diff --git a/.claude/state/current.yaml b/.claude/state/current.yaml new file mode 100644 index 000000000..a91ce6925 --- /dev/null +++ b/.claude/state/current.yaml @@ -0,0 +1,17 @@ +schema_version: '2.0' +session_id: s-1778653243-0ce4eb +role: standalone +status: active +started_at: '2026-05-13T06:20:43Z' +last_heartbeat: '2026-05-28T03:47:33Z' +branch: main +cwd: /Users/dp/software/GitHub/LeapLab/Uni-Lab-OS +current_task: '' +decisions: [] +blockers: [] +artifacts: [] +metrics: + edits: 18 + commits: 0 + errors_fixed: 0 + decisions_made: 0 diff --git a/.claude/state/current.yaml.lock b/.claude/state/current.yaml.lock new file mode 100755 index 000000000..e69de29bb diff --git a/.gitignore b/.gitignore index 12b344d63..01d0c99fd 100644 --- a/.gitignore +++ b/.gitignore @@ -250,5 +250,6 @@ local_test2.py ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2 *.bz2 test_config.py +.history diff --git a/docs/reconnection_design.md b/docs/reconnection_design.md new file mode 100644 index 000000000..fc9ce7ce6 --- /dev/null +++ b/docs/reconnection_design.md @@ -0,0 +1,301 @@ +# 断线重连功能设计文档 + +## 需求背景 + +当 edge 端与后端断开连接后重新连接时,需要同步断线期间的状态变化: +- edge 端在启动时会发送 `host_node_ready` 消息给后端 +- 后端需要返回断线之前下发给该 edge 的任务列表 +- edge 端需要检查当前实际状态,并将状态同步给后端 + +## 消息流程 + +``` +Edge Backend + | | + |---> host_node_ready -------->| + | (设备列表、动作列表) | + | | + |<--- host_node_ready_response-| + | (断线前的任务列表) | + | | + |--- 检查本地状态 ---| | + | | + |---> reconnection_sync ------>| + | (实际状态同步) | +``` + +## 数据结构 + +### host_node_ready_response 消息格式 + +```json +{ + "action": "host_node_ready_response", + "data": { + "pending_jobs": [ + { + "job_id": "uuid", + "task_id": "uuid", + "device_id": "device_name", + "action_name": "action_name", + "status": "started|ready|queue", + "timestamp": 1234567890.0 + } + ] + } +} +``` + +### reconnection_sync 消息格式 + +```json +{ + "action": "reconnection_sync", + "data": { + "synced_jobs": [ + { + "job_id": "uuid", + "actual_status": "completed|failed|not_found", + "result": {}, + "error": "error message if failed" + } + ], + "active_jobs": [ + { + "job_id": "uuid", + "device_id": "device_name", + "action_name": "action_name", + "status": "started" + } + ] + } +} +``` + +## 实现方案 + +### 1. 消息处理 (ws_client.py) + +在 `MessageProcessor` 类中添加: + +```python +async def _handle_host_ready_response(self, data: Dict[str, Any]): + """ + 处理 host_node_ready 的响应 + + 后端返回断线前下发的任务列表,需要: + 1. 检查这些任务在 edge 端的实际状态 + 2. 将实际状态同步给后端 + """ + pending_jobs = data.get("pending_jobs", []) + + if not pending_jobs: + logger.info("[Reconnection] No pending jobs from backend") + return + + logger.info(f"[Reconnection] Received {len(pending_jobs)} pending jobs from backend") + + # 收集实际状态 + synced_jobs = [] + active_jobs = [] + + for job_info in pending_jobs: + job_id = job_info.get("job_id") + device_id = job_info.get("device_id") + action_name = job_info.get("action_name") + backend_status = job_info.get("status") + + # 检查本地状态 + actual_status = await self._check_job_actual_status(job_id, device_id, action_name) + + if actual_status["status"] == "completed" or actual_status["status"] == "failed": + # 任务已完成,同步结果 + synced_jobs.append({ + "job_id": job_id, + "actual_status": actual_status["status"], + "result": actual_status.get("result", {}), + "error": actual_status.get("error", "") + }) + elif actual_status["status"] == "running": + # 任务仍在运行 + active_jobs.append({ + "job_id": job_id, + "device_id": device_id, + "action_name": action_name, + "status": "started" + }) + else: + # 任务不存在,可能已被清理 + synced_jobs.append({ + "job_id": job_id, + "actual_status": "not_found", + "error": "Job not found in edge" + }) + + # 发送同步消息 + self.send_message({ + "action": "reconnection_sync", + "data": { + "synced_jobs": synced_jobs, + "active_jobs": active_jobs + } + }) + + logger.info(f"[Reconnection] Synced {len(synced_jobs)} completed jobs, {len(active_jobs)} active jobs") +``` + +### 2. 状态检查 (ws_client.py) + +```python +async def _check_job_actual_status( + self, job_id: str, device_id: str, action_name: str +) -> Dict[str, Any]: + """ + 检查任务的实际状态 + + 返回: + - status: "completed" | "failed" | "running" | "not_found" + - result: 任务结果 (如果已完成) + - error: 错误信息 (如果失败) + """ + # 1. 检查 DeviceActionManager 中的任务状态 + job_info = self.device_manager.get_job_info(job_id) + if job_info: + if job_info.status == JobStatus.STARTED: + return {"status": "running"} + elif job_info.status == JobStatus.QUEUE or job_info.status == JobStatus.READY: + return {"status": "running"} # 排队中也算运行中 + + # 2. 检查 HostNode 中的 ROS2 goal 状态 + host_node = HostNode.get_instance(0) + if host_node: + goal_status = host_node.get_goal_status(job_id) + if goal_status: + if goal_status["is_active"]: + return {"status": "running"} + elif goal_status["is_succeeded"]: + return { + "status": "completed", + "result": goal_status.get("result", {}) + } + elif goal_status["is_failed"]: + return { + "status": "failed", + "error": goal_status.get("error", "Unknown error") + } + + # 3. 检查本地存储的任务结果 (如果有持久化) + from unilabos.app.web.controller import get_job_result + stored_result = get_job_result(job_id) + if stored_result: + return { + "status": stored_result["status"], + "result": stored_result.get("result", {}), + "error": stored_result.get("error", "") + } + + # 4. 任务不存在 + return {"status": "not_found"} +``` + +### 3. HostNode 扩展 (host_node.py) + +在 `HostNode` 类中添加方法: + +```python +def get_goal_status(self, job_id: str) -> Optional[Dict[str, Any]]: + """ + 获取指定 job_id 的 ROS2 goal 状态 + + 返回: + - is_active: 是否正在执行 + - is_succeeded: 是否成功完成 + - is_failed: 是否失败 + - result: 结果数据 (如果已完成) + - error: 错误信息 (如果失败) + """ + with self._goal_handles_lock: + if job_id in self._goal_handles: + goal_handle = self._goal_handles[job_id] + status = goal_handle.status + + return { + "is_active": status in [GoalStatus.STATUS_EXECUTING, GoalStatus.STATUS_ACCEPTED], + "is_succeeded": status == GoalStatus.STATUS_SUCCEEDED, + "is_failed": status in [GoalStatus.STATUS_ABORTED, GoalStatus.STATUS_CANCELED], + "result": self._goal_results.get(job_id, {}), + "error": self._goal_errors.get(job_id, "") + } + + return None +``` + +## 状态处理逻辑 + +### 场景 1: 任务已完成但后端未收到 + +- Edge 检测到任务已完成 +- 通过 `reconnection_sync` 发送完整的结果给后端 +- 后端更新任务状态 + +### 场景 2: 任务仍在执行 + +- Edge 检测到任务仍在运行 +- 通过 `reconnection_sync` 告知后端任务状态为 `started` +- 后端保持任务状态,等待后续的 `job_status` 更新 + +### 场景 3: 任务不存在 + +- Edge 在本地找不到该任务 +- 可能原因: + - 任务从未到达 edge + - 任务已完成并被清理 + - Edge 重启导致内存状态丢失 +- 通过 `reconnection_sync` 告知后端 `not_found` +- 后端决定是否重新下发或标记为失败 + +### 场景 4: 任务在队列中 + +- Edge 检测到任务在排队 +- 通过 `reconnection_sync` 告知后端任务状态为 `queue` +- 后端保持任务状态,等待执行 + +## 注意事项 + +1. **时序问题**: `host_node_ready_response` 可能在 edge 启动后立即到达,此时某些组件可能尚未完全初始化 + - 解决: 在处理前检查 HostNode 是否就绪 + +2. **并发问题**: 在检查状态时,任务状态可能正在变化 + - 解决: 使用锁保护关键数据结构的访问 + +3. **结果持久化**: 如果 edge 重启,内存中的任务状态会丢失 + - 当前方案: 依赖 `get_job_result` 从本地存储读取 + - 未来优化: 考虑将关键任务状态持久化到文件 + +4. **大量任务**: 如果断线时间较长,可能有大量待同步任务 + - 解决: 分批处理,避免单次消息过大 + +## 测试场景 + +1. **正常重连**: edge 断线后立即重连,任务仍在执行 +2. **延迟重连**: edge 断线较长时间后重连,部分任务已完成 +3. **重启重连**: edge 进程重启后重连,内存状态丢失 +4. **多任务重连**: 断线期间有多个设备的多个任务 +5. **并发重连**: 重连时有新任务下发 + +## 实现步骤 + +1. ✅ 在 `MessageProcessor._process_message` 中添加 `host_node_ready_response` 处理分支 +2. ⬜ 实现 `_handle_host_ready_response` 方法 +3. ⬜ 实现 `_check_job_actual_status` 方法 +4. ⬜ 在 `HostNode` 中添加 `get_goal_status` 方法 +5. ⬜ 添加必要的数据结构 (如 `_goal_results`, `_goal_errors`) +6. ⬜ 编写单元测试 +7. ⬜ 集成测试 + +## 后续优化 + +1. 添加任务状态持久化,支持进程重启后恢复 +2. 优化大量任务的同步性能 +3. 添加状态同步的重试机制 +4. 支持增量状态同步 (只同步变化的部分) diff --git a/stat.md b/stat.md new file mode 100644 index 000000000..28bf15f19 --- /dev/null +++ b/stat.md @@ -0,0 +1,4 @@ +cd /Users/dp/software/GitHub/LeapLab && + source /Users/dp/miniforge3/etc/profile.d/conda.sh && + conda activate unilab && +unilab --graph unilabos/test/experiments/fault_injection.json --config unilabos/test/experiments/fault_injection_config.py --ak a3d111bb-571a-4548-aa5d-c58ccca64466 --sk c2450c73-e84c-4319-b25f-b5cc4d575e7e --upload_registry --addr http://127.0.0.1:48197/api/v1 diff --git a/tests/test_decorators.py b/tests/test_decorators.py new file mode 100644 index 000000000..f76d5a766 --- /dev/null +++ b/tests/test_decorators.py @@ -0,0 +1,183 @@ +"""@action 装饰器超时/异常处理扩展单测 + +覆盖： +- 默认参数下的属性值 +- 协程超时被转换为 TimeoutException +- 协程未超时正常返回 +- exception_handling=False 时属性正确 +- get_action_timeout / is_exception_handling_enabled 辅助函数 +- 同步函数装饰后元数据齐全 +""" +import asyncio + +import pytest + +from unilabos.devices.exceptions import TimeoutException +from unilabos.registry.decorators import ( + action, + get_action_meta, + get_action_timeout, + is_exception_handling_enabled, +) + + +class DummyDevice: + """测试用宿主类，wrapper 沿用 *args, **kwargs，self 通过 args[0] 传入""" + + def _get_device_snapshot(self): + return {"step": 1} + + +# ---------- a) 默认参数 ---------- + +def test_default_attrs_async(): + @action() + async def foo(self): + return 1 + + assert foo._action_timeout is None + assert foo._exception_handling is True + + +def test_default_attrs_sync(): + @action() + def bar(self): + return 2 + + assert bar._action_timeout is None + assert bar._exception_handling is True + + +# ---------- b) 协程超时 -> TimeoutException ---------- + +def test_async_timeout_raises_timeout_exception(): + @action(timeout=0.1) + async def slow(self): + await asyncio.sleep(1) + + dev = DummyDevice() + with pytest.raises(TimeoutException) as ei: + asyncio.run(slow(dev)) + # 快照应被正确采集 + assert ei.value.device_snapshot == {"step": 1} + assert "slow" in ei.value.message + + +def test_async_timeout_snapshot_failure_does_not_break(): + """_get_device_snapshot 抛错也应正常抛 TimeoutException""" + + class BadDevice: + def _get_device_snapshot(self): + raise RuntimeError("snapshot broken") + + @action(timeout=0.05) + async def slow(self): + await asyncio.sleep(1) + + with pytest.raises(TimeoutException) as ei: + asyncio.run(slow(BadDevice())) + assert ei.value.device_snapshot == {} + + +# ---------- c) 未超时正常返回 ---------- + +def test_async_within_timeout_returns_value(): + @action(timeout=10) + async def quick(self): + await asyncio.sleep(0) + return 42 + + assert asyncio.run(quick(DummyDevice())) == 42 + + +def test_async_no_timeout_returns_value(): + @action() + async def quick(self): + return "ok" + + assert asyncio.run(quick(DummyDevice())) == "ok" + + +# ---------- d) exception_handling=False ---------- + +def test_exception_handling_disabled(): + @action(exception_handling=False) + async def foo(self): + return None + + assert foo._exception_handling is False + meta = get_action_meta(foo) + assert meta["exception_handling"] is False + + +def test_exception_handling_default_not_in_meta(): + """默认 True 时不写入 meta（沿用 feedback_interval 模式）""" + + @action() + async def foo(self): + return None + + meta = get_action_meta(foo) + assert "exception_handling" not in meta + + +# ---------- e) 辅助函数 ---------- + +def test_get_action_timeout(): + @action(timeout=5.0) + async def foo(self): + return None + + assert get_action_timeout(foo) == 5.0 + + +def test_get_action_timeout_none(): + @action() + async def foo(self): + return None + + assert get_action_timeout(foo) is None + + +def test_is_exception_handling_enabled_true(): + @action() + async def foo(self): + return None + + assert is_exception_handling_enabled(foo) is True + + +def test_is_exception_handling_enabled_false(): + @action(exception_handling=False) + async def foo(self): + return None + + assert is_exception_handling_enabled(foo) is False + + +# ---------- f) 同步函数元数据齐全 ---------- + +def test_sync_function_metadata(): + @action(timeout=3.0, exception_handling=False, default_on_user_timeout="retry") + def bar(self, x): + return x * 2 + + assert bar(DummyDevice(), 5) == 10 + assert bar._action_timeout == 3.0 + assert bar._exception_handling is False + + meta = get_action_meta(bar) + assert meta is not None + assert meta["timeout"] == 3.0 + assert meta["exception_handling"] is False + assert meta["default_on_user_timeout"] == "retry" + + +def test_default_on_user_timeout_default_not_in_meta(): + @action(timeout=1.0) + async def foo(self): + return None + + meta = get_action_meta(foo) + assert meta["timeout"] == 1.0 + assert "default_on_user_timeout" not in meta diff --git a/tests/test_exception_handling.py b/tests/test_exception_handling.py new file mode 100644 index 000000000..e87904a0d --- /dev/null +++ b/tests/test_exception_handling.py @@ -0,0 +1,294 @@ +"""框架层异常处理 + 用户决策回环 端到端测试 + +不依赖 ROS2 环境:FakeNode 内嵌等价的异常处理逻辑(与 BaseROS2DeviceNode 一致)。 +在真实环境中通过 _execute_with_exception_handling 方法验证;此处用 FakeNode 模拟 +即可覆盖核心分支(retry/skip/abort/manual_fix/自定义 action/超时/死循环防护)。 +""" +import asyncio +import logging +import traceback +from typing import Any, Dict, Optional +from unittest.mock import MagicMock + +import pytest + +from unilabos.devices.exceptions import ( + DeviceException, + ModbusConnectionError, + TipPickupError, + UserAction, +) + + +class FakeNode: + """最小化 device_node,方法逻辑与 BaseROS2DeviceNode 中等价""" + + device_id = "fake_device" + uuid = "fake-uuid-1" + + def __init__(self, decision_timeout: float = 5.0): + self._pending_decisions: Dict[str, asyncio.Future] = {} + self._user_decision_timeout = decision_timeout + self.ws_client = MagicMock() + self.ws_client.publish_device_exception_alarm = MagicMock() + + def get_logger(self): + return logging.getLogger("FakeNode") + + def _get_ws_client(self): + return self.ws_client + + async def _execute_with_exception_handling( + self, action_func, action_name, task_id, job_id, action_kwargs, + max_user_iterations: int = 10, + ) -> Any: + iteration = 0 + exc: Optional[DeviceException] = None + while True: + iteration += 1 + if iteration > max_user_iterations: + raise DeviceException( + f"动作 {action_name} 异常处理超过 {max_user_iterations} 轮,强制终止" + ) + try: + return await action_func(**action_kwargs) + except DeviceException as e: + exc = e + decision = await self._handle_device_exception(e, action_name, task_id, job_id) + except Exception as e: + wrapped = DeviceException( + f"未预期异常: {type(e).__name__}: {e}", + suggested_actions=[ + UserAction("retry", "重试"), + UserAction("abort", "终止"), + ], + cause=e, + ) + wrapped.traceback_str = traceback.format_exc() + exc = wrapped + decision = await self._handle_device_exception(wrapped, action_name, task_id, job_id) + + action = decision.get("action", "abort") + if action == "retry": + continue + if action == "skip": + return {"status": "skipped", "reason": decision.get("reason", "user_skip")} + if action == "manual_fix": + continue + if action == "abort": + raise exc + + matched: Optional[UserAction] = None + for ua in (exc.suggested_actions if isinstance(exc, DeviceException) else []): + if ua.action == action: + matched = ua + break + if matched is None or matched.handler is None: + raise exc + + try: + handler_result = await matched.handler(exception=exc, decision=decision) + except DeviceException as he: + exc = he + next_decision = await self._handle_device_exception(he, action_name, task_id, job_id) + act2 = next_decision.get("action", "abort") + if act2 == "retry" or act2 == "manual_fix": + continue + if act2 == "skip": + return {"status": "skipped", "reason": next_decision.get("reason", "user_skip")} + raise he + + then = matched.then + if then == "retry": + continue + if then == "skip": + return {"status": "skipped", "reason": f"after_{action}"} + if then == "continue": + return handler_result + continue + + async def _handle_device_exception(self, exc, action_name, task_id, job_id) -> dict: + alarm = exc.to_alarm_dict( + device_id=self.device_id, device_uuid=self.uuid, + action_name=action_name, task_id=task_id, job_id=job_id, + ) + self.ws_client.publish_device_exception_alarm(alarm) + try: + return await self._wait_for_user_decision(task_id, exc) + except asyncio.TimeoutError: + return {"action": "abort", "reason": "user_decision_timeout"} + + async def _wait_for_user_decision(self, task_id, exc) -> dict: + loop = asyncio.get_event_loop() + fut: asyncio.Future = loop.create_future() + key = f"{task_id}:{exc.message[:32]}" + self._pending_decisions[key] = fut + try: + return await asyncio.wait_for(fut, timeout=self._user_decision_timeout) + finally: + self._pending_decisions.pop(key, None) + + def handle_user_decision(self, task_id, decision): + for key in list(self._pending_decisions.keys()): + if key.startswith(f"{task_id}:"): + fut = self._pending_decisions[key] + if not fut.done(): + fut.set_result(decision) + break + + +def _post_decision(node, decision, delay=0.01): + async def _send(): + await asyncio.sleep(delay) + keys = list(node._pending_decisions.keys()) + if not keys: + return + task_id = keys[0].split(":", 1)[0] + node.handle_user_decision(task_id, decision) + return asyncio.create_task(_send()) + + +@pytest.mark.asyncio +async def test_normal_return(): + node = FakeNode() + async def driver(**kwargs): + return {"ok": True, "v": kwargs.get("v")} + result = await node._execute_with_exception_handling( + driver, "driver", "t1", "j1", {"v": 42}, + ) + assert result == {"ok": True, "v": 42} + node.ws_client.publish_device_exception_alarm.assert_not_called() + + +@pytest.mark.asyncio +async def test_retry_then_success(): + node = FakeNode() + calls = {"n": 0} + async def driver(**kwargs): + calls["n"] += 1 + if calls["n"] == 1: + raise ModbusConnectionError("first fail") + return {"ok": True} + _post_decision(node, {"action": "retry"}) + result = await node._execute_with_exception_handling(driver, "driver", "t2", "j2", {}) + assert result == {"ok": True} + assert calls["n"] == 2 + node.ws_client.publish_device_exception_alarm.assert_called_once() + + +@pytest.mark.asyncio +async def test_abort_raises(): + node = FakeNode() + async def driver(**kwargs): + raise ModbusConnectionError("network down") + _post_decision(node, {"action": "abort"}) + with pytest.raises(ModbusConnectionError): + await node._execute_with_exception_handling(driver, "driver", "t3", "j3", {}) + + +@pytest.mark.asyncio +async def test_skip_returns_skipped(): + node = FakeNode() + async def driver(**kwargs): + raise ModbusConnectionError("fail") + _post_decision(node, {"action": "skip", "reason": "user_skip_here"}) + result = await node._execute_with_exception_handling(driver, "driver", "t4", "j4", {}) + assert result["status"] == "skipped" + assert result["reason"] == "user_skip_here" + + +@pytest.mark.asyncio +async def test_user_decision_timeout_aborts(): + node = FakeNode(decision_timeout=0.05) + async def driver(**kwargs): + raise ModbusConnectionError("net err") + with pytest.raises(ModbusConnectionError): + await node._execute_with_exception_handling(driver, "driver", "t5", "j5", {}) + + +@pytest.mark.asyncio +async def test_custom_action_with_handler_then_retry(): + node = FakeNode() + state = {"tip": 0, "calls": 0} + + async def advance(exception, decision): + state["tip"] += 1 + + async def driver(**kwargs): + state["calls"] += 1 + if state["tip"] == 0: + raise TipPickupError( + "pickup failed", + suggested_actions=[ + UserAction("use_next_tip", "下一个", handler=advance, then="retry"), + UserAction("abort", "终止"), + ], + ) + return {"tip_used": state["tip"]} + + _post_decision(node, {"action": "use_next_tip"}) + result = await node._execute_with_exception_handling(driver, "driver", "t6", "j6", {}) + assert result == {"tip_used": 1} + assert state["calls"] == 2 + assert state["tip"] == 1 + + +@pytest.mark.asyncio +async def test_handler_raises_device_exception_enters_next_round(): + node = FakeNode() + + async def bad_handler(exception, decision): + raise ModbusConnectionError("handler also failed") + + async def driver(**kwargs): + raise TipPickupError( + "pickup failed", + suggested_actions=[ + UserAction("use_next_tip", "下一个", handler=bad_handler, then="retry"), + UserAction("abort", "终止"), + ], + ) + + async def feeder(): + # 第一轮:回 use_next_tip + for _ in range(50): + await asyncio.sleep(0.005) + keys = list(node._pending_decisions.keys()) + if keys: + node.handle_user_decision(keys[0].split(":", 1)[0], {"action": "use_next_tip"}) + break + # 第二轮:handler 抛错后,回 abort + for _ in range(50): + await asyncio.sleep(0.005) + keys = list(node._pending_decisions.keys()) + if keys: + node.handle_user_decision(keys[0].split(":", 1)[0], {"action": "abort"}) + return + + asyncio.create_task(feeder()) + with pytest.raises(ModbusConnectionError): + await node._execute_with_exception_handling(driver, "driver", "t7", "j7", {}) + assert node.ws_client.publish_device_exception_alarm.call_count >= 2 + + +@pytest.mark.asyncio +async def test_max_user_iterations(): + node = FakeNode() + calls = {"n": 0} + async def driver(**kwargs): + calls["n"] += 1 + raise ModbusConnectionError(f"fail {calls['n']}") + + async def auto_retry(): + for _ in range(50): + await asyncio.sleep(0.005) + keys = list(node._pending_decisions.keys()) + if keys: + node.handle_user_decision(keys[0].split(":", 1)[0], {"action": "retry"}) + + asyncio.create_task(auto_retry()) + with pytest.raises(DeviceException) as ei: + await node._execute_with_exception_handling( + driver, "driver", "t8", "j8", {}, max_user_iterations=3, + ) + assert "强制终止" in str(ei.value) diff --git a/tests/test_exceptions.py b/tests/test_exceptions.py new file mode 100644 index 000000000..3dbdcede0 --- /dev/null +++ b/tests/test_exceptions.py @@ -0,0 +1,105 @@ +"""设备异常体系单测""" +from unilabos.devices.exceptions import ( + DeviceException, + DeviceExceptionCategory, + DeviceExceptionSeverity, + UserAction, + TimeoutException, + ParameterError, + ModbusConnectionError, + OPCUAConnectionError, + EmergencyStopError, + PLCStepTimeout, + SensorError, + ResourceConflictError, + TipPickupError, +) + + +def _alarm_kwargs(): + return dict( + device_id="dev-1", + device_uuid="uuid-1", + action_name="do_something", + task_id="task-1", + job_id="job-1", + ) + + +def test_device_exception_defaults(): + exc = DeviceException("base error") + assert exc.category == DeviceExceptionCategory.UNKNOWN + assert exc.severity == DeviceExceptionSeverity.ERROR + + +def test_subclass_category_severity_overrides(): + assert ModbusConnectionError.category == DeviceExceptionCategory.NETWORK + assert ModbusConnectionError.severity == DeviceExceptionSeverity.ERROR + + assert EmergencyStopError.category == DeviceExceptionCategory.HARDWARE + assert EmergencyStopError.severity == DeviceExceptionSeverity.CRITICAL + + assert ParameterError.category == DeviceExceptionCategory.PARAMETER + assert ParameterError.severity == DeviceExceptionSeverity.WARNING + + +def test_to_alarm_dict_has_required_fields(): + exc = ModbusConnectionError("connect fail", device_snapshot={"foo": "bar"}) + d = exc.to_alarm_dict(**_alarm_kwargs()) + for key in ( + "device_id", "action_name", "exception_type", + "suggested_actions", "device_snapshot", "traceback", + "require_confirmation", + ): + assert key in d + assert d["exception_type"] == "ModbusConnectionError" + assert d["device_snapshot"] == {"foo": "bar"} + assert d["require_confirmation"] is True + + +def test_plc_step_timeout_extra_fields(): + exc = PLCStepTimeout("step stuck", current_step=3, expected_step=4) + d = exc.to_alarm_dict(**_alarm_kwargs()) + assert d["current_step"] == 3 + assert d["expected_step"] == 4 + + +def test_tip_pickup_error_extra_fields(): + exc = TipPickupError("pickup fail", tip_position="A1", remaining_tips=5) + d = exc.to_alarm_dict(**_alarm_kwargs()) + assert d["tip_position"] == "A1" + assert d["remaining_tips"] == 5 + + +def test_user_action_handler_not_serialized(): + async def my_handler(exception, decision): + return None + + exc = TipPickupError( + "fail", + tip_position="A1", + remaining_tips=1, + suggested_actions=[ + UserAction("use_next_tip", "下一个", "切换", handler=my_handler), + UserAction("abort", "终止"), + ], + ) + d = exc.to_alarm_dict(**_alarm_kwargs()) + for item in d["suggested_actions"]: + assert set(item.keys()) == {"action", "label", "description"} + assert "handler" not in item + + +def test_default_suggested_actions_non_empty(): + for cls in ( + DeviceException, TimeoutException, ParameterError, + ModbusConnectionError, OPCUAConnectionError, EmergencyStopError, + PLCStepTimeout, SensorError, ResourceConflictError, TipPickupError, + ): + if cls is PLCStepTimeout: + exc = cls("msg", current_step=0, expected_step=1) + elif cls is TipPickupError: + exc = cls("msg", tip_position="A1", remaining_tips=0) + else: + exc = cls("msg") + assert len(exc.suggested_actions) > 0 diff --git a/trace.md b/trace.md new file mode 100644 index 000000000..c92548f4a --- /dev/null +++ b/trace.md @@ -0,0 +1,81 @@ +# Trace: Uni-Lab-OS + +### EARS — Session Start (2026-05-27 14:01) + +- Task: 在设备异常处理的默认操作中添加"跳过"选项 +- Why: 用户需要在设备异常时能够跳过失败的动作继续执行后续步骤，而不是只能重试或终止整个任务 + +**完成情况**： +1. ✅ `DeviceException` 基类 `_default_actions()` 添加 skip（retry → skip → abort） +2. ✅ `base_device_node.py` 未预期异常处理添加 skip +3. ✅ `TimeoutException` 添加 skip（retry → skip → manual_fix → abort） +4. ✅ `ModbusConnectionError` 添加 skip（retry → skip → manual_fix → abort） +5. ✅ `ResourceConflictError` 已有 skip，无需修改 +6. ✅ `ParameterError` 和 `EmergencyStopError` 不适合 skip，保持原样 + +**修改文件**： +- `unilabos/devices/exceptions.py` - 3 处修改 +- `unilabos/ros/nodes/base_device_node.py` - 1 处修改 + +**验证**：所有异常类型的 suggested_actions 都正确包含 skip 选项。 + +### EARS — Progress (2026-05-18 14:30) + +踩坑：conda `unilab` env 里有 pip 装的 unilabos 旧版本（site-packages），GitHub repo 的修改不会被加载。必须在 repo 根目录 `pip install -e .` 覆盖。否则跑的还是云端 bohrium 地址，本地异常处理代码完全不生效。 + +### EARS — Fix (2026-05-18 16:12) + +踩坑：`_handle_device_exception` 中 `_get_ws_client()` 始终返回 None，导致设备异常报警从未上行、前端一直 loading。根因是 `_get_ws_client()` 写的是 `from unilabos.app.communication import CommunicationFactory`，但实际类名是 `CommunicationClientFactory`。`ImportError` 被裸 `except Exception: return None` 静默吞掉。教训：禁止 `except Exception` 兜底返回 None —— 让真实错误自然抛出才能定位问题，符合用户 CLAUDE.md 中"严格控制 try/except"原则。 + +### EARS — Fix (2026-05-21 17:36) + +**问题**：用户点击异常弹窗的"重试/终止任务"按钮后，Edge 侧永远不执行对应操作。 + +**根本原因**：跨线程 Future 唤醒失败 +- `_wait_for_user_decision` 在 ROS2 设备节点的事件循环中创建 Future 并 await +- WebSocket 客户端在**另一个线程/事件循环**中接收决策消息 +- `handle_user_decision` 直接调用 `fut.set_result(decision)` 无法跨线程唤醒 Future +- 导致 `await asyncio.wait_for(fut)` 永远阻塞 + +**解决方案**： +```python +# 错误：直接 set_result（同线程才有效） +fut.set_result(decision) + +# 正确：使用 call_soon_threadsafe 跨线程唤醒 +fut.get_loop().call_soon_threadsafe(fut.set_result, decision) +``` + +**调试过程**：添加详细日志，发现 `fut.set_result()` 被调用但 `await` 没有返回，识别出经典的 asyncio 跨线程问题。 + +**修改文件**：`unilabos/ros/nodes/base_device_node.py:1681` - `handle_user_decision` 方法 + +**知识点**：asyncio.Future 必须在创建它的事件循环中设置结果，跨线程必须用 `call_soon_threadsafe`。 + +### EARS — Fix (2026-05-28 11:27) + +**问题**：用户点击"跳过"操作后，工作流中的 action 块仍然显示绿色边框（success），而不是灰色边框（skipped）。 + +**根本原因**：跳过状态在多个层级被覆盖或未正确传递 +1. **Edge 侧**：`base_device_node.py:1587` 正确返回 `{"status": "skipped"}` +2. **HostNode 层**：`host_node.py:943` 硬编码 `status = "success"`，忽略了 `result_data` 中的 status 字段 +3. **WebSocket 层**：`ws_client.py:1513` 只处理 `["success", "failed"]`，不包含 `"skipped"`，导致任务未被标记为完成 + +**解决方案**： +```python +# 1. host_node.py:943 - 优先读取 result_data 中的 status +result_data = convert_from_ros_msg(result_msg) +status = result_data.get("status", "success") # 之前硬编码为 "success" + +# 2. ws_client.py:1513 - 将 skipped 加入最终状态列表 +if status in ["success", "failed", "skipped"]: # 之前只有 success 和 failed + self.queue_processor.handle_job_completed(item.job_id, status) +``` + +**修改文件**： +- `unilabos/ros/nodes/presets/host_node.py:943` +- `unilabos/app/ws_client.py:1513` +- `Uni-Lab-Cloud/web/src/app/@enterprise/(new)/laboratory/[uuid]/workflow/[workflowid]/components/basic-node.tsx:153`（前端样式已修改） + +**知识点**：状态传递链路中任何一层的硬编码或遗漏都会导致状态丢失。需要追踪完整的数据流：Edge → HostNode → WebSocket → Backend → Frontend。 + diff --git a/trace/trace.jsonl b/trace/trace.jsonl new file mode 100644 index 000000000..4b16fbe3a --- /dev/null +++ b/trace/trace.jsonl @@ -0,0 +1,3 @@ +{"step_type": "decision", "timestamp": "2026-05-18T08:12:58Z", "title": "stuck_thrashing:base_device_node.py", "body": "Thrashing detected: base_device_node.py edited 4 times. Agent must record alternatives_considered."} +{"step_type": "decision", "timestamp": "2026-05-21T09:27:57Z", "title": "stuck_thrashing:base_device_node.py", "body": "Thrashing detected: base_device_node.py edited 4 times. Agent must record alternatives_considered."} +{"step_type": "observation", "timestamp": "2026-05-27T06:01:43Z", "title": "session_start", "body": "Session started in Uni-Lab-OS at 2026-05-27T06:01:43Z. Agent should fill task/why on next response."} diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index da39f5ce4..f783254fa 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -781,6 +781,10 @@ async def _process_message(self, message_type: str, message_data: Dict[str, Any] await self._handle_device_manage(message_data, "remove") elif message_type == "request_restart": await self._handle_request_restart(message_data) + elif message_type == "device_exception_decision": + await self._on_device_exception_decision(message_data) + elif message_type == "host_node_ready_response": + await self._handle_host_ready_response(message_data) else: logger.debug(f"[MessageProcessor] Unknown message type: {message_type}") @@ -1327,6 +1331,31 @@ def do_cleanup(): cleanup_thread.start() logger.info(f"[MessageProcessor] Restart cleanup scheduled") + async def _on_device_exception_decision(self, data: Dict[str, Any]): + """处理后端转发的用户决策,路由到对应 device_node.handle_user_decision""" + task_id = data.get("task_id", "") + device_id = data.get("device_id", "") + decision = { + "action": data.get("action", "abort"), + "reason": data.get("reason", ""), + "extra": data.get("extra", {}), + } + logger.info(f"[DEBUG] 收到异常决策消息: task_id={task_id}, device_id={device_id}, action={decision['action']}") + host_node = HostNode.get_instance(0) + if host_node is None: + logger.warning(f"[MessageProcessor] HostNode 未就绪,丢弃决策 task_id={task_id}") + return + wrapper = host_node.devices_instances.get(device_id) + if wrapper is None: + logger.warning(f"[MessageProcessor] 设备 {device_id} 未找到,丢弃决策 task_id={task_id}") + return + base_node = getattr(wrapper, "_ros_node", None) or wrapper + if not hasattr(base_node, "handle_user_decision"): + logger.warning(f"[MessageProcessor] 设备 {device_id} 节点不支持异常决策") + return + logger.info(f"[DEBUG] 调用设备节点的 handle_user_decision") + base_node.handle_user_decision(task_id, decision) + async def _send_action_state_response( self, device_id: str, @@ -1873,7 +1902,7 @@ def publish_job_status( job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name) # 拦截最终结果状态，与原版本逻辑一致 - if status in ["success", "failed"]: + if status in ["success", "failed", "skipped"]: self._job_running_last_sent.pop(item.job_id, None) host_node = HostNode.get_instance(0) @@ -1931,6 +1960,19 @@ def publish_job_status( logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}") + def publish_device_exception_alarm(self, alarm_data: dict) -> None: + """上行: 推送设备异常报警到后端""" + if self.is_disabled or not self.is_connected(): + logger.warning( + f"[WebSocketClient] 未连接,无法推送设备异常: {alarm_data.get('device_id')} - {alarm_data.get('action_name')}" + ) + return + message = {"action": "device_exception_alarm", "data": alarm_data} + self.message_processor.send_message(message) + logger.info( + f"[WebSocketClient] device_exception_alarm: {alarm_data.get('device_id')} {alarm_data.get('exception_type')}" + ) + def send_ping(self, ping_id: str, timestamp: float) -> None: """发送ping消息""" if self.is_disabled or not self.is_connected(): diff --git a/unilabos/devices/exceptions.py b/unilabos/devices/exceptions.py new file mode 100644 index 000000000..e81c33084 --- /dev/null +++ b/unilabos/devices/exceptions.py @@ -0,0 +1,220 @@ +"""设备异常基类与具体异常定义 + +设计原则: +1. 