action to resource & 0.9.12

README.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.10-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.12-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.11-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.12-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.11
+  version: 0.9.12
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.11"
+  version: "0.9.12"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.9.11',
+    version='0.9.12',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/compile/add_protocol.py

@@ -311,7 +311,7 @@ def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
 
 def generate_add_protocol(
     G: nx.DiGraph,
-    vessel: str,
+    vessel: dict,  # 🔧 修改：现在接收字典类型的 vessel
     reagent: str,
     # 🔧 修复：所有参数都用 Union 类型，支持字符串和数值
     volume: Union[str, float] = 0.0,
@@ -334,6 +334,7 @@ def generate_add_protocol(
     生成添加试剂协议 - 修复版
 
     支持所有XDL参数和单位：
+    - vessel: Resource类型字典，包含id字段
     - volume: "2.7 mL", "2.67 mL", "?" 或数值
     - mass: "19.3 g", "4.5 g" 或数值
     - time: "1 h", "20 min" 或数值（秒）
@@ -343,11 +344,19 @@ def generate_add_protocol(
     - equiv: "1.1"
     - ratio: "?", "1:1"
     """
+
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id = vessel["id"]
+
+    # 🔧 修改：更新容器的液体体积（假设有 liquid_volume 字段）
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        if isinstance(vessel["data"]["liquid_volume"], list) and len(vessel["data"]["liquid_volume"]) > 0:
+            vessel["data"]["liquid_volume"][0] -= parse_volume_input(volume)
 
     debug_print("=" * 60)
     debug_print("🚀 开始生成添加试剂协议")
     debug_print(f"📋 原始参数:")
-    debug_print(f"  🥼 vessel: '{vessel}'")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
     debug_print(f"  🧪 reagent: '{reagent}'")
     debug_print(f"  📏 volume: {volume} (类型: {type(volume)})")
     debug_print(f"  ⚖️ mass: {mass} (类型: {type(mass)})")
@@ -363,18 +372,18 @@ def generate_add_protocol(
 
     # === 参数验证 ===
     debug_print("🔍 步骤1: 参数验证...")
-    action_sequence.append(create_action_log(f"开始添加试剂 '{reagent}' 到容器 '{vessel}'", "🎬"))
+    action_sequence.append(create_action_log(f"开始添加试剂 '{reagent}' 到容器 '{vessel_id}'", "🎬"))
 
-    if not vessel:
+    if not vessel or not vessel_id:
         debug_print("❌ vessel 参数不能为空")
         raise ValueError("vessel 参数不能为空")
     if not reagent:
         debug_print("❌ reagent 参数不能为空")
         raise ValueError("reagent 参数不能为空")
 
-    if vessel not in G.nodes():
-        debug_print(f"❌ 容器 '{vessel}' 不存在于系统中")
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    if vessel_id not in G.nodes():
+        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
+        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
 
     debug_print("✅ 基本参数验证通过")
 
@@ -432,15 +441,15 @@ def generate_add_protocol(
                     debug_print("🌪️ 准备启动搅拌...")
                     action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
 
-                    stirrer_id = find_connected_stirrer(G, vessel)
+                    stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
                     if stirrer_id:
                         action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed} rpm)", "🔄"))
 
                         action_sequence.append({
                             "device_id": stirrer_id,
                             "action_name": "start_stir",
                             "action_kwargs": {
-                                "vessel": vessel,
+                                "vessel": vessel_id,  # 🔧 使用 vessel_id
                                 "stir_speed": stir_speed,
                                 "purpose": f"准备添加固体 {reagent}"
                             }
@@ -454,7 +463,7 @@ def generate_add_protocol(
 
                 # 固体加样
                 add_kwargs = {
-                    "vessel": vessel,
+                    "vessel": vessel_id,  # 🔧 使用 vessel_id
                     "reagent": reagent,
                     "purpose": purpose,
                     "event": event,
@@ -509,15 +518,15 @@ def generate_add_protocol(
                 debug_print("🌪️ 准备启动搅拌...")
                 action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
 
