier_size_y = 85.5
- carrier_size_z = 50.0
-
- # 瓶位尺寸
- bottle_diameter = 20.0
- bottle_spacing_x = 42.0 # X方向间距
- bottle_spacing_y = 35.0 # Y方向间距
-
- # 计算起始位置 (居中排列)
- start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
- start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
- sites = create_ordered_items_2d(
- klass=ResourceHolder,
- num_items_x=3,
- num_items_y=2,
- dx=start_x,
- dy=start_y,
- dz=5.0,
- item_dx=bottle_spacing_x,
- item_dy=bottle_spacing_y,
-
- size_x=bottle_diameter,
- size_y=bottle_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="BIOYOND_PolymerStation_6StockCarrier",
- )
- carrier.num_items_x = 3
- carrier.num_items_y = 2
- carrier.num_items_z = 1
-
- # 布局说明：
- # - num_items_x=3, num_items_y=2 表示 3列×2行
- # - create_ordered_items_2d 按先y后x的顺序创建(列优先)
- # - 索引顺序: 0=A1(x=0,y=0), 1=B1(x=0,y=1), 2=A2(x=1,y=0), 3=B2(x=1,y=1), 4=A3(x=2,y=0), 5=B3(x=2,y=1)
- #
- # Bioyond坐标映射: PLR(x,y) → Bioyond(y+1,x+1)
- # - A行(PLR y=0) → Bioyond x=1 → 10%分装小瓶
- # - B行(PLR y=1) → Bioyond x=2 → 90%分装小瓶
-
- ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
- for col in range(3): # 3列
- for row in range(2): # 2行
- idx = col * 2 + row # 计算索引: 列优先顺序
- if row == 0: # A行 (PLR y=0 → Bioyond x=1)
- carrier[idx] = BIOYOND_PolymerStation_Liquid_Vial(f"{ordering[idx]}")
- else: # B行 (PLR y=1 → Bioyond x=2)
- carrier[idx] = BIOYOND_PolymerStation_Solid_Vial(f"{ordering[idx]}")
- return carrier
-
-
-def BIOYOND_PolymerStation_8StockCarrier(name: str) -> BottleCarrier:
- """聚合站-8孔样品板 - 2x4布局
-
- 参数:
- - name: 载架名称前缀
-
- 说明:
- - 统一站点命名为 PolymerStation，使用 PolymerStation 的 Solid_Stock 资源类
- """
-
- # 载架尺寸 (mm)
- carrier_size_x = 128.0
- carrier_size_y = 85.5
- carrier_size_z = 50.0
-
- # 瓶位尺寸
- bottle_diameter = 20.0
- bottle_spacing_x = 30.0 # X方向间距
- bottle_spacing_y = 35.0 # Y方向间距
-
- # 计算起始位置 (居中排列)
- start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
- start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
- sites = create_ordered_items_2d(
- klass=ResourceHolder,
- num_items_x=4,
- num_items_y=2,
- dx=start_x,
- dy=start_y,
- dz=5.0,
- item_dx=bottle_spacing_x,
- item_dy=bottle_spacing_y,
-
- size_x=bottle_diameter,
- size_y=bottle_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="BIOYOND_PolymerStation_8StockCarrier",
- )
- carrier.num_items_x = 4
- carrier.num_items_y = 2
- carrier.num_items_z = 1
- ordering = ["A1", "B1", "A2", "B2", "A3", "B3", "A4", "B4"]
- for i in range(8):
- carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
- return carrier
-
-
-def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
- """聚合站-单试剂瓶载架
-
- 参数:
- - name: 载架名称前缀
- """
-
- # 载架尺寸 (mm)
- carrier_size_x = 127.8
- carrier_size_y = 85.5
- carrier_size_z = 20.0
-
- # 烧杯/试剂瓶占位尺寸（使用圆形占位）
- 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="BIOYOND_PolymerStation_1BottleCarrier",
- )
- carrier.num_items_x = 1
- carrier.num_items_y = 1
- carrier.num_items_z = 1
- # 统一后缀采用 "flask_1" 命名（可按需调整）
- carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
- return carrier
-
-
-def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
- """聚合站-单烧杯载架
-
- 说明:
- - 使用 BIOYOND_PolymerStation_Flask 资源类
- - 载架命名与 model 统一为 PolymerStation
- """
-
- # 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="BIOYOND_PolymerStation_1FlaskCarrier",
- )
- carrier.num_items_x = 1
- carrier.num_items_y = 1
- carrier.num_items_z = 1