所有设备异常继承自 DeviceException +2. 子类通过类属性声明 category/severity (无需 __init__ 设置) +3. suggested_actions 通过 _default_actions() 提供,可被实例覆盖 +4. device_snapshot 在抛出点采集,框架层不负责 +""" +from __future__ import annotations +from dataclasses import dataclass, field +from enum import Enum +from typing import Any, Awaitable, Callable, List, Optional +import traceback + + +class DeviceExceptionCategory(str, Enum): + NETWORK = "network" # 通信类: Modbus/OPC-UA/串口 + HARDWARE = "hardware" # 硬件类: 急停/传感器/电机 + TIMEOUT = "timeout" # 超时类: 步序卡死/动作超时 + PARAMETER = "parameter" # 参数类: 用户输入/范围越界 + RESOURCE = "resource" # 资源类: 位置占用/耗材不足 + UNKNOWN = "unknown" + + +class DeviceExceptionSeverity(str, Enum): + WARNING = "warning" # 可继续,需注意 + ERROR = "error" # 当前任务失败,需处理 + CRITICAL = "critical" # 影响设备安全,需立即处理 + + +@dataclass +class UserAction: + """前端给用户展示的可选操作 + + 通用 action(retry/skip/abort/manual_fix)由框架直接处理。 + 设备特定 action(如 use_next_tip)需提供 handler 回调,框架调用 handler + 后再根据 then 字段决定后续行为(默认 retry)。 + """ + action: str # 通用: retry | skip | abort | manual_fix + # 自定义: 任意字符串,如 use_next_tip + label: str # 按钮文案,如"使用下一个枪头" + description: str = "" # hover 提示 + # 驱动层提供的恢复回调,框架在 retry 前调用。仅在 Edge 侧使用,不序列化 + handler: Optional[Callable[..., Awaitable[Any]]] = field( + default=None, repr=False, compare=False + ) + # handler 执行后的下一步: retry(重新执行原函数) / skip(跳过) / continue(直接返回 handler 结果) + then: str = "retry" + + +class DeviceException(Exception): + """设备异常基类 + + 驱动开发者通过继承此类定义设备特有异常。 + 框架层只需要 catch DeviceException 即可统一处理。 + """ + # 子类通过类属性覆盖 + category: DeviceExceptionCategory = DeviceExceptionCategory.UNKNOWN + severity: DeviceExceptionSeverity = DeviceExceptionSeverity.ERROR + + def __init__( + self, + message: str, + suggested_actions: Optional[List[UserAction]] = None, + device_snapshot: Optional[dict] = None, + cause: Optional[BaseException] = None, + ): + super().__init__(message) + self.message = message + self.suggested_actions = suggested_actions or self._default_actions() + self.device_snapshot = device_snapshot or {} + self.cause = cause + self.traceback_str = traceback.format_exc() + + def _default_actions(self) -> List[UserAction]: + return [ + UserAction("retry", "重试", "重新执行当前操作"), + UserAction("skip", "跳过", "跳过当前操作继续执行"), + UserAction("abort", "终止任务", "停止当前任务"), + ] + + def to_alarm_dict( + self, device_id: str, device_uuid: str, + action_name: str, task_id: str, job_id: str, + ) -> dict: + return { + "device_id": device_id, + "device_uuid": device_uuid, + "action_name": action_name, + "task_id": task_id, + "job_id": job_id, + "exception_type": type(self).__name__, + "category": self.category.value, + "severity": self.severity.value, + "error_message": self.message, + "suggested_actions": [ + {"action": a.action, "label": a.label, "description": a.description} + for a in self.suggested_actions + ], + "device_snapshot": self.device_snapshot, + "traceback": self.traceback_str, + "require_confirmation": True, + } + + +# ==================== 通用异常 ==================== + +class TimeoutException(DeviceException): + """通用超时异常,由装饰器从 asyncio.TimeoutError 转换而来""" + category = DeviceExceptionCategory.TIMEOUT + severity = DeviceExceptionSeverity.ERROR + + def _default_actions(self): + return [ + UserAction("retry", "重试", "延长超时时间再次尝试"), + UserAction("skip", "跳过", "跳过当前操作继续执行"), + UserAction("manual_fix", "手动干预", "现场检查后继续"), + UserAction("abort", "终止任务", "停止当前任务"), + ] + + +class ParameterError(DeviceException): + category = DeviceExceptionCategory.PARAMETER + severity = DeviceExceptionSeverity.WARNING + + def _default_actions(self): + return [ + UserAction("abort", "终止任务", "参数错误需修改后重新提交"), + ] + + +# ==================== 通信类异常 ==================== + +class ModbusConnectionError(DeviceException): + category = DeviceExceptionCategory.NETWORK + severity = DeviceExceptionSeverity.ERROR + + def _default_actions(self): + return [ + UserAction("retry", "重试连接", "重新建立 Modbus 连接"), + UserAction("skip", "跳过", "跳过当前操作继续执行"), + UserAction("manual_fix", "手动检查", "检查网络和电源后继续"), + UserAction("abort", "终止任务", "停止当前任务"), + ] + + +class OPCUAConnectionError(DeviceException): + category = DeviceExceptionCategory.NETWORK + severity = DeviceExceptionSeverity.ERROR + + +# ==================== 硬件类异常 ==================== + +class EmergencyStopError(DeviceException): + """急停异常 - 默认 critical,弹窗不自动关闭""" + category = DeviceExceptionCategory.HARDWARE + severity = DeviceExceptionSeverity.CRITICAL + + def _default_actions(self): + return [ + UserAction("manual_fix", "解除急停", "现场解除急停按钮后继续"), + UserAction("abort", "终止任务", "停止任务"), + ] + + +class PLCStepTimeout(DeviceException): + """PLC 步序超时 - 步序号卡住""" + category = DeviceExceptionCategory.TIMEOUT + severity = DeviceExceptionSeverity.ERROR + + def __init__(self, message: str, current_step: int = -1, + expected_step: int = -1, **kwargs): + super().__init__(message, **kwargs) + self.current_step = current_step + self.expected_step = expected_step + + def to_alarm_dict(self, **kwargs) -> dict: + d = super().to_alarm_dict(**kwargs) + d["current_step"] = self.current_step + d["expected_step"] = self.expected_step + return d + + +class SensorError(DeviceException): + """传感器异常: 液位/温度/压力等读数异常""" + category = DeviceExceptionCategory.HARDWARE + severity = DeviceExceptionSeverity.ERROR + + +# ==================== 资源类异常 ==================== + +class ResourceConflictError(DeviceException): + """资源冲突: 位置占用 / 耗材不足""" + category = DeviceExceptionCategory.RESOURCE + severity = DeviceExceptionSeverity.WARNING + + def _default_actions(self): + return [ + UserAction("retry", "等待重试", "等待资源释放后重试"), + UserAction("skip", "跳过该步", "跳过当前动作继续下一步"), + UserAction("abort", "终止任务", "停止任务"), + ] + + +class TipPickupError(DeviceException): + """枪头拾取失败""" + category = DeviceExceptionCategory.HARDWARE + severity = DeviceExceptionSeverity.ERROR + + def __init__(self, message: str, tip_position: str = "", + remaining_tips: int = 0, **kwargs): + super().