diff --git a/docs/user_guide/graph_files.md b/docs/user_guide/graph_files.md index a8f86aaf..53354d7e 100644 --- a/docs/user_guide/graph_files.md +++ b/docs/user_guide/graph_files.md @@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法 ### 使用示例 ```python -from unilabos.ros.nodes.resource_tracker import ResourceDictInstance +from unilabos.resources.resource_tracker import ResourceDictInstance # 旧格式节点 old_format_node = { @@ -477,10 +477,10 @@ old_format_node = { instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node) # 访问标准化后的数据 -print(instance.res_content.id) # "pump_1" -print(instance.res_content.uuid) # 自动生成的 UUID +print(instance.res_content.id) # "pump_1" +print(instance.res_content.uuid) # 自动生成的 UUID print(instance.res_content.config) # {} -print(instance.res_content.data) # {} +print(instance.res_content.data) # {} ``` ### 格式迁移建议 diff --git a/test/resources/__init__.py b/test/resources/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/test/ros/__init__.py b/test/ros/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/test/workflow/__init__.py b/test/workflow/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/test/workflow/merge_workflow.py b/test/workflow/merge_workflow.py deleted file mode 100644 index 2801a747..00000000 --- a/test/workflow/merge_workflow.py +++ /dev/null @@ -1,35 +0,0 @@ -import sys -from datetime import datetime -from pathlib import Path - -ROOT_DIR = Path(__file__).resolve().parents[2] -if str(ROOT_DIR) not in sys.path: - sys.path.insert(0, str(ROOT_DIR)) - -import pytest - -from unilabos.workflow.convert_from_json import ( - convert_from_json, - normalize_steps as _normalize_steps, - normalize_labware as _normalize_labware, -) -from unilabos.workflow.common import draw_protocol_graph_with_ports - - -@pytest.mark.parametrize( - "protocol_name", - [ - "example_bio", - # "bioyond_materials_liquidhandling_1", - "example_prcxi", - ], -) -def test_build_protocol_graph(protocol_name): - data_path = Path(__file__).with_name(f"{protocol_name}.json") - - graph = convert_from_json(data_path, workstation_name="PRCXi") - - timestamp = datetime.now().strftime("%Y%m%d_%H%M") - output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png") - draw_protocol_graph_with_ports(graph, str(output_path)) - print(graph) diff --git a/test/resources/bioyond_materials_liquidhandling_1.json b/tests/resources/bioyond_materials_liquidhandling_1.json similarity index 100% rename from test/resources/bioyond_materials_liquidhandling_1.json rename to tests/resources/bioyond_materials_liquidhandling_1.json diff --git a/test/resources/bioyond_materials_liquidhandling_2.json b/tests/resources/bioyond_materials_liquidhandling_2.json similarity index 100% rename from test/resources/bioyond_materials_liquidhandling_2.json rename to tests/resources/bioyond_materials_liquidhandling_2.json diff --git a/test/resources/bioyond_materials_reaction.json b/tests/resources/bioyond_materials_reaction.json similarity index 100% rename from test/resources/bioyond_materials_reaction.json rename to tests/resources/bioyond_materials_reaction.json diff --git a/test/resources/test_bottle_carrier.py b/tests/resources/test_bottle_carrier.py similarity index 100% rename from test/resources/test_bottle_carrier.py rename to tests/resources/test_bottle_carrier.py diff --git a/test/resources/test_converter_bioyond.py b/tests/resources/test_converter_bioyond.py similarity index 100% rename from test/resources/test_converter_bioyond.py rename to tests/resources/test_converter_bioyond.py diff --git a/test/resources/test_itemized_carrier.py b/tests/resources/test_itemized_carrier.py similarity index 100% rename from test/resources/test_itemized_carrier.py rename to tests/resources/test_itemized_carrier.py diff --git a/test/resources/test_resourcetreeset.py b/tests/resources/test_resourcetreeset.py similarity index 95% rename from test/resources/test_resourcetreeset.py rename to tests/resources/test_resourcetreeset.py index 1ba9ab20..cd1ff91a 100644 --- a/test/resources/test_resourcetreeset.py +++ b/tests/resources/test_resourcetreeset.py @@ -2,9 +2,8 @@ import json import os -from pylabrobot.resources import Resource as ResourcePLR from unilabos.resources.graphio import resource_bioyond_to_plr -from unilabos.ros.nodes.resource_tracker import ResourceTreeSet +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.registry.registry import lab_registry from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck diff --git a/test/ros/msgs/__init__.py b/tests/ros/msgs/__init__.py similarity index 100% rename from test/ros/msgs/__init__.py rename to tests/ros/msgs/__init__.py diff --git a/test/ros/msgs/test_basic.py b/tests/ros/msgs/test_basic.py similarity index 100% rename from test/ros/msgs/test_basic.py rename to tests/ros/msgs/test_basic.py diff --git a/test/ros/msgs/test_conversion.py b/tests/ros/msgs/test_conversion.py similarity index 100% rename from test/ros/msgs/test_conversion.py rename to tests/ros/msgs/test_conversion.py diff --git a/test/ros/msgs/test_mapping.py b/tests/ros/msgs/test_mapping.py similarity index 100% rename from test/ros/msgs/test_mapping.py rename to tests/ros/msgs/test_mapping.py diff --git a/test/ros/msgs/test_runner.py b/tests/ros/msgs/test_runner.py similarity index 100% rename from test/ros/msgs/test_runner.py rename to tests/ros/msgs/test_runner.py diff --git a/test/workflow/example_bio.json b/tests/workflow/example_bio.json similarity index 100% rename from test/workflow/example_bio.json rename to tests/workflow/example_bio.json diff --git a/test/workflow/example_bio_graph.png b/tests/workflow/example_bio_graph.png similarity index 100% rename from test/workflow/example_bio_graph.png rename to tests/workflow/example_bio_graph.png diff --git a/test/workflow/example_prcxi.json b/tests/workflow/example_prcxi.json similarity index 100% rename from test/workflow/example_prcxi.json rename to tests/workflow/example_prcxi.json diff --git a/test/workflow/example_prcxi_graph.png b/tests/workflow/example_prcxi_graph.png similarity index 100% rename from test/workflow/example_prcxi_graph.png rename to tests/workflow/example_prcxi_graph.png diff --git a/test/workflow/example_prcxi_graph_20251022_1359.png b/tests/workflow/example_prcxi_graph_20251022_1359.png similarity index 100% rename from test/workflow/example_prcxi_graph_20251022_1359.png rename to tests/workflow/example_prcxi_graph_20251022_1359.png diff --git a/unilabos/app/backend.py b/unilabos/app/backend.py index b2bc0af2..4af03cb0 100644 --- a/unilabos/app/backend.py +++ b/unilabos/app/backend.py @@ -1,6 +1,6 @@ import threading -from unilabos.ros.nodes.resource_tracker import ResourceTreeSet +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.utils import logger diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 2a2facd4..f230a92d 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -315,7 +315,7 @@ def main(): from unilabos.app.web import start_server from unilabos.app.register import register_devices_and_resources from unilabos.resources.graphio import modify_to_backend_format - from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict + from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict # 显示启动横幅 print_unilab_banner(args_dict) diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 8968f033..64a9418b 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -6,12 +6,10 @@ import json import os -import time -from threading import Thread from typing import List, Dict, Any, Optional import requests -from unilabos.ros.nodes.resource_tracker import ResourceTreeSet +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.utils.log import info from unilabos.config.config import HTTPConfig, BasicConfig from unilabos.utils import logger diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 8c44712f..8e1a5b33 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -1311,19 +1311,3 @@ def cancel_goal(self, job_id: str) -> None: logger.info(f"[WebSocketClient] Job {job_log} cancelled successfully") else: logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}") - - def publish_host_ready(self) -> None: - """发布host_node ready信号""" - if self.is_disabled or not self.is_connected(): - logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal") - return - - message = { - "action": "host_node_ready", - "data": { - "status": "ready", - "timestamp": time.time(), - }, - } - self.message_processor.send_message(message) - logger.info("[WebSocketClient] Host node ready signal published") diff --git a/unilabos/devices/laiyu_liquid/__init__.py b/unilabos/devices/laiyu_liquid/__init__.py deleted file mode 100644 index 89352521..00000000 --- a/unilabos/devices/laiyu_liquid/__init__.py +++ /dev/null @@ -1,307 +0,0 @@ -""" -LaiYu_Liquid 液体处理工作站集成模块 - -该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括： -- 硬件后端和抽象接口 -- 资源定义和管理 -- 协议执行和液体传输 -- 工作台配置和布局 - -主要组件： -- LaiYuLiquidBackend: 硬件后端实现 -- LaiYuLiquid: 液体处理器抽象接口 -- 各种资源类：枪头架、板、容器等 -- 便捷创建函数和配置管理 - -使用示例： - from unilabos.devices.laiyu_liquid import ( - LaiYuLiquid, - LaiYuLiquidBackend, - create_standard_deck, - create_tip_rack_1000ul - ) - - # 创建后端和液体处理器 - backend = LaiYuLiquidBackend() - lh = LaiYuLiquid(backend=backend) - - # 创建工作台 - deck = create_standard_deck() - lh.deck = deck - - # 