- carrier[0] = BIOYOND_PolymerStation_Flask(f"{name}_flask_1")
- return carrier
-
-
-# ============================================================================
-# 其他载体定义
-# ============================================================================
-
-def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
- """6瓶载架 - 2x3布局"""
-
- # 载架尺寸 (mm)
- carrier_size_x = 127.8
- carrier_size_y = 85.5
- carrier_size_z = 50.0
-
- # 瓶位尺寸
- bottle_diameter = 30.0
- bottle_spacing_x = 42.0 # X方向间距
- bottle_spacing_y = 35.0 # Y方向间距
-
- # 计算起始位置 (居中排列)
- start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
- start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
-
- sites = create_ordered_items_2d(
- klass=ResourceHolder,
- num_items_x=3,
- num_items_y=2,
- dx=start_x,
- dy=start_y,
- dz=5.0,
- item_dx=bottle_spacing_x,
- item_dy=bottle_spacing_y,
-
- size_x=bottle_diameter,
- size_y=bottle_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="BIOYOND_Electrolyte_6VialCarrier",
- )
- carrier.num_items_x = 3
- carrier.num_items_y = 2
- carrier.num_items_z = 1
- for i in range(6):
- carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}")
- return carrier
-
-
-def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
- """1瓶载架 - 单个中央位置"""
-
- # 载架尺寸 (mm)
- carrier_size_x = 127.8
- carrier_size_y = 85.5
- carrier_size_z = 100.0
-
- # 烧杯尺寸
- beaker_diameter = 80.0
-
- # 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="BIOYOND_Electrolyte_1BottleCarrier",
- )
- carrier.num_items_x = 1
- carrier.num_items_y = 1
- carrier.num_items_z = 1
- carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
- return carrier
diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py
deleted file mode 100644
index d60d65ab..00000000
--- a/unilabos/resources/bioyond/bottles.py
+++ /dev/null
@@ -1,195 +0,0 @@
-from unilabos.resources.itemized_carrier import Bottle
-
-
-def BIOYOND_PolymerStation_Solid_Stock(
- name: str,
- diameter: float = 20.0,
- height: float = 100.0,
- max_volume: float = 30000.0, # 30mL
- barcode: str = None,
-) -> Bottle:
- """创建粉末瓶"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Solid_Stock",
- )
-
-
-def BIOYOND_PolymerStation_Solid_Vial(
- name: str,
- diameter: float = 25.0,
- height: float = 60.0,
- max_volume: float = 30000.0, # 30mL
- barcode: str = None,
-) -> Bottle:
- """创建粉末瓶"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Solid_Vial",
- )
-
-
-def BIOYOND_PolymerStation_Liquid_Vial(
- name: str,
- diameter: float = 25.0,
- height: float = 60.0,
- max_volume: float = 30000.0, # 30mL
- barcode: str = None,
-) -> Bottle:
- """创建滴定液瓶"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Liquid_Vial",
- )
-
-
-def BIOYOND_PolymerStation_Solution_Beaker(
- name: str,
- diameter: float = 60.0,
- height: float = 70.0,
- max_volume: float = 200000.0, # 200mL
- barcode: str = None,
-) -> Bottle:
- """创建溶液烧杯"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Solution_Beaker",
- )
-
-
-def BIOYOND_PolymerStation_Reagent_Bottle(
- name: str,
- diameter: float = 70.0,
- height: float = 120.0,
- max_volume: float = 500000.0, # 500mL
- barcode: str = None,
-) -> Bottle:
- """创建试剂瓶"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Reagent_Bottle",
- )
-
-
-def BIOYOND_PolymerStation_Reactor(
- name: str,
- diameter: float = 30.0,
- height: float = 80.0,
- max_volume: float = 50000.0, # 50mL
- barcode: str = None,
-) -> Bottle:
- """创建反应器"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Reactor",
- )
-
-
-def BIOYOND_PolymerStation_TipBox(
- name: str,
- size_x: float = 127.76, # 枪头盒宽度
- size_y: float = 85.48, # 枪头盒长度
- size_z: float = 100.0, # 枪头盒高度
- barcode: str = None,
-):
- """创建4×6枪头盒 (24个枪头)
-
- Args:
- name: 枪头盒名称
- size_x: 枪头盒宽度 (mm)
- size_y: 枪头盒长度 (mm)
- size_z: 枪头盒高度 (mm)
- barcode: 条形码
-
- Returns:
- TipBoxCarrier: 包含24个枪头孔位的枪头盒
- """
- from pylabrobot.resources import Container, Coordinate
-
- # 创建枪头盒容器
- tip_box = Container(
- name=name,
- size_x=size_x,
- size_y=size_y,
- size_z=size_z,
- category="tip_rack",
- model="BIOYOND_PolymerStation_TipBox_4x6",
- )
-
- # 设置自定义属性
- tip_box.barcode = barcode
- tip_box.tip_count = 24 # 4行×6列
- tip_box.num_items_x = 6 # 6列
- tip_box.num_items_y = 4 # 4行
-
- # 创建24个枪头孔位 (4行×6列)
- # 假设孔位间距为 9mm
- tip_spacing_x = 9.0 # 列间距
- tip_spacing_y = 9.0 # 行间距
- start_x = 14.38 # 第一个孔位的x偏移
- start_y = 11.24 # 第一个孔位的y偏移
-
- for row in range(4): # A, B, C, D
- for col in range(6): # 1-6
- spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6
- x = start_x + col * tip_spacing_x
- y = start_y + row * tip_spacing_y
-
- # 创建枪头孔位容器
- tip_spot = Container(
- name=spot_name,
- size_x=8.0, # 单个枪头孔位大小
- size_y=8.0,
- size_z=size_z - 10.0, # 略低于盒子高度
- category="tip_spot",
- )
-
- # 添加到枪头盒
- tip_box.assign_child_resource(
- tip_spot,
- location=Coordinate(x=x, y=y, z=0)
- )
-
- return tip_box
-
-
-def BIOYOND_PolymerStation_Flask(
- name: str,
- diameter: float = 60.0,
- height: float = 70.0,
- max_volume: float = 200000.0, # 200mL
- barcode: str = None,
-) -> Bottle:
- """聚合站-烧杯（统一 Flask 资源到 PolymerStation）"""
- return Bottle(
- name=name,
- diameter=diameter,
- height=height,
- max_volume=max_volume,
- barcode=barcode,
- model="BIOYOND_PolymerStation_Flask",
- )
diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py
deleted file mode 100644
index 5572536b..00000000
--- a/unilabos/resources/bioyond/decks.py
+++ /dev/null
@@ -1,155 +0,0 @@
-from os import name
-from pylabrobot.resources import Deck, Coordinate, Rotation
-
-from unilabos.resources.bioyond.warehouses import (
- bioyond_warehouse_1x4x4,
- bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08)
- bioyond_warehouse_1x4x2,
- bioyond_warehouse_reagent_stack, # 新增：试剂堆栈 (A1-B4)
- bioyond_warehouse_liquid_and_lid_handling,
- bioyond_warehouse_1x2x2,
- bioyond_warehouse_1x3x3,
- bioyond_warehouse_10x1x1,
- bioyond_warehouse_3x3x1,
- bioyond_warehouse_3x3x1_2,
- bioyond_warehouse_5x1x1,
- bioyond_warehouse_1x8x4,
- bioyond_warehouse_reagent_storage,
- # bioyond_warehouse_liquid_preparation,
- bioyond_warehouse_tipbox_storage, # 新增：Tip盒堆栈
- bioyond_warehouse_density_vial,
-)
-
-
-class BIOYOND_PolymerReactionStation_Deck(Deck):
- def __init__(
- self,
- name: str = "PolymerReactionStation_Deck",
- size_x: float = 2700.0,
- 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
- # 说明: 堆栈1物理上分为左右两部分
- # - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
- # - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
- self.warehouses = {
- "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"), # 左侧堆栈: A01～D04
- "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"), # 右侧堆栈: A05～D08
- "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"), # A01～A02
- # "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"), # A01～B04
- "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"), # A01～B03, 存放枪头盒.