__init__(message, **kwargs) + self.tip_position = tip_position + self.remaining_tips = remaining_tips + + def to_alarm_dict(self, **kwargs) -> dict: + d = super().to_alarm_dict(**kwargs) + d["tip_position"] = self.tip_position + d["remaining_tips"] = self.remaining_tips + return d diff --git a/unilabos/devices/virtual/fault_injection_device.py b/unilabos/devices/virtual/fault_injection_device.py new file mode 100644 index 000000000..2ce7499be --- /dev/null +++ b/unilabos/devices/virtual/fault_injection_device.py @@ -0,0 +1,220 @@ +""" +故障注入设备 - 用于异常处理 e2e 联调 + +通过 @action 触发不同 DeviceException 子类，验证： +- timeout 自动转 TimeoutException +- 自定义异常上抛 → Edge 上报 alarm → 前端弹窗 → 用户决策 → 恢复 +""" + +import asyncio +import logging +from typing import Any, Dict, List, Optional + +from typing_extensions import TypedDict + +from unilabos.devices.exceptions import ( + EmergencyStopError, + ModbusConnectionError, + PLCStepTimeout, + SensorError, + TipPickupError, + UserAction, +) +from unilabos.registry.decorators import action, device, not_action +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + + +class SimpleResult(TypedDict): + success: bool + message: str + + +@device( + id="fault_injection_device", + display_name="故障注入设备", + category=["virtual_device"], + description="按 fault_type 主动抛出各类 DeviceException 用于 e2e 测试", +) +class FaultInjectionDevice: + """故障注入设备，依据传入参数 fault_type 抛出不同异常。""" + + _ros_node: BaseROS2DeviceNode + + def __init__( + self, + device_id: Optional[str] = None, + config: Optional[Dict[str, Any]] = None, + **kwargs, + ): + if device_id is None and "id" in kwargs: + device_id = kwargs.pop("id") + if config is None and "config" in kwargs: + config = kwargs.pop("config") + + self.device_id = device_id or "fault_injection_device" + self.config = config or {} + self.logger = logging.getLogger(f"FaultInjectionDevice.{self.device_id}") + self.data: Dict[str, Any] = {} + + # 用于 use_next_tip 自定义恢复 handler 计数 + self._tip_index = 0 + + @not_action + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + + # ----------- 自定义恢复 handler ----------- + + @not_action + async def _use_next_tip(self, **kwargs) -> Dict[str, Any]: + """用户选择"使用下一个 tip"时调用，跳过当前编号继续。""" + self._tip_index += 1 + self.logger.info(f"[fault_injection] 切换到下一个 tip: index={self._tip_index}") + return {"success": True, "tip_index": self._tip_index} + + # ----------- @action: 普通正常调用 ----------- + + @action(description="正常调用，立即返回成功") + async def run_ok(self) -> SimpleResult: + self.logger.info("[fault_injection] run_ok 正常执行") + await asyncio.sleep(0.2) + return {"success": True, "message": "ok"} + + # ----------- @action: 超时（timeout 触发） ----------- + + @action(description="模拟长耗时操作，触发 timeout", timeout=2.0) + async def run_long(self, duration: float = 5.0) -> SimpleResult: + """sleep duration 秒。当 duration > timeout(2s) 时触发 TimeoutException。""" + self.logger.info(f"[fault_injection] run_long sleep {duration}s") + await asyncio.sleep(duration) + return {"success": True, "message": f"slept {duration}s"} + + # ----------- @action: Modbus 连接异常 ----------- + + @action(description="抛出 ModbusConnectionError") + async def raise_modbus_error(self) -> SimpleResult: + self.logger.warning("[fault_injection] 抛出 ModbusConnectionError") + raise ModbusConnectionError( + message="Modbus 端口连接失败 (模拟)", + device_snapshot={"port": "/dev/ttyUSB0", "baudrate": 9600}, + ) + + # ----------- @action: 急停异常（critical） ----------- + + @action(description="抛出 EmergencyStopError，critical 不可关闭") + async def raise_emergency_stop(self) -> SimpleResult: + self.logger.warning("[fault_injection] 抛出 EmergencyStopError") + raise EmergencyStopError( + message="急停按钮已触发 (模拟)", + ) + + # ----------- @action: PLC 步序超时 ----------- + + @action(description="抛出 PLCStepTimeout") + async def raise_plc_step_timeout(self) -> SimpleResult: + self.logger.warning("[fault_injection] 抛出 PLCStepTimeout") + raise PLCStepTimeout( + message="PLC 步序 step_5 长时间未变化 (模拟)", + device_snapshot={"current_step": 5, "elapsed_seconds": 120}, + ) + + # ----------- @action: 传感器异常 ----------- + + @action(description="抛出 SensorError") + async def raise_sensor_error(self) -> SimpleResult: + self.logger.warning("[fault_injection] 抛出 SensorError") + raise SensorError( + message="温度传感器读数异常 (模拟)", + device_snapshot={"sensor": "temp_1", "value": -999.0}, + ) + + # ----------- @action: 取头失败（带自定义 handler） ----------- + + @action(description="抛出 TipPickupError，提供 use_next_tip 自定义恢复") + async def raise_tip_pickup_error(self) -> SimpleResult: + self.logger.warning("[fault_injection] 抛出 TipPickupError") + raise TipPickupError( + message=f"tip {self._tip_index} 取头失败 (模拟)", + device_snapshot={"tip_index": self._tip_index}, + suggested_actions=[ + UserAction(action="retry", label="重试当前 tip"), + UserAction( + action="use_next_tip", + label="使用下一个 tip", + handler=self._use_next_tip, + ), + UserAction(action="skip", label="跳过此步骤"), + UserAction(action="abort", label="中止任务"), + ], + ) + + # =========== 同步版本驱动函数（用于 simple backend 测试） =========== + + # =========== 同步版本驱动函数（注意：同步函数不支持异常处理回环）=========== + # + # 重要说明：框架的 DeviceException 异常处理机制（上报 alarm → 前端弹窗 → 用户决策） + # 只对异步函数生效。同步函数抛出异常后只会被记录到日志，不会触发前端弹窗。 + # + # 如果需要测试异常处理，请使用上面的异步版本（run_ok、raise_modbus_error 等）。 + # 以下同步版本仅用于演示同步函数的写法。 + + @action(description="同步版本：正常调用", exception_handling=True) + def run_ok_sync(self) -> SimpleResult: + """同步版本的正常调用，不使用 async/await""" + self.logger.info("[fault_injection] run_ok_sync 正常执行（同步）") + import time + time.sleep(0.2) + return {"success": True, "message": "ok (sync)"} + + @action(description="同步版本：模拟长耗时触发超时", timeout=2.0, exception_handling=True) + def run_long_sync(self, duration: float = 5.0) -> SimpleResult: + """同步版本：sleep duration 秒。