设置和运行 - await lh.setup() -""" - -# 版本信息 -__version__ = "1.0.0" -__author__ = "LaiYu_Liquid Integration Team" -__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块" - -# 驱动程序导入 -from .drivers import ( - XYZStepperController, - SOPAPipette, - MotorAxis, - MotorStatus, - SOPAConfig, - SOPAStatusCode, - StepperMotorDriver -) - -# 控制器导入 -from .controllers import ( - XYZController, - PipetteController, -) - -# 后端导入 -from .backend.rviz_backend import ( - LiquidHandlerRvizBackend, -) - -# 资源类和创建函数导入 -from .core.laiyu_liquid_res import ( - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack -) - -# 主设备类和配置 -from .core.laiyu_liquid_main import ( - LaiYuLiquid, - LaiYuLiquidConfig, - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack, - create_quick_setup -) - -# 后端创建函数导入 -from .backend import ( - LaiYuLiquidBackend, - create_laiyu_backend, -) - -# 导出所有公共接口 -__all__ = [ - # 版本信息 - "__version__", - "__author__", - "__description__", - - # 驱动程序 - "SOPAPipette", - "SOPAConfig", - "StepperMotorDriver", - "XYZStepperController", - - # 控制器 - "PipetteController", - "XYZController", - - # 后端 - "LiquidHandlerRvizBackend", - - # 资源创建函数 - "create_tip_rack_1000ul", - "create_tip_rack_200ul", - "create_96_well_plate", - "create_deep_well_plate", - "create_8_tube_rack", - "create_standard_deck", - "create_waste_container", - "create_wash_container", - "create_reagent_container", - "load_deck_config", - - # 后端创建函数 - "create_laiyu_backend", - - # 主要类 - "LaiYuLiquid", - "LaiYuLiquidConfig", - "LaiYuLiquidBackend", - "LaiYuLiquidDeck", - - # 工具函数 - "get_version", - "get_supported_resources", - "create_quick_setup", - "validate_installation", - "print_module_info", - "setup_logging", -] - -# 别名定义，为了向后兼容 -LaiYuLiquidDevice = LaiYuLiquid # 主设备类别名 -LaiYuLiquidController = XYZController # 控制器别名 -LaiYuLiquidDriver = XYZStepperController # 驱动器别名 - -# 模块级别的便捷函数 - -def get_version() -> str: - """ - 获取模块版本 - - Returns: - str: 版本号 - """ - return __version__ - - -def get_supported_resources() -> dict: - """ - 获取支持的资源类型 - - Returns: - dict: 支持的资源类型字典 - """ - return { - "tip_racks": { - "LaiYuLiquidTipRack": LaiYuLiquidTipRack, - }, - "containers": { - "LaiYuLiquidContainer": LaiYuLiquidContainer, - }, - "decks": { - "LaiYuLiquidDeck": LaiYuLiquidDeck, - }, - "devices": { - "LaiYuLiquid": LaiYuLiquid, - } - } - - -def create_quick_setup() -> tuple: - """ - 快速创建基本设置 - - Returns: - tuple: (backend, controllers, resources) 的元组 - """ - # 创建后端 - backend = LiquidHandlerRvizBackend() - - # 创建控制器（使用默认端口进行演示） - pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4) - xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False) - - # 创建测试资源 - tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") - tip_rack_200 = create_tip_rack_200ul("tip_rack_200") - well_plate = create_96_well_plate("96_well_plate") - - controllers = { - 'pipette': pipette_controller, - 'xyz': xyz_controller - } - - resources = { - 'tip_rack_1000': tip_rack_1000, - 'tip_rack_200': tip_rack_200, - 'well_plate': well_plate - } - - return backend, controllers, resources - - -def validate_installation() -> bool: - """ - 验证模块安装是否正确 - - Returns: - bool: 安装是否正确 - """ - try: - # 检查核心类是否可以导入 - from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig - from .backend import LaiYuLiquidBackend - from .controllers import XYZController, PipetteController - from .drivers import XYZStepperController, SOPAPipette - - # 尝试创建基本对象 - config = LaiYuLiquidConfig() - backend = create_laiyu_backend("validation_test") - - print("模块安装验证成功") - return True - - except Exception as e: - print(f"模块安装验证失败: {e}") - return False - - -def print_module_info(): - """打印模块信息""" - print(f"LaiYu_Liquid 集成模块") - print(f"版本: {__version__}") - print(f"作者: {__author__}") - print(f"描述: {__description__}") - print(f"") - print(f"支持的资源类型:") - - resources = get_supported_resources() - for category, types in resources.items(): - print(f" {category}:") - for type_name, type_class in types.items(): - print(f" - {type_name}: {type_class.__name__}") - - print(f"") - print(f"主要功能:") - print(f" - 硬件集成: LaiYuLiquidBackend") - print(f" - 抽象接口: LaiYuLiquid") - print(f" - 资源管理: 各种资源类和创建函数") - print(f" - 协议执行: transfer_liquid 和相关函数") - print(f" - 配置管理: deck.json 和加载函数") - - -# 模块初始化时的检查 -def _check_dependencies(): - """检查依赖项""" - try: - import pylabrobot - import asyncio - import json - import logging - return True - except ImportError as e: - import logging - logging.warning(f"缺少依赖项 {e}") - return False - - -# 执行依赖检查 -_dependencies_ok = _check_dependencies() - -if not _dependencies_ok: - import logging - logging.warning("某些依赖项缺失，模块功能可能受限") - - -# 模块级别的日志配置 -import logging - -def setup_logging(level: str = "INFO"): - """ - 设置模块日志 - - Args: - level: 日志级别 (DEBUG, INFO, WARNING, ERROR) - """ - logger = logging.getLogger("LaiYu_Liquid") - logger.setLevel(getattr(logging, level.upper())) - - if not logger.handlers: - handler = logging.StreamHandler() - formatter = logging.Formatter( - '%(asctime)s - %(name)s - %(levelname)s - %(message)s' - ) - handler.setFormatter(formatter) - logger.addHandler(handler) - - return logger - - -# 默认日志设置 -_logger = setup_logging() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/__init__.py b/unilabos/devices/laiyu_liquid/backend/__init__.py deleted file mode 100644 index 4bf29392..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/backend/laiyu_backend.py b/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py deleted file mode 100644 index 5e8041c0..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/backend/rviz_backend.py b/unilabos/devices/laiyu_liquid/backend/rviz_backend.py deleted file mode 100644 index 44e7be46..00000000 --- a/unilabos/devices/laiyu_liquid/backend/rviz_backend.py +++ /dev/null @@ -1,209 +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 - - -class LiquidHandlerRvizBackend(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): - """Initialize a chatter box backend.""" - super().__init__() - self._num_channels = num_channels -# rclpy.init() - if not rclpy.ok(): - rclpy.init() - self.joint_state_publisher = None - - async def setup(self): - self.joint_state_publisher = JointStatePublisher() - await super().setup() - async def stop(self): - pass - - 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): - pass - - async def unassigned_resource_callback(self, name: str): - pass - - async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs): - - 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:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} " - f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} " - f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} " - f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} " - # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} " - f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}" - ) - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick") - # goback() - - - - - async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs): - - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash") - # goback() - - async def aspirate( - self, - ops: List[SingleChannelAspiration], - use_channels: List[int], - **backend_kwargs, - ): - # 执行吸液操作 - pass - - 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:<{LiquidHandlerRvizBackend._vol_length}} " - f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} " - f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} " - f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._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}" - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "") - - - async def dispense( - self, - ops: List[SingleChannelDispense], - use_channels: List[int], - **backend_kwargs, - ): - - 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:<{LiquidHandlerRvizBackend._vol_length}} " - f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} " - f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} " - f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._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:<{LiquidHandlerRvizBackend._kwargs_length}}" - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "") - - async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs): - pass - - async def drop_tips96(self, drop: DropTipRack, **backend_kwargs): - pass - - async def aspirate96( - self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer] - ): - pass - - async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]): - pass - - async def pick_up_resource(self, pickup: ResourcePickup): - # 执行资源拾取操作 - pass - - async def move_picked_up_resource(self, move: ResourceMove): - # 执行资源移动操作 - pass - - async def drop_resource(self, drop: ResourceDrop): - # 执行资源放置操作 - pass - - def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool: - return True - \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.json b/unilabos/devices/laiyu_liquid/config/deckconfig.json deleted file mode 100644 index ddda7e0f..00000000 --- a/unilabos/devices/laiyu_liquid/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, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A4", - "position": { - "x": 128.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B1", - "position": { - "x": 23.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B2", - "position": { - "x": 58.