-                stirrer_id = find_connected_stirrer(G, vessel)
+                stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
                 if stirrer_id:
                     action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed} rpm)", "🔄"))
 
                     action_sequence.append({
                         "device_id": stirrer_id,
                         "action_name": "start_stir",
                         "action_kwargs": {
-                            "vessel": vessel,
+                            "vessel": vessel_id,  # 🔧 使用 vessel_id
                             "stir_speed": stir_speed,
                             "purpose": f"准备添加液体 {reagent}"
                         }
@@ -555,7 +564,7 @@ def generate_add_protocol(
             pump_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=reagent_vessel,
-                to_vessel=vessel,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
                 volume=final_volume,
                 amount=amount,
                 time=final_time,
@@ -594,7 +603,7 @@ def generate_add_protocol(
     debug_print(f"📋 处理总结:")
     debug_print(f"  🧪 试剂: {reagent}")
     debug_print(f"  {add_emoji} 添加类型: {add_type}")
-    debug_print(f"  🥼 目标容器: {vessel}")
+    debug_print(f"  🥼 目标容器: {vessel_id}")
     if is_liquid:
         debug_print(f"  📏 体积: {final_volume}mL")
     if is_solid:
@@ -603,7 +612,7 @@ def generate_add_protocol(
     debug_print("=" * 60)
 
     # 添加完成日志
-    summary_msg = f"试剂添加协议完成: {reagent} → {vessel}"
+    summary_msg = f"试剂添加协议完成: {reagent} → {vessel_id}"
     if is_liquid:
         summary_msg += f" ({final_volume}mL)"
     if is_solid:
@@ -614,42 +623,47 @@ def generate_add_protocol(
     return action_sequence
 
 # === 便捷函数 ===
+# 🔧 修改便捷函数的参数类型
 
-def add_liquid_volume(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[str, float], 
+def add_liquid_volume(G: nx.DiGraph, vessel: dict, reagent: str, volume: Union[str, float], 
                      time: Union[str, float] = 0.0, rate_spec: str = "") -> List[Dict[str, Any]]:
     """添加指定体积的液体试剂"""
-    debug_print(f"💧 快速添加液体: {reagent} ({volume}) → {vessel}")
+    vessel_id = vessel["id"]
+    debug_print(f"💧 快速添加液体: {reagent} ({volume}) → {vessel_id}")
     return generate_add_protocol(
         G, vessel, reagent, 
         volume=volume, 
         time=time, 
         rate_spec=rate_spec
     )
 
-def add_solid_mass(G: nx.DiGraph, vessel: str, reagent: str, mass: Union[str, float], 
+def add_solid_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Union[str, float], 
                    event: str = "") -> List[Dict[str, Any]]:
     """添加指定质量的固体试剂"""
-    debug_print(f"🧂 快速添加固体: {reagent} ({mass}) → {vessel}")
+    vessel_id = vessel["id"]
+    debug_print(f"🧂 快速添加固体: {reagent} ({mass}) → {vessel_id}")
     return generate_add_protocol(
         G, vessel, reagent, 
         mass=mass, 
         event=event
     )
 
-def add_solid_moles(G: nx.DiGraph, vessel: str, reagent: str, mol: str, 
+def add_solid_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str, 
                     event: str = "") -> List[Dict[str, Any]]:
     """按摩尔数添加固体试剂"""
-    debug_print(f"🧬 按摩尔数添加固体: {reagent} ({mol}) → {vessel}")
+    vessel_id = vessel["id"]
+    debug_print(f"🧬 按摩尔数添加固体: {reagent} ({mol}) → {vessel_id}")
     return generate_add_protocol(
         G, vessel, reagent, 
         mol=mol, 
         event=event
     )
 
-def add_dropwise_liquid(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[str, float], 
+def add_dropwise_liquid(G: nx.DiGraph, vessel: dict, reagent: str, volume: Union[str, float], 
                         time: Union[str, float] = "20 min", event: str = "") -> List[Dict[str, Any]]:
     """滴加液体试剂"""
-    debug_print(f"💧 滴加液体: {reagent} ({volume}) → {vessel} (用时: {time})")
+    vessel_id = vessel["id"]
+    debug_print(f"💧 滴加液体: {reagent} ({volume}) → {vessel_id} (用时: {time})")
     return generate_add_protocol(
         G, vessel, reagent, 
         volume=volume, 
@@ -658,10 +672,11 @@ def add_dropwise_liquid(G: nx.DiGraph, vessel: str, reagent: str, volume: Union[
         event=event
     )
 
-def add_portionwise_solid(G: nx.DiGraph, vessel: str, reagent: str, mass: Union[str, float], 
+def add_portionwise_solid(G: nx.DiGraph, vessel: dict, reagent: str, mass: Union[str, float], 
                           time: Union[str, float] = "1 h", event: str = "") -> List[Dict[str, Any]]:
     """分批添加固体试剂"""
-    debug_print(f"🧂 分批添加固体: {reagent} ({mass}) → {vessel} (用时: {time})")
+    vessel_id = vessel["id"]
+    debug_print(f"🧂 分批添加固体: {reagent} ({mass}) → {vessel_id} (用时: {time})")
     return generate_add_protocol(
         G, vessel, reagent, 
         mass=mass,