- "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"), # A01～B03
- }
- self.warehouse_locations = {
- "堆栈1左": Coordinate(0.0, 430.0, 0.0), # 左侧位置
- "堆栈1右": Coordinate(2500.0, 430.0, 0.0), # 右侧位置
- "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
- # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
- "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
- "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
- }
- self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
- self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
-
- 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,
- name: str = "PolymerPreparationStation_Deck",
- size_x: float = 2700.0,
- 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
- # 样品类型（typeMode=1）：烧杯、试剂瓶、分装板 → 试剂堆栈、溶液堆栈
- # 试剂类型（typeMode=2）：样品板 → 粉末堆栈
- self.warehouses = {
- # 试剂类型 - 样品板
- "粉末堆栈": bioyond_warehouse_1x4x4("粉末堆栈"), # 4行×4列 (A01-D04)
-
- # 样品类型 - 烧杯、试剂瓶、分装板
- "试剂堆栈": bioyond_warehouse_reagent_stack("试剂堆栈"), # 2行×4列 (A01-B04)
- "溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"), # 4行×4列 (A01-D04)
- }
- self.warehouse_locations = {
- "粉末堆栈": Coordinate(0.0, 450.0, 0.0),
- "试剂堆栈": Coordinate(1850.0, 200.0, 0.0),
- "溶液堆栈": Coordinate(2500.0, 450.0, 0.0),
- }
-
- for warehouse_name, warehouse in self.warehouses.items():
- self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
-class BIOYOND_YB_Deck(Deck):
- def __init__(
- self,
- name: str = "YB_Deck",
- size_x: float = 4150,
- size_y: float = 1400.0,
- size_z: float = 2670.0,
- category: str = "deck",
- setup: bool = False
- ) -> None:
- super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
- if setup:
- self.setup()
-
- def setup(self) -> None:
- # 添加仓库
- self.warehouses = {
- "321窗口": bioyond_warehouse_1x2x2("321窗口"),
- "43窗口": bioyond_warehouse_1x2x2("43窗口"),
- "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
- "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
- "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
- "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
-
- "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
- "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
- "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
- "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
- }
- # 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),
- }
-
- 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
-
-
-
-
-
diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py
deleted file mode 100644
index ae9e473d..00000000
--- a/unilabos/resources/bioyond/warehouses.py
+++ /dev/null
@@ -1,311 +0,0 @@
-from unilabos.resources.warehouse import WareHouse, warehouse_factory
-
-# ================ 反应站相关堆栈 ================
-
-def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
- """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
-
- 使用行优先排序，前端展示为:
- A01 | A02 | A03 | A04
- B01 | B02 | B03 | B04
- C01 | C02 | C03 | C04
- D01 | D02 | D03 | D04
- """
- return warehouse_factory(
- name=name,
- num_items_x=4, # 4列
- num_items_y=4, # 4行
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=147.0,
- item_dy=106.0,
- item_dz=130.0,
- category="warehouse",
- col_offset=0, # 从01开始: A01, A02, A03, A04
- layout="row-major", # ⭐ 改为行优先排序
- )
-
-def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
- """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
- return warehouse_factory(
- name=name,
- num_items_x=4,
- num_items_y=4,
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=147.0,
- item_dy=106.0,
- item_dz=130.0,
- category="warehouse",
- col_offset=4, # 从05开始: A05, A06, A07, A08
- layout="row-major", # ⭐ 改为行优先排序
- )
-
-def bioyond_warehouse_density_vial(name: str) -> WareHouse:
- """创建测量小瓶仓库(测密度) A01～B03"""
- return warehouse_factory(
- name=name,
- num_items_x=3, # 3列（01-03）
- num_items_y=2, # 2行（A-B）
- num_items_z=1, # 1层
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=40.0,
- item_dy=40.0,
- item_dz=50.0,
- # 用更小的 resource_size 来表现 "小点的孔位"
- resource_size_x=30.0,
- resource_size_y=30.0,
- resource_size_z=12.0,
- category="warehouse",
- col_offset=0,
- layout="row-major",
- )
-
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
- """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
- return warehouse_factory(
- name=name,
- num_items_x=2, # 2列（01-02）
- num_items_y=1, # 1行（A）
- num_items_z=1, # 1层
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
- """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
- return warehouse_factory(
- name=name,
- num_items_x=3, # 3列（01-03）
- num_items_y=2, # 2行（A-B）
- num_items_z=1, # 1层
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- col_offset=0,
- layout="row-major",
- )
-
-def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
- """已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
- return warehouse_factory(
- name=name,
- num_items_x=4, # 4列（01-04）
- num_items_y=2, # 2行（A-B）
- num_items_z=1, # 1层
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- col_offset=0,
- layout="row-major",
- )
-
-# ================ 配液站相关堆栈 ================
-
-def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