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B3", - "position": { - "x": 93.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B4", - "position": { - "x": 128.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - } - ], - "well_spacing": { - "x": 35.0, - "y": 35.0 - }, - "grid": { - "rows": 2, - "columns": 4, - "row_labels": ["A", "B"], - "column_labels": ["1", "2", "3", "4"] - }, - "metadata": { - "description": "8个试管位置，2x4排列", - "max_volume_ul": 77000, - "well_count": 8, - "tube_type": "50ml_falcon" - } - }, - { - "id": "module_2_96well_deep", - "name": "96深孔板", - "type": "96_well_plate", - "position": { - "x": 175.0, - "y": 11.0, - "z": 48.5 - }, - "size": { - "x": 127.1, - "y": 85.6, - "z": 45.5 - }, - "wells": [ - { - "id": "A01", - "position": { - "x": 175.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A02", - "position": { - "x": 184.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A03", - "position": { - "x": 193.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A04", - "position": { - "x": 202.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A05", - "position": { - "x": 211.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A06", - "position": { - "x": 220.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - 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} - } - ], - "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/laiyu_liquid/config/deckconfig.md b/unilabos/devices/laiyu_liquid/config/deckconfig.md deleted file mode 100644 index 7359e625..00000000 --- a/unilabos/devices/laiyu_liquid/config/deckconfig.md +++ /dev/null @@ -1,14 +0,0 @@ - goto 171 178 57 H1 - goto 171 117 57 A1 - goto 172 178 130 - goto 173 179 133 - goto 173 180 133 -goto 173 180 138 -goto 173 180 125 （+10mm，在空的上面边缘） -goto 173 180 130 取不到 -goto 173 180 133 取不到 -goto 173 180 135 -goto 173 180 137 取到了！！！！ -goto 173 180 131 弹出枪头 H1 - -goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！） \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/controllers/__init__.py b/unilabos/devices/laiyu_liquid/controllers/__init__.py deleted file mode 100644 index d50b1eca..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/controllers/pipette_controller.py b/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py deleted file mode 100644 index 6c314a3a..00000000 --- a/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py +++ /dev/null @@ -1,1073 +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 - -# 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.laiyu_liquid.drivers.sopa_pipette_driver import ( - SOPAPipette, - SOPAConfig, - SOPAStatusCode, - DetectionMode, - create_sopa_pipette, -) -from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import ( - XYZStepperController, - MotorAxis, - MotorStatus, - ModbusException -) - -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.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[XYZStepperController] = None - self.xyz_port = xyz_port - self.xyz_connected = False - - # 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: - try: - self.xyz_controller = XYZStepperController(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: - 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() - 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 - """ - 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.tip_status = TipStatus.TIP_ATTACHED - self.tip_count += 1 - self.current_volume = 0.0 - logger.info("枪头装载成功") - return True - 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 - """ - if self.tip_status == TipStatus.NO_TIP: - logger.warning("无枪头可弹出") - return True - - try: - if self.pipette.eject_tip(): - 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 - """ - 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 - """ - 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""" - 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/ttyUSB0): ").strip() or "/dev/ttyUSB0" - 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 in ['y', 'yes']: - xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB1): ").strip() or "/dev/ttyUSB1" - - 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/laiyu_liquid/controllers/xyz_controller.py b/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py deleted file mode 100644 index 2526f485..00000000 --- a/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py +++ /dev/null @@ -1,1183 +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 -import time -from typing import Optional, Dict, Tuple, Union -from dataclasses import dataclass, 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.laiyu_liquid.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 = 160.0 # Z轴最大行程 - - # 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 = 100 # 回零速度 (rpm) - homing_timeout: float = 30.0 # 回零超时时间 - safe_clearance: float = 1.0 # 安全间隙 (mm) - position_stable_time: float = 3.0 # 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 = 100 # 默认运动速度 (rpm) - 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() - self.origin_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) - 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.dump(asdict(self.coordinate_origin), 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 - - 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 - - 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 - - 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 - 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""" - if x is not None and (x < 0 or x > self.machine_config.max_travel_x): - raise CoordinateSystemError(f"X轴超出行程范围: {x}mm (0 ~ {self.machine_config.max_travel_x}mm)") - - if y is not None and (y < 0 or y > self.machine_config.max_travel_y): - raise CoordinateSystemError(f"Y轴超出行程范围: {y}mm (0 ~ {self.machine_config.max_travel_y}mm)") - - if z is not None and (z < 0 or z > self.machine_config.max_travel_z): - raise CoordinateSystemError(f"Z轴超出行程范围: {z}mm (0 ~ {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) -> 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 - speed = self.machine_config.homing_speed * direction - if not self.set_speed_mode(axis, speed): - 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.machine_config.default_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() - - for axis in MotorAxis: - axis_name = axis.name.lower() - current_steps = positions[axis].steps - self.coordinate_origin.work_origin_steps[axis_name] = current_steps - - logger.info(f"{axis.name}轴工作原点设置为: {current_steps}步 " - f"({self.steps_to_mm(axis, current_steps):.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 - - # ==================== 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: int = 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 (rpm) - 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 - - # 步骤1: Z轴先上升到安全高度 - if z 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'], 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 - xy_success = True - if x is not None: - machine_steps = self.work_to_machine_steps(x, None, None) - if not self.move_to_position(MotorAxis.X, machine_steps['x'], speed, acceleration): - xy_success = False - - if y is not None: - machine_steps = self.work_to_machine_steps(None, y, None) - if not self.move_to_position(MotorAxis.Y, machine_steps['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: - machine_steps = self.work_to_machine_steps(None, None, z) - if not self.move_to_position(MotorAxis.Z, machine_steps['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: int = 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 (rpm) - 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(target_x, target_y, target_z, speed, 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(rpm)，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=500): - 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} rpm") - 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 2000") - continue - - try: - new_speed = int(parts[1]) - if new_speed <= 0: - print("速度必须大于0") - continue - if new_speed > 10000: - print("速度不能超过10000 rpm") - continue - - current_speed = new_speed - print(f"运动速度设置为: {current_speed} rpm") - - 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} rpm") - print(f" 默认速度: {config.default_speed} rpm") - 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=100, - default_speed=100 - ) - 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/tty.usbserial-3130', - 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/ttyCH341USB0' # CH340 USB串口转换器 - ] - - 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() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/__init__.py b/unilabos/devices/laiyu_liquid/core/__init__.py deleted file mode 100644 index 87214f83..00000000 --- a/unilabos/devices/laiyu_liquid/core/__init__.py +++ /dev/null @@ -1,44 +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_main import ( - LaiYuLiquid, - LaiYuLiquidConfig, - LaiYuLiquidBackend, - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack, - create_quick_setup -) - -from .laiyu_liquid_res import ( - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack -) - -__all__ = [ - # 主设备类 - 'LaiYuLiquid', - 'LaiYuLiquidConfig', - 'LaiYuLiquidBackend', - - # 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/laiyu_liquid/core/abstract_protocol.py b/unilabos/devices/laiyu_liquid/core/abstract_protocol.py deleted file mode 100644 index 9959c364..