- """创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
-
- 使用行优先排序，前端展示为:
- A01 | A02 | A03 | A04
- B01 | B02 | B03 | B04
- """
- return warehouse_factory(
- name=name,
- num_items_x=4, # 4列 (01-04)
- num_items_y=2, # 2行 (A-B)
- num_items_z=1, # 1层
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=147.0,
- item_dy=106.0,
- item_dz=130.0,
- category="warehouse",
- col_offset=0, # 从01开始
- layout="row-major", # ⭐ 使用行优先排序: A01,A02,A03,A04, B01,B02,B03,B04
- )
-
- # 定义bioyond的堆栈
-
-# =================== Other ===================
-
-def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
- """创建BioYond 4x2x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=1,
- num_items_y=4,
- num_items_z=2,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- removed_positions=None
- )
-
-def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
- """创建BioYond 1x2x2仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=1,
- num_items_y=2,
- num_items_z=2,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
- """创建BioYond 10x1x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=10,
- num_items_y=1,
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
- """创建BioYond 1x3x3仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=1,
- num_items_y=3,
- num_items_z=3,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
- """创建BioYond 2x1x3仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=2,
- num_items_y=1,
- num_items_z=3,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
- """创建BioYond 3x3x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=3,
- num_items_y=3,
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
- """已弃用：创建BioYond 5x1x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=5,
- num_items_y=1,
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
- """已弃用：创建BioYond 3x3x1仓库"""
- return warehouse_factory(
- name=name,
- num_items_x=3,
- num_items_y=3,
- num_items_z=1,
- dx=12.0,
- dy=12.0,
- dz=12.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- )
-
-def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
- """创建BioYond开关盖加液模块台面"""
- return warehouse_factory(
- name=name,
- num_items_x=2,
- num_items_y=5,
- num_items_z=1,
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=137.0,
- item_dy=96.0,
- item_dz=120.0,
- category="warehouse",
- removed_positions=None
- )
-
-def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
- """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
- return warehouse_factory(
- name=name,
- num_items_x=8, # 8列（01-08）
- num_items_y=4, # 4行（A-D）
- num_items_z=1, # 1层
- dx=10.0,
- dy=10.0,
- dz=10.0,
- item_dx=147.0,
- item_dy=106.0,
- item_dz=130.0,
- category="warehouse",
- )
diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py
index 3b3454a1..7c48bd2d 100644
--- a/unilabos/resources/itemized_carrier.py
+++ b/unilabos/resources/itemized_carrier.py
@@ -47,14 +47,15 @@ def __init__(
)
self.diameter = diameter
self.height = height
- self.barcode = barcode
+ # 存储 barcode 字符串到自定义属性，不覆盖父类的 barcode 对象属性
+ self._barcode_str = barcode if barcode else None
def serialize(self) -> dict:
return {
**super().serialize(),
"diameter": self.diameter,
"height": self.height,
- "barcode": self.barcode,
+ "barcode": self._barcode_str, # 序列化时输出字符串
}
T = TypeVar("T", bound=ResourceHolder)
@@ -149,6 +150,7 @@ def assign_child_resource(
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]
super().assign_child_resource(resource, location=location, reassign=reassign)
self.sites[idx] = resource
diff --git a/unilabos/resources/plr_additional_res_reg.py b/unilabos/resources/plr_additional_res_reg.py
index 1c019ded..c12872fc 100644
--- a/unilabos/resources/plr_additional_res_reg.py
+++ b/unilabos/resources/plr_additional_res_reg.py
@@ -2,19 +2,19 @@
def register():
# noinspection PyUnresolvedReferences
- from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
- # noinspection PyUnresolvedReferences
- from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Plate
- from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300PlateAdapter
- from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack
- from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash
- from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack
+ # from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
+ # # noinspection PyUnresolvedReferences
+ # from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Plate
+ # from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300PlateAdapter
+ # from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack
+ # from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash
+ # from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack
# noinspection PyUnresolvedReferences
from unilabos.devices.workstation.workstation_base import WorkStationContainer
- from unilabos.devices.liquid_handling.laiyu.laiyu import TransformXYZDeck
- from unilabos.devices.liquid_handling.laiyu.laiyu import TransformXYZContainer
+ # from unilabos.devices.liquid_handling.laiyu.laiyu import TransformXYZDeck