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/core/laiyu_liquid_main.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py deleted file mode 100644 index f369a208..00000000 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py +++ /dev/null @@ -1,888 +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 - -from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - -# 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""" - - _ros_node: BaseROS2DeviceNode - - 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 post_init(self, ros_node: BaseROS2DeviceNode): - self._ros_node = ros_node - - 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 self._ros_node.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 self._ros_node.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 self._ros_node.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 self._ros_node.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 self._ros_node.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 self._ros_node.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 self._ros_node.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", -] diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py deleted file mode 100644 index f6adcb13..00000000 --- a/unilabos/devices/laiyu_liquid/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_main 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/laiyu_liquid/docs/CHANGELOG.md b/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md deleted file mode 100644 index a0f2b632..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/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/laiyu_liquid/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/laiyu_liquid/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/laiyu_liquid/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/laiyu_liquid/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/laiyu_liquid/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 diff --git "a/unilabos/devices/laiyu_liquid/docs/hardware/\347\241\254\344\273\266\350\277\236\346\216\245\351\205\215\347\275\256\346\214\207\345\215\227.md" "b/unilabos/devices/laiyu_liquid/docs/hardware/\347\241\254\344\273\266\350\277\236\346\216\245\351\205\215\347\275\256\346\214\207\345\215\227.md" deleted file mode 100644 index 64529097..00000000 --- "a/unilabos/devices/laiyu_liquid/docs/hardware/\347\241\254\344\273\266\350\277\236\346\216\245\351\205\215\347\275\256\346\214\207\345\215\227.md" +++ /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/laiyu_liquid/docs/readme.md b/unilabos/devices/laiyu_liquid/docs/readme.md deleted file mode 100644 index 4927138a..00000000 --- a/unilabos/devices/laiyu_liquid/docs/readme.md +++ /dev/null @@ -1,269 +0,0 @@ -# LaiYu_Liquid 液体处理工作站 - -## 概述 - -LaiYu_Liquid 是一个完全集成到 UniLabOS 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 - - - -## 🚀 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 -├── 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 - - diff --git a/unilabos/devices/laiyu_liquid/drivers/__init__.py b/unilabos/devices/laiyu_liquid/drivers/__init__.py deleted file mode 100644 index cedd47a0..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/drivers/sopa_pipette_driver.py b/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py deleted file mode 100644 index 3cfed55f..00000000 --- a/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py +++ /dev/null @@ -1,1079 +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 - status_char = response[10] if len(response) > 10 else '0' - self._tip_present = (status_char == '1') - return self._tip_present - 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/laiyu_liquid/drivers/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py deleted file mode 100644 index 146cbb4e..00000000 --- a/unilabos/devices/laiyu_liquid/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("CRC校验失败") - - 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/laiyu_liquid/tests/__init__.py b/unilabos/devices/laiyu_liquid/tests/__init__.py deleted file mode 100644 index 7ff58fe2..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid/tests/test_deck_config.py b/unilabos/devices/laiyu_liquid/tests/test_deck_config.py deleted file mode 100644 index 04688302..00000000 --- a/unilabos/devices/laiyu_liquid/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/laiyu_liquid_test/driver_enable_move_test.py b/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py deleted file mode 100644 index a3c5797d..00000000 --- a/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py +++ /dev/null @@ -1,138 +0,0 @@ - -import os -import time -import json -import logging -from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus - -# ========== 日志配置 ========== -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger("XYZ_Debug") - - -def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController: - """ - 初始化通信层与三轴控制器 - """ - logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps") - transport = ModbusRTUTransport(port=port, baudrate=baudrate) - transport.open() - client = ModbusClient(transport) - return XYZStepperController(client=client, port=port, baudrate=baudrate) - - -def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool: - """ - 如果已存在软零点文件则加载，否则返回 False - """ - if not os.path.exists(path): - logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。") - return False - - try: - with open(path, "r", encoding="utf-8") as f: - data = json.load(f) - origin = data.get("work_origin_steps", {}) - ctrl.work_origin_steps = origin - ctrl.is_homed = True - logger.info(f"✔ 已加载软零点文件：{path}") - logger.info(f"当前软零点步数: {origin}") - return True - except Exception as e: - logger.error(f"读取软零点文件失败: {e}") - return False - - -def test_enable_axis(ctrl: XYZStepperController): - """ - 依次使能 X / Y / Z 三轴 - """ - logger.info("=== 测试各轴使能 ===") - for axis in ["X", "Y", "Z"]: - try: - result = ctrl.enable(axis, True) - if result: - vals = ctrl.get_status(axis) - st = MotorStatus(vals[3]) - logger.info(f"{axis} 轴使能成功，当前状态: {st.name}") - else: - logger.error(f"{axis} 轴使能失败") - except Exception as e: - logger.error(f"{axis} 轴使能异常: {e}") - time.sleep(0.5) - - -def test_status_read(ctrl: XYZStepperController): - """ - 读取各轴当前状态（调试） - """ - logger.info("=== 当前各轴状态 ===") - for axis in ["X", "Y", "Z"]: - try: - vals = ctrl.get_status(axis) - st = MotorStatus(vals[3]) - logger.info( - f"{axis}: steps={vals[0]}, speed={vals[1]}, " - f"current={vals[2]}, status={st.name}" - ) - except Exception as e: - logger.error(f"获取 {axis} 状态失败: {e}") - time.sleep(0.2) - - -def redefine_soft_zero(ctrl: XYZStepperController): - """ - 手动重新定义软零点 - """ - logger.info("=== ⚙️ 重新定义软零点 ===") - ctrl.define_current_as_zero("work_origin.json") - logger.info("✅ 新软零点已写入 work_origin.json") - - -def test_soft_zero_move(ctrl: XYZStepperController): - """ - 以软零点为基准执行三轴运动测试 - """ - logger.info("=== 测试软零点相对运动 ===") - ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800) - - for axis in ["X", "Y", "Z"]: - ctrl.wait_complete(axis) - - test_status_read(ctrl) - logger.info("✅ 软零点运动测试完成") - - -def main(): - ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200) - - try: - test_enable_axis(ctrl) - test_status_read(ctrl) - - # === 初始化或加载软零点 === - loaded = load_existing_soft_zero(ctrl) - if not loaded: - logger.info("👣 首次运行，定义软零点并保存。") - ctrl.define_current_as_zero("work_origin.json") - - # === 软零点回归动作 === - ctrl.return_to_work_origin() - - # === 可选软零点运动测试 === - # test_soft_zero_move(ctrl) - - except KeyboardInterrupt: - logger.info("🛑 手动中断退出") - - except Exception as e: - logger.exception(f"❌ 调试出错: {e}") - - finally: - if hasattr(ctrl.client, "transport"): - ctrl.client.transport.close() - logger.info("串口已安全关闭 ✅") - - -if __name__ == "__main__": - main() diff --git a/unilabos/devices/laiyu_liquid_test/driver_status_test.py b/unilabos/devices/laiyu_liquid_test/driver_status_test.py deleted file mode 100644 index f6960d5b..00000000 --- a/unilabos/devices/laiyu_liquid_test/driver_status_test.py +++ /dev/null @@ -1,58 +0,0 @@ - -import logging -from xyz_stepper_driver import ( - ModbusRTUTransport, - ModbusClient, - XYZStepperController, - MotorAxis, -) - -logger = logging.getLogger("XYZStepperCommTest") -logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s") - - -def test_xyz_stepper_comm(): - """仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）""" - port = "/dev/ttyUSB1" - baudrate = 115200 - timeout = 1.2 # 略长避免响应被截断 - - logger.info(f"尝试连接 Modbus 设备 {port} ...") - transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout) - transport.open() - - client = ModbusClient(transport) - ctrl = XYZStepperController(client) - - try: - logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...") - for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]: - addr = ctrl.axis_addr[axis] - - try: - # # 在 get_status 前打印原始寄存器内容 - # regs = client.read_registers(addr, ctrl.REG_STATUS, 6) - # hex_regs = [f"0x{val:04X}" for val in regs] - # logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}") - - # 调用 get_status() 正常解析 - status = ctrl.get_status(axis) - logger.info( - f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, " - f"current={status.current}, status={status.status.name}" - ) - - except Exception as e_axis: - logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}") - - - except Exception as e: - logger.error(f"❌ 通讯测试失败: {e}") - - finally: - transport.close() - logger.info("🔌 串口已关闭") - - -if __name__ == "__main__": - test_xyz_stepper_comm() diff --git a/unilabos/devices/laiyu_liquid_test/work_origin.json b/unilabos/devices/laiyu_liquid_test/work_origin.json deleted file mode 100644 index 935c3e3b..00000000 --- a/unilabos/devices/laiyu_liquid_test/work_origin.