+ # from unilabos.devices.liquid_handling.laiyu.laiyu import TransformXYZContainer
- from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
- from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
+ # from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
+ # from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py
index 09e77493..610ba3dd 100644
--- a/unilabos/resources/resource_tracker.py
+++ b/unilabos/resources/resource_tracker.py
@@ -14,9 +14,9 @@
class ResourceDictPositionSize(BaseModel):
- depth: float = Field(description="Depth", default=0.0)
- width: float = Field(description="Width", default=0.0)
- height: float = Field(description="Height", default=0.0)
+ depth: float = Field(description="Depth", default=0.0) # z
+ width: float = Field(description="Width", default=0.0) # x
+ height: float = Field(description="Height", default=0.0) # y
class ResourceDictPositionScale(BaseModel):
@@ -469,9 +469,9 @@ def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
**res.config,
"name": res.name,
"type": res.config.get("type", plr_type),
- "size_x": res.config.get("size_x", 0),
- "size_y": res.config.get("size_y", 0),
- "size_z": res.config.get("size_z", 0),
+ "size_x": res.pose.size.width,
+ "size_y": res.pose.size.height,
+ "size_z": res.pose.size.depth,
"location": {
"x": res.pose.position.x,
"y": res.pose.position.y,
diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py
index b79c3683..8a9e62d9 100644
--- a/unilabos/ros/main_slave_run.py
+++ b/unilabos/ros/main_slave_run.py
@@ -11,7 +11,7 @@
from unilabos.app.register import register_devices_and_resources
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
-from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
+# from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.srv import SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 954a6532..5d7379e7 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -790,7 +790,7 @@ def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
def _handle_update(
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
- ) -> Dict[str, Any]:
+ ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
"""
处理资源更新操作的内部函数
@@ -802,6 +802,7 @@ def _handle_update(
Returns:
操作结果字典
"""
+ original_instances = []
for plr_resource, tree in zip(plr_resources, tree_set.trees):
if isinstance(plr_resource, ResourceDictInstance):
self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新")
@@ -844,6 +845,16 @@ def _handle_update(
and original_parent_resource is not None
):
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+ else:
+ # 判断是否变更了resource_site
+ target_site = original_instance.unilabos_extra.get("update_resource_site")
+ sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
+ site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
+ if target_site is not None and sites is not None and site_names is not None:
+ site_index = sites.index(original_instance)
+ site_name = site_names[site_index]
+ if site_name != target_site:
+ self.transfer_to_new_resource(original_instance, tree, additional_add_params)
# 加载状态
original_instance.load_all_state(states)
@@ -851,13 +862,14 @@ def _handle_update(
self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
)
+ original_instances.append(original_instance)
# 调用driver的update回调
func = getattr(self.driver_instance, "resource_tree_update", None)
if callable(func):
- func(plr_resources)
+ func(original_instances)
- return {"success": True, "action": "update"}
+ return {"success": True, "action": "update"}, original_instances
try:
data = json.loads(req.command)
@@ -881,6 +893,13 @@ def _handle_update(
raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources()
result = _handle_add(plr_resources, tree_set, additional_add_params)
+ new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
+ r = SerialCommand.Request()
+ r.command = json.dumps(
+ {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
+ response: SerialCommand_Response = await self._resource_clients[
+ "c2s_update_resource_tree"].call_async(r) # type: ignore
+ self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
results.append(result)
elif action == "update":
if tree_set is None:
@@ -891,7 +910,14 @@ def _handle_update(
plr_resources.append(tree.root_node)
else:
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
- result = _handle_update(plr_resources, tree_set, additional_add_params)
+ result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
+ # new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
+ # r = SerialCommand.Request()
+ # r.command = json.dumps(
+ # {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
+ # response: SerialCommand_Response = await self._resource_clients[
+ # "c2s_update_resource_tree"].call_async(r) # type: ignore
+ # self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
results.append(result)
elif action == "remove":
result = _handle_remove(resources_uuid)
@@ -1758,6 +1784,7 @@ def __init__(
or driver_class.__name__ == "LiquidHandlerBiomek"
or driver_class.__name__ == "PRCXI9300Handler"
or driver_class.__name__ == "TransformXYZHandler"
+ or driver_class.__name__ == "OpcUaClient"
)
# 创建设备类实例