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "work_origin_steps": { - "x": 11799, - "y": 11476, - "z": 3312 - }, - "timestamp": "2025-11-04T15:31:09.802155" -} \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py deleted file mode 100644 index 6ad37ed7..00000000 --- a/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py +++ /dev/null @@ -1,336 +0,0 @@ - -""" -XYZ 三轴步进电机驱动（统一字符串参数版） -基于 Modbus RTU 协议 -Author: Xiuyu Chen (Modified by Assistant) -""" - -import serial # type: ignore -import struct -import time -import logging -from enum import Enum -from dataclasses import dataclass -from typing import Optional, List, Dict - -# ========== 日志配置 ========== -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger("XYZStepper") - - -# ========== 层 1：Modbus RTU ========== -class ModbusException(Exception): - pass - - -class ModbusRTUTransport: - """底层串口通信层""" - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2): - self.port = port - self.baudrate = baudrate - self.timeout = timeout - self.ser: Optional[serial.Serial] = None - - def open(self): - try: - self.ser = serial.Serial( - port=self.port, - baudrate=self.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=0.02, - write_timeout=0.5, - ) - logger.info(f"[RTU] 串口连接成功: {self.port}") - except Exception as e: - raise ModbusException(f"无法打开串口 {self.port}: {e}") - - def close(self): - if self.ser and self.ser.is_open: - self.ser.close() - logger.info("[RTU] 串口已关闭") - - def send(self, frame: bytes): - if not self.ser or not self.ser.is_open: - raise ModbusException("串口未连接") - - self.ser.reset_input_buffer() - self.ser.write(frame) - self.ser.flush() - logger.debug(f"[TX] {frame.hex(' ').upper()}") - - def receive(self, expected_len: int) -> bytes: - if not self.ser or not self.ser.is_open: - raise ModbusException("串口未连接") - - start = time.time() - buf = bytearray() - while len(buf) < expected_len and (time.time() - start) < self.timeout: - chunk = self.ser.read(expected_len - len(buf)) - if chunk: - buf.extend(chunk) - else: - time.sleep(0.01) - return bytes(buf) - - -# ========== 层 2：Modbus 协议 ========== -class ModbusFunction(Enum): - READ_HOLDING_REGISTERS = 0x03 - WRITE_SINGLE_REGISTER = 0x06 - WRITE_MULTIPLE_REGISTERS = 0x10 - - -class ModbusClient: - """Modbus RTU 客户端""" - - def __init__(self, transport: ModbusRTUTransport): - self.transport = transport - - @staticmethod - def calc_crc(data: bytes) -> bytes: - crc = 0xFFFF - for b in data: - crc ^= b - for _ in range(8): - crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1 - return struct.pack(" bytes: - frame = bytes([addr, func]) + payload - full = frame + self.calc_crc(frame) - self.transport.send(full) - time.sleep(0.01) - resp = self.transport.ser.read(256) - if not resp: - raise ModbusException("未收到响应") - - start = resp.find(bytes([addr, func])) - if start > 0: - resp = resp[start:] - if len(resp) < 5: - raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}") - if self.calc_crc(resp[:-2]) != resp[-2:]: - raise ModbusException("CRC 校验失败") - return resp - - def read_registers(self, addr: int, start: int, count: int) -> List[int]: - payload = struct.pack(">HH", start, count) - resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload) - byte_count = resp[2] - regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)] - return regs - - def write_single_register(self, addr: int, reg: int, val: int) -> bool: - payload = struct.pack(">HH", reg, val) - resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload) - return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value - - def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool: - byte_count = len(values) * 2 - payload = struct.pack(">HHB", start, len(values), byte_count) - payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values) - resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload) - return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value - - -# ========== 层 3：业务逻辑 ========== -class MotorAxis(Enum): - X = 1 - Y = 2 - Z = 3 - - -class MotorStatus(Enum): - STANDBY = 0 - RUNNING = 1 - COLLISION_STOP = 2 - FORWARD_LIMIT_STOP = 3 - REVERSE_LIMIT_STOP = 4 - - -@dataclass -class MotorPosition: - steps: int - speed: int - current: int - status: MotorStatus - - -class XYZStepperController: - """XYZ 三轴步进控制器（字符串接口版）""" - - STEPS_PER_REV = 16384 - LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0 - STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X - STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y - STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z - - REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02 - REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06 - REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11 - REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16 - REG_COMMAND = 0x60 - - def __init__(self, client: Optional[ModbusClient] = None, - port="/dev/ttyUSB0", baudrate=115200, - origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"): - if client is None: - transport = ModbusRTUTransport(port, baudrate) - transport.open() - self.client = ModbusClient(transport) - else: - self.client = client - - self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3} - self.work_origin_steps = {"x": 0, "y": 0, "z": 0} - self.is_homed = False - self._load_work_origin(origin_path) - - # ========== 基础工具 ========== - @staticmethod - def s16(v: int) -> int: - return v - 0x10000 if v & 0x8000 else v - - @staticmethod - def s32(h: int, l: int) -> int: - v = (h << 16) | l - return v - 0x100000000 if v & 0x80000000 else v - - @classmethod - def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int: - axis = axis.upper() - if axis == "X": - return int(mm * cls.STEPS_PER_MM_X) - elif axis == "Y": - return int(mm * cls.STEPS_PER_MM_Y) - elif axis == "Z": - return int(mm * cls.STEPS_PER_MM_Z) - raise ValueError(f"未知轴: {axis}") - - @classmethod - def steps_to_mm(cls, axis: str, steps: int) -> float: - axis = axis.upper() - if axis == "X": - return steps / cls.STEPS_PER_MM_X - elif axis == "Y": - return steps / cls.STEPS_PER_MM_Y - elif axis == "Z": - return steps / cls.STEPS_PER_MM_Z - raise ValueError(f"未知轴: {axis}") - - # ========== 状态与控制 ========== - def get_status(self, axis: str = "Z") -> list: - """返回简化数组格式: [steps, speed, current, status_value]""" - if isinstance(axis, MotorAxis): - axis_enum = axis - elif isinstance(axis, str): - axis_enum = MotorAxis[axis.upper()] - else: - raise TypeError("axis 参数必须为 str 或 MotorAxis") - - vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6) - return [ - self.s32(vals[1], vals[2]), - self.s16(vals[3]), - vals[4], - int(MotorStatus(vals[0]).value) - ] - - def enable(self, axis: str, state: bool) -> bool: - a = MotorAxis[axis.upper()] - return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0) - - def wait_complete(self, axis: str, timeout=30.0) -> bool: - a = axis.upper() - start = time.time() - while time.time() - start < timeout: - vals = self.get_status(a) - st = MotorStatus(vals[3]) # 第4个元素是状态值 - if st == MotorStatus.STANDBY: - return True - if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP): - logger.warning(f"{a} 轴异常停止: {st.name}") - return False - time.sleep(0.1) - logger.warning(f"{a} 轴运动超时") - return False - - # ========== 控制命令 ========== - def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool: - a = MotorAxis[axis.upper()] - addr = self.axis_addr[a] - hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF - values = [hi, lo, speed, acc, precision] - ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values) - if ok: - self.client.write_single_register(addr, self.REG_START, 1) - return ok - - def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500): - logger.info("🧭 执行安全多轴运动：Z→XY→Z") - if z is not None: - safe_z = self._to_machine_steps("Z", 0.0) - self.move_to("Z", safe_z, speed, acc) - self.wait_complete("Z") - - if x is not None or y is not None: - if x is not None: - self.move_to("X", self._to_machine_steps("X", x), speed, acc) - if y is not None: - self.move_to("Y", self._to_machine_steps("Y", y), speed, acc) - if x is not None: - self.wait_complete("X") - if y is not None: - self.wait_complete("Y") - - if z is not None: - self.move_to("Z", self._to_machine_steps("Z", z), speed, acc) - self.wait_complete("Z") - logger.info("✅ 多轴顺序运动完成") - - # ========== 坐标与零点 ========== - def _to_machine_steps(self, axis: str, mm: float) -> int: - base = self.work_origin_steps.get(axis.lower(), 0) - return base + self.mm_to_steps(axis, mm) - - def define_current_as_zero(self, save_path="work_origin.json"): - import json - from datetime import datetime - - origin = {} - for axis in ["X", "Y", "Z"]: - vals = self.get_status(axis) - origin[axis.lower()] = int(vals[0]) # 第1个是步数 - with open(save_path, "w", encoding="utf-8") as f: - json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2) - self.work_origin_steps = origin - self.is_homed = True - logger.info(f"✅ 零点已定义并保存至 {save_path}") - - def _load_work_origin(self, path: str) -> bool: - import json, os - - if not os.path.exists(path): - logger.warning("⚠️ 未找到软零点文件") - return False - with open(path, "r", encoding="utf-8") as f: - data = json.load(f) - self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0}) - self.is_homed = True - logger.info(f"📂 软零点已加载: {self.work_origin_steps}") - return True - - def return_to_work_origin(self, speed: int = 200, acc: int = 800): - logger.info("🏁 回工件软零点") - self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc) - self.wait_complete("Z") - self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc) - self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc) - self.wait_complete("X") - self.wait_complete("Y") - self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc) - self.wait_complete("Z") - logger.info("🎯 回软零点完成 ✅") diff --git a/unilabos/devices/liquid_handling/biomek.py b/unilabos/devices/liquid_handling/biomek.py index 3fe3049d..7fbafd7e 100644 --- a/unilabos/devices/liquid_handling/biomek.py +++ b/unilabos/devices/liquid_handling/biomek.py @@ -13,7 +13,7 @@ import copy from unilabos_msgs.msg import Resource -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore +from unilabos.resources.resource_tracker import DeviceNodeResourceTracker # type: ignore class LiquidHandlerBiomek: diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index e849ffb9..067b6eb7 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -6,6 +6,7 @@ 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 @@ -28,7 +29,9 @@ ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - +class SimpleReturn(TypedDict): + simples: list + volumes: list class LiquidHandlerMiddleware(LiquidHandler): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs): @@ -42,6 +45,7 @@ def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = 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): @@ -549,25 +553,66 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): support_touch_tip = True _ros_node: BaseROS2DeviceNode - def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): + def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8,**backend_kwargs): """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, deck, simulator, channel_num) + super().__init__(backend_type, deck, simulator, channel_num,**backend_kwargs) 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]): + def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: """Set the liquid in a well.""" + res_simples = [] + res_volumes = [] for well, liquid_name, volume in zip(wells, liquid_names, volumes): well.set_liquids([(liquid_name, volume)]) # type: ignore + res_simples.append({"name": well.name, "sample_uuid": well.unilabos_uuid}) + res_volumes.append(volume) + + return SimpleReturn(simples=res_simples, volumes=res_volumes) # --------------------------------------------------------------- # REMOVE LIQUID -------------------------------------------------- # --------------------------------------------------------------- diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 68cc280c..66a7d96c 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -30,7 +30,7 @@ ) from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter -from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -68,13 +68,45 @@ class PRCXI9300Deck(Deck): 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] * 6 # PRCXI 9300 有 6 个槽位 + self.slots = [None] * 12 # PRCXI 9300 有 6 个槽位 + self.slot_locations = [ + Coordinate(x=0.0, y=0.0, z=0.0), + Coordinate(x=132.5, y=0.0, z=0.0), + Coordinate(x=265.0, y=0.0, z=0.0), + Coordinate(x=0.0, y=90.5, z=0.0), + Coordinate(x=132.5, y=90.5, z=0.0), + Coordinate(x=265.0, y=90.5, z=0.0), + Coordinate(x=0.0, y=181.0, z=0.0), + Coordinate(x=132.5, y=181.0, z=0.0), + Coordinate(x=265.0, y=181.0, z=0.0), + Coordinate(x=0.0, y=271.5, z=0.0), + Coordinate(x=132.5, y=271.5, z=0.0), + Coordinate(x=265.0, y=271.5, z=0.0), + ] + + def serialize(self): + super_serialized = super().serialize() + if hasattr(self, "slot_locations"): + super_serialized["sites"] = [ + { + "label": str(i), + "visible": True, + "position": {"x": slot.x, "y": slot.y, "z": slot.z}, + "size": {"width": 127.0, "height": 85.5, "depth":0}, + "content_type": ["plate", "tip_rack", "tube_rack"], + } for i, slot in enumerate(self.slot_locations) + ] + # print("----"*10) + # print(super_serialized) + return super_serialized + 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。 +>>>>>>> dev """ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str = "plate", @@ -371,6 +403,7 @@ def __init__( step_mode=False, matrix_id="", is_9320=False, + **kwargs, ): tablets_info = [] count = 0 @@ -403,7 +436,7 @@ 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]): + 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]): @@ -731,7 +764,11 @@ def run_protocol(self): 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)) - return self.api_client.start() + 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]: @@ -1137,7 +1174,25 @@ def add_solution(self, name: str, matrix_id: str, steps: List[Dict[str, Any]]) - # ---------------------------------------------------- 自动化控制（IAutomation） def start(self) -> bool: - return self.call("IAutomation", "Start") + success = self.call("IAutomation", "Start") + + return success + + def wait_for_finish(self) -> bool: + success = False + start = False + while not success: + status = self.step_state_list() + 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( diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 64c0c182..98201a7d 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,7 +1361,8 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -1491,9 +1492,11 @@ laiyu_liquid: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index fdfb6b5c..07f719d9 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4019,7 +4019,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4175,9 +4176,11 @@ liquid_handler: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5037,7 +5040,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5180,9 +5184,11 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -8876,6 +8882,8 @@ liquid_handler.prcxi: type: '' handles: {} placeholder_keys: + liquid_names: unilabos_resource_names + volumes: unilabos_resource_amounts wells: unilabos_resources result: {} schema: @@ -9261,7 +9269,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -9417,9 +9426,11 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/resources/common/resource_container.yaml b/unilabos/registry/resources/common/resource_container.yaml index 48dcab59..bc4061bd 100644 --- a/unilabos/registry/resources/common/resource_container.yaml +++ b/unilabos/registry/resources/common/resource_container.yaml @@ -31,6 +31,7 @@ hplc_plate: init_param_schema: {} model: mesh: hplc_plate/meshes/hplc_plate.stl + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro mesh_tf: - 0 - 0 @@ -126,6 +127,7 @@ plate_96_high: init_param_schema: {} model: mesh: plate_96_high/meshes/plate_96_high.stl + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro mesh_tf: - 0 - 0.086 @@ -186,6 +188,7 @@ tiprack_96_high: - 0 - 0 mesh: tiprack_96_high/meshes/tiprack_96_high.stl + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro mesh_tf: - 0 - 0.086 @@ -229,3 +232,60 @@ tiprack_box: 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 + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro + mesh_tf: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + type: resource + 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 + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro + mesh_tf: + - 0 + - 0 + - 0 + - 0 + - 0 + - 0 + type: resource + registry_type: resource + version: 1.0.0 \ No newline at end of file diff --git a/unilabos/registry/resources/laiyu/deck.yaml b/unilabos/registry/resources/laiyu/deck.yaml index e6d930a5..4cce71b6 100644 --- a/unilabos/registry/resources/laiyu/deck.yaml +++ b/unilabos/registry/resources/laiyu/deck.yaml @@ -14,3 +14,21 @@ TransformXYZDeck: type: device registry_type: resource version: 1.0.0 + +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/plates.yaml b/unilabos/registry/resources/opentrons/plates.yaml index 02267ae0..42724b42 100644 --- a/unilabos/registry/resources/opentrons/plates.yaml +++ b/unilabos/registry/resources/opentrons/plates.yaml @@ -127,6 +127,7 @@ nest_96_wellplate_100ul_pcr_full_skirt: - 0 - 0 mesh: tecan_nested_tip_rack/meshes/plate.stl + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro mesh_tf: - 0.064 - 0.043 @@ -162,6 +163,7 @@ nest_96_wellplate_2ml_deep: init_param_schema: {} model: mesh: tecan_nested_tip_rack/meshes/plate.stl + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro mesh_tf: - 0.064 - 0.043 diff --git a/unilabos/registry/resources/opentrons/tip_racks.yaml b/unilabos/registry/resources/opentrons/tip_racks.yaml index cbc7d6f1..e2d4c340 100644 --- a/unilabos/registry/resources/opentrons/tip_racks.yaml +++ b/unilabos/registry/resources/opentrons/tip_racks.yaml @@ -66,6 +66,7 @@ opentrons_96_filtertiprack_1000ul: - 0 - 0 mesh: tecan_nested_tip_rack/meshes/plate.stl + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro mesh_tf: - 0.064 - 0.043 diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 4541cb02..455eb1c5 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -13,7 +13,7 @@ from unilabos.resources.container import RegularContainer from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier from unilabos.ros.msgs.message_converter import convert_to_ros_msg -from unilabos.ros.nodes.resource_tracker import ( +from unilabos.resources.resource_tracker import ( ResourceDictInstance, ResourceTreeSet, ) @@ -45,13 +45,10 @@ def canonicalize_nodes_data( print_status(f"{len(nodes)} Resources loaded", "info") # 第一步：基本预处理（处理graphml的label字段） - outer_host_node_id = None - for idx, node in enumerate(nodes): + for node in nodes: if node.get("label") is not None: node_id = node.pop("label") node["id"] = node["name"] = node_id - if node["id"] == "host_node": - outer_host_node_id = idx if not isinstance(node.get("config"), dict): node["config"] = {} if not node.get("type"): @@ -79,8 +76,7 @@ def canonicalize_nodes_data( if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]: v = node.pop(k) node["config"][k] = v - if outer_host_node_id is not None: - nodes.pop(outer_host_node_id) + # 第二步：处理parent_relation id2idx = {node["id"]: idx for idx, node in enumerate(nodes)} for parent, children in parent_relation.items(): @@ -269,7 +265,7 @@ def read_node_link_json( "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes], "links": standardized_links, } - physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False) + physical_setup_graph = nx.node_link_graph(graph_data, multigraph=False) handle_communications(physical_setup_graph) return physical_setup_graph, resource_tree_set, standardized_links @@ -548,6 +544,10 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR": def resource_ulab_to_plr_inner(resource: dict): all_states[resource["name"]] = resource["data"] extra = resource.pop("extra", {}) + if "pose" in resource: + pose = resource.pop("pose") + resource["position"] = pose["position"] + d = { "name": resource["name"], "type": resource["type"], @@ -576,8 +576,10 @@ def resource_ulab_to_plr_inner(resource: dict): sub_cls = find_subclass(d["type"], ResourcePLR) spect = inspect.signature(sub_cls) - if "category" not in spect.parameters: - d.pop("category") + for param in list(d.keys()): + + if param == "category" or param == "pose": + d.pop(param) resource_plr = sub_cls.deserialize(d, allow_marshal=True) resource_plr.load_all_state(all_states) return resource_plr diff --git a/unilabos/resources/registry.py b/unilabos/resources/registry.py deleted file mode 100644 index fae72622..00000000 --- a/unilabos/resources/registry.py +++ /dev/null @@ -1,139 +0,0 @@ -import traceback -from unilabos.utils.log import logger - -resource_schema = { - "workstation": {"type": "object", "properties": {}}, - "work_station.aichemeco_hiwo": { - "type": "object", - "properties": { - "status": {"type": "string", "description": "设备状态"}, - "tasks": {"type": "string", "description": "任务列表"}, - } - }, - "work_station.revvity": { - "type": "object", - "properties": { - "status": {"type": "string", "description": "设备状态"}, - "tasks": {"type": "string", "description": "任务列表"}, - } - }, - "syringepump.runze": { - "type": "object", - "properties": { - "max_velocity": {"type": "number", "description": "活塞最大速度"}, - "position": {"type": "number", "description": "活塞当前位置"}, - "status": {"type": "string", "description": "设备状态"}, - "valve_position": {"type": "string", "description": "阀门当前位置"}, - }, - "required": ["max_velocity", "position", "status", "valve_position"], - }, - "heaterstirrer.dalong": { - "type": "object", - "properties": { - "stir_speed": {"type": "number", "description": "搅拌器转速"}, - "temp": {"type": "number", "description": "搅拌器温度"}, - "temp_target": {"type": "number", "description": "搅拌器温度目标值"}, - "temp_warning": {"type": "number", "description": "搅拌器温度警告值"}, - }, - "required": ["temp"], - }, - "separator_controller": { - "type": "object", - "properties": { - "sensordata": {"type": "number", "description": "电导传感器数据"}, - "status": {"type": "string", "description": "设备状态"}, - }, - "required": ["sensordata", "status"], - }, - "rotavap": { - "type": "object", - "properties": { - "temperature": {"type": "number", "description": "蒸发器温度"}, - "rotate_time": {"type": "number", "description": "蒸发器转速"}, - "status": {"type": "string", "description": "设备状态"}, - }, - "required": ["temperature", "rotate_time", "status"], - }, - "container": { - "type": "object", - "properties": { - "liquid": { - "type": "array", - "items": { - "type": "object", - "properties": { - "liquid_type": {"type": "string"}, - "liquid_volume": {"type": "number"}, - }, - }, - }, - "max_volume": { - "type": "number", - }, - }, - }, - "plate": { - "type": "object", - "properties": { - "layout": { - "type": "object", - "properties": { - "gridCount": "number", - "gridColumnNumber": "number" - }, - } - }, - }, - "serial": None, - "gripper.mock": None, - "solenoid_valve.mock": None, - "vacuum_pump.mock": None, - "gas_source.mock": None, - "zhixing_agv": { - "type": "object", - "properties": { - - "status": {"type": "string", "description": "设备状态"}, - }, - "required": ["status"], - }, - "zhixing_ur_arm": { - "type": "object", - "properties": { - "arm_status": {"type": "string", "description": "机械臂设备状态"}, - "gripper_status": {"type": "string", "description": "夹爪设备状态"}, - }, - "required": ["arm_status"], - }, - "hplc": { - "type": "object", - "properties": { - "device_status": {"type": "string", "description": "机械臂设备状态"}, - "could_run": {"type": "bool", "description": "机械臂设备状态"}, - "driver_init_ok": {"type": "bool", "description": "机械臂设备状态"}, - "is_running": {"type": "bool", "description": "机械臂设备状态"}, - "finish_status": {"type": "string", "description": "机械臂设备状态"}, - "status_text": {"type": "string", "description": "机械臂设备状态"} - } - } -} - - -def add_schema(resources_config: list[dict]) -> list[dict]: - for resource in resources_config: - if "type" not in resource: - resource["type"] = str(resource["class"]) - if resource["type"].lower() == "container": - resource["schema"] = resource_schema["container"] - elif resource["type"].lower() == "device": - resource["schema"] = resource_schema.get(resource["class"], None) - - if len(resource["children"]) > 0: - try: - if type(resource["children"][0]) == dict: - resource["children"] = add_schema(resource["children"]) - except Exception as ex: - logger.error("添加物料schema时出错") - traceback.print_exc() - - return resources_config diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/resources/resource_tracker.py similarity index 98% rename from unilabos/ros/nodes/resource_tracker.py rename to unilabos/resources/resource_tracker.py index 849d64a8..fb3efa94 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -1,11 +1,9 @@ -import inspect import traceback import uuid from pydantic import BaseModel, field_serializer, field_validator from pydantic import Field from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union -from unilabos.resources.plr_additional_res_reg import register from unilabos.utils.log import logger if TYPE_CHECKING: @@ -64,6 +62,7 @@ class ResourceDict(BaseModel): parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True) type: Union[Literal["device"], str] = Field(description="Resource type") klass: str = Field(alias="class", description="Resource class name") + position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition) pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition) config: Dict[str, Any] = Field(description="Resource configuration") data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data") @@ -146,14 +145,27 @@ def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDi content["data"] = {} if not content.get("extra"): # MagicCode content["extra"] = {} - if "pose" not in content: - content["pose"] = content.pop("position", {}) + + if "position" in content: + pose = content["config"].get("pose",{}) + if "position" not in pose : + if "position" in content["position"]: + pose["position"] = content["position"]["position"] + else: + pose["position"] = {"x": 0, "y": 0, "z": 0} + if "size" not in pose: + pose["size"] = { + "width": content["config"].get("size_x", 0), + "height": content["config"].get("size_y", 0), + "depth": content["config"].get("size_z", 0) + } + content["pose"] = pose return ResourceDictInstance(ResourceDict.model_validate(content)) - def get_plr_nested_dict(self) -> Dict[str, Any]: + def get_nested_dict(self) -> Dict[str, Any]: """获取资源实例的嵌套字典表示""" res_dict = self.res_content.model_dump(by_alias=True) - res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children} + res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children} res_dict["parent"] = self.res_content.parent_instance_name res_dict["position"] = self.res_content.pose.position.model_dump() del res_dict["pose"] @@ -431,9 +443,9 @@ def to_plr_resources(self) -> List["PLRResource"]: Returns: List[PLRResource]: PLR 资源实例列表 """ - register() from pylabrobot.resources import Resource as PLRResource from pylabrobot.utils.object_parsing import find_subclass + import inspect # 类型映射 TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"} @@ -461,9 +473,9 @@ def node_to_plr_dict(node: ResourceDictInstance, has_model: bool): "size_y": res.config.get("size_y", 0), "size_z": res.config.get("size_z", 0), "location": { - "x": res.pose.position.x, - "y": res.pose.position.y, - "z": res.pose.position.z, + "x": res.position.position.x, + "y": res.position.position.y, + "z": res.position.position.z, "type": "Coordinate", }, "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}, diff --git a/unilabos/ros/initialize_device.py b/unilabos/ros/initialize_device.py index 55ac1455..6bdf156a 100644 --- a/unilabos/ros/initialize_device.py +++ b/unilabos/ros/initialize_device.py @@ -36,6 +36,8 @@ def initialize_device_from_dict(device_id, device_config: ResourceDictInstance) elif isinstance(device_class_config, dict): raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}") if isinstance(device_class_config, dict): + if "pose" in device_config: + device_config.pop("pose") DEVICE = default_manager.get_class(device_class_config["module"]) # 不管是ros2的实例，还是python的，都必须包一次，除了HostNode DEVICE = ros2_device_node( diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index 4373cea3..b79c3683 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -10,7 +10,7 @@ from unilabos.app.register import register_devices_and_resources from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet +from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.srv import SerialCommand # type: ignore from rclpy.executors import MultiThreadedExecutor diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 6952320f..45ff84d6 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -1,4 +1,3 @@ -import copy import inspect import io import json @@ -24,9 +23,7 @@ from unilabos.resources.container import RegularContainer from unilabos.resources.graphio import ( - resource_ulab_to_plr, initialize_resources, - dict_to_tree, resource_plr_to_ulab, tree_to_list, ) @@ -45,7 +42,7 @@ ) # type: ignore from unilabos_msgs.msg import Resource # type: ignore -from unilabos.ros.nodes.resource_tracker import ( +from unilabos.resources.resource_tracker import ( DeviceNodeResourceTracker, ResourceTreeSet, ResourceTreeInstance, ResourceDictInstance, @@ -1299,10 +1296,14 @@ def _handle_future_exception(fut: Future): if attr_name in ["success", "reached_goal"]: setattr(result_msg, attr_name, True) elif attr_name == "return_info": + simples = None + if isinstance(action_return_value, dict): + if "simples" in action_return_value: + simples = action_return_value.pop("simples") setattr( result_msg, attr_name, - get_result_info_str(execution_error, execution_success, action_return_value), + get_result_info_str(execution_error, execution_success, action_return_value, simples), ) self.lab_logger().trace(f"动作 {action_name} 完成并返回结果") diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index fa9cad12..ad3307d7 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -10,7 +10,6 @@ from action_msgs.msg import GoalStatus from geometry_msgs.msg import Point from rclpy.action import ActionClient, get_action_server_names_and_types_by_node -from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.service import Service from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.srv import ( @@ -19,14 +18,12 @@ ResourceUpdate, ResourceList, SerialCommand, - ResourceGet, ) # type: ignore from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unique_identifier_msgs.msg import UUID from unilabos.registry.registry import lab_registry from unilabos.resources.graphio import initialize_resource -from unilabos.resources.registry import add_schema from unilabos.ros.initialize_device import initialize_device_from_dict from unilabos.ros.msgs.message_converter import ( get_msg_type, @@ -37,7 +34,7 @@ ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker from unilabos.ros.nodes.presets.controller_node import ControllerNode -from unilabos.ros.nodes.resource_tracker import ( +from unilabos.resources.resource_tracker import ( ResourceDict, ResourceDictInstance, ResourceTreeSet, @@ -289,12 +286,6 @@ def __init__( self.lab_logger().info("[Host Node] Host node initialized.") HostNode._ready_event.set() - # 发送host_node ready信号到所有桥接器 - for bridge in self.bridges: - if hasattr(bridge, "publish_host_ready"): - bridge.publish_host_ready() - self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}") - def _send_re_register(self, sclient): sclient.wait_for_service() request = SerialCommand.Request() @@ -802,7 +793,6 @@ def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None # 存储结果供 HTTP API 查询 try: from unilabos.app.web.controller import store_job_result - if goal_status == GoalStatus.STATUS_CANCELED: store_job_result(job_id, status, return_info, {}) else: @@ -1120,7 +1110,7 @@ def _resource_add_callback(self, request, response): if len(self.bridges) > 0: # 边的提交待定 from unilabos.app.web.client import HTTPClient, http_client - r = http_client.resource_add(add_schema(resources)) + r = http_client.resource_add(resources) success = bool(r) response.success = success @@ -1217,7 +1207,7 @@ def _resource_update_callback(self, request, response): success = False if len(self.bridges) > 0: try: - r = self.bridges[-1].resource_update(add_schema(resources)) + r = self.bridges[-1].resource_update(resources) success = bool(r) except Exception as e: self.lab_logger().error(f"[Host Node-Resource] Error updating resources: {str(e)}") diff --git a/unilabos/test/__init__.py b/unilabos/test/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/unilabos/test/experiments/ICCAS506.json b/unilabos/test/experiments/ICCAS506.json deleted file mode 100644 index b282acc1..00000000 --- a/unilabos/test/experiments/ICCAS506.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "nodes": [ - { - "id": "dispensing_station_bioyond", - "name": "dispensing_station_bioyond", - "children": [ - "Bioyond_Dispensing_Deck" - ], - "parent": null, - "type": "device", - "class": "bioyond_dispensing_station", - "config": { - "config": { - "api_key": "DE9BDDA0", - "api_host": "http://192.168.1.200:44400", - "material_type_mappings": { - "BIOYOND_PolymerStation_1FlaskCarrier": [ - "烧杯", - "3a14196b-24f2-ca49-9081-0cab8021bf1a" - ], - "BIOYOND_PolymerStation_1BottleCarrier": [ - "试剂瓶", - "3a14196b-8bcf-a460-4f74-23f21ca79e72" - ], - "BIOYOND_PolymerStation_6StockCarrier": [ - "分装板", - "3a14196e-5dfe-6e21-0c79-fe2036d052c4" - ], - "BIOYOND_PolymerStation_Liquid_Vial": [ - "10%分装小瓶", - "3a14196c-76be-2279-4e22-7310d69aed68" - ], - "BIOYOND_PolymerStation_Solid_Vial": [ - "90%分装小瓶", - "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea" - ], - "BIOYOND_PolymerStation_8StockCarrier": [ - "样品板", - "3a14196e-b7a0-a5da-1931-35f3000281e9" - ], - "BIOYOND_PolymerStation_Solid_Stock": [ - "样品瓶", - "3a14196a-cf7d-8aea-48d8-b9662c7dba94" - ] - } - }, - "deck": { - "data": { - "_resource_child_name": "Bioyond_Dispensing_Deck", - "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck" - } - }, - "protocol_type": [] - }, - "data": {} - }, - { - "id": "Bioyond_Dispensing_Deck", - 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- "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046", - "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6", - "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784", - "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" - }, - "material_type_mappings": { - "BIOYOND_PolymerStation_Reactor": [ - "反应器", - "3a14233b-902d-0d7b-4533-3f60f1c41c1b" - ], - "BIOYOND_PolymerStation_1BottleCarrier": [ - "试剂瓶", - "3a14233b-56e3-6c53-a8ab-fcaac163a9ba" - ], - "BIOYOND_PolymerStation_1FlaskCarrier": [ - "烧杯", - "3a14233b-f0a9-ba84-eaa9-0d4718b361b6" - ], - "BIOYOND_PolymerStation_6StockCarrier": [ - "样品板", - "3a142339-80de-8f25-6093-1b1b1b6c322e" - ], - "BIOYOND_PolymerStation_Solid_Vial": [ - "90%分装小瓶", - "3a14233a-26e1-28f8-af6a-60ca06ba0165" - ], - "BIOYOND_PolymerStation_Liquid_Vial": [ - "10%分装小瓶", - "3a14233a-84a3-088d-6676-7cb4acd57c64" - ], - "BIOYOND_PolymerStation_TipBox": [ - "枪头盒", - "3a143890-9d51-60ac-6d6f-6edb43c12041" - ] - } - }, - "deck": { - 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"liquids": [], + "pending_liquids": [], + "liquid_history": [], + "Material": { + "uuid": "730067cf07ae43849ddf4034299030e9" + } + } + } + ], + "edges": [] +} \ No newline at end of file diff --git a/unilabos/test/registry/__init__.py b/unilabos/test/registry/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/unilabos/utils/type_check.py b/unilabos/utils/type_check.py index cffb4465..309def1f 100644 --- a/unilabos/utils/type_check.py +++ b/unilabos/utils/type_check.py @@ -66,7 +66,7 @@ def default(self, obj): return str(obj) -def get_result_info_str(error: str, suc: bool, return_value=None) -> str: +def get_result_info_str(error: str, suc: bool, return_value=None, samples=None) -> str: """ 序列化任务执行结果信息 @@ -78,7 +78,7 @@ def get_result_info_str(error: str, suc: bool, return_value=None) -> str: Returns: JSON字符串格式的结果信息 """ - result_info = {"error": error, "suc": suc, "return_value": return_value} + result_info = {"error": error, "suc": suc, "return_value": return_value, "samples": samples} return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)