当 duration > timeout(2s) 时触发 TimeoutException。""" + self.logger.info(f"[fault_injection] run_long_sync sleep {duration}s") + import time + time.sleep(duration) + return {"success": True, "message": f"slept {duration}s (sync)"} + + @action(description="同步版本：抛出 ModbusConnectionError", exception_handling=True) + def raise_modbus_error_sync(self) -> SimpleResult: + """同步版本的 Modbus 异常（注意：不会触发前端弹窗）""" + self.logger.warning("[fault_injection] 抛出 ModbusConnectionError（同步）") + raise ModbusConnectionError( + message="Modbus 端口连接失败 (模拟-同步)", + device_snapshot={"port": "/dev/ttyUSB0", "baudrate": 9600}, + ) + + @action(description="同步版本：抛出 SensorError", exception_handling=True) + def raise_sensor_error_sync(self) -> SimpleResult: + """同步版本的传感器异常（注意：不会触发前端弹窗）""" + self.logger.warning("[fault_injection] 抛出 SensorError（同步）") + raise SensorError( + message="温度传感器读数异常 (模拟-同步)", + device_snapshot={"sensor": "temp_1", "value": -999.0}, + ) + + @action(description="同步版本：抛出 TipPickupError", exception_handling=True) + def raise_tip_pickup_error_sync(self) -> SimpleResult: + """同步版本的取头失败异常（注意：不会触发前端弹窗）""" + self.logger.warning("[fault_injection] 抛出 TipPickupError（同步）") + raise TipPickupError( + message=f"tip {self._tip_index} 取头失败 (模拟-同步)", + device_snapshot={"tip_index": self._tip_index}, + suggested_actions=[ + UserAction(action="retry", label="重试当前 tip"), + UserAction( + action="use_next_tip", + label="使用下一个 tip", + handler=self._use_next_tip, + ), + UserAction(action="skip", label="跳过此步骤"), + UserAction(action="abort", label="中止任务"), + ], + ) + + @action(description="同步版本：抛出 EmergencyStopError", exception_handling=True) + def raise_emergency_stop_sync(self) -> SimpleResult: + """同步版本的急停异常（注意：不会触发前端弹窗）""" + self.logger.warning("[fault_injection] 抛出 EmergencyStopError（同步）") + raise EmergencyStopError( + message="急停按钮已触发 (模拟-同步)", + ) diff --git a/unilabos/registry/decorators.py b/unilabos/registry/decorators.py index 927376e66..6180a3401 100644 --- a/unilabos/registry/decorators.py +++ b/unilabos/registry/decorators.py @@ -357,6 +357,9 @@ def action( parent: bool = False, node_type: Optional["NodeType"] = None, feedback_interval: Optional[float] = None, + timeout: Optional[float] = None, + exception_handling: bool = True, + default_on_user_timeout: str = "abort", ): """ 动作方法装饰器 @@ -389,6 +392,10 @@ def AddProtocol(self): ... parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数 node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。 不填写时不写入注册表。 + timeout: 动作超时秒数。None 表示不限时；协程函数超时后自动转换为 + TimeoutException 走异常处理流程 + exception_handling: 是否启用异常处理 + 用户决策回环 (默认 True) + default_on_user_timeout: 用户决策超时时默认动作 ("abort"/"retry"/"skip") """ def decorator(func: F) -> F: @@ -397,10 +404,50 @@ def decorator(func: F) -> F: if _asyncio.iscoroutinefunction(func): @wraps(func) async def wrapper(*args, **kwargs): - return await func(*args, **kwargs) + # 未设置 timeout：保持透传 + if timeout is None: + return await func(*args, **kwargs) + # 设置 timeout：用 asyncio.wait_for 包裹。 + # 当前线程若没有 running asyncio loop（rclpy executor 驱动场景）， + # 退化为把协程提交到 ROS2DeviceNode._asyncio_loop 上跑并同步等结果。 + try: + _asyncio.get_running_loop() + has_running_loop = True + except RuntimeError: + has_running_loop = False + + try: + if has_running_loop: + return await _asyncio.wait_for(func(*args, **kwargs), timeout=timeout) + from unilabos.ros.nodes.base_device_node import ROS2DeviceNode + target_loop = ROS2DeviceNode.get_asyncio_loop() + if target_loop is None or not target_loop.is_running(): + # 没有可用 asyncio loop，降级为直接 await，不做 timeout + return await func(*args, **kwargs) + cfuture = _asyncio.run_coroutine_threadsafe( + _asyncio.wait_for(func(*args, **kwargs), timeout=timeout), + target_loop, + ) + return cfuture.result() + except _asyncio.TimeoutError as e: + # 延迟 import 避免循环依赖 + from unilabos.devices.exceptions import TimeoutException + # 采集设备快照（self 在 args[0]），失败不影响异常抛出 + snapshot = {} + if args and hasattr(args[0], "_get_device_snapshot"): + try: + snapshot = args[0]._get_device_snapshot() + except Exception: + pass + raise TimeoutException( + f"动作 {func.__name__} 执行超时 (>{timeout}s)", + device_snapshot=snapshot, + cause=e, + ) else: @wraps(func) def wrapper(*args, **kwargs): + # 同步函数：保持透传，超时由框架层 run_in_executor 包装处理 return func(*args, **kwargs) # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand) @@ -424,7 +471,17 @@ def wrapper(*args, **kwargs): meta["feedback_interval"] = feedback_interval if node_type is not None: meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type) + # 异常处理相关元数据：沿用 "不为默认值才加" 原则 + if timeout is not None: + meta["timeout"] = timeout + if exception_handling is not True: + meta["exception_handling"] = exception_handling + if default_on_user_timeout != "abort": + meta["default_on_user_timeout"] = default_on_user_timeout wrapper._action_registry_meta = meta # type: ignore[attr-defined] + # 框架层快速判断标记 + wrapper._exception_handling = exception_handling # type: ignore[attr-defined] + wrapper._action_timeout = timeout # type: ignore[attr-defined] # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容 if always_free: @@ -445,6 +502,16 @@ def has_action_decorator(func) -> bool: return hasattr(func, "_action_registry_meta") +def get_action_timeout(func) -> Optional[float]: + """获取动作的超时秒数 (None 表示不限时)""" + return getattr(func, "_action_timeout", None) + + +def is_exception_handling_enabled(func) -> bool: + """该动作是否启用异常处理流程""" + return getattr(func, "_exception_handling", False) + + # --------------------------------------------------------------------------- # @resource 类/函数装饰器 # --------------------------------------------------------------------------- diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 3177d61b4..9fc1fa757 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -444,6 +444,10 @@ def __init__( max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}" ) + # 设备异常处理：等待用户决策的 Future 表 + self._pending_decisions: Dict[str, asyncio.Future] = {} + self._user_decision_timeout: float = 300.0 + self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}") # 创建资源管理客户端 @@ -1548,6 +1552,180 @@ def get_real_function(self, instance, attr_name): obj = getattr(instance, attr_name) return obj, get_type_hints(obj) + # ================================================================ + # 设备异常处理 - 用户决策回环 + # ================================================================ + + async def _execute_with_exception_handling( + self, + action_func, + action_name: str, + task_id: str, + job_id: str, + action_kwargs: dict, + max_user_iterations: int = 10, + ) -> Any: + """带异常处理 + 用户决策回环的动作执行主循环 + + - DeviceException 抛出 → 推送报警 → 等待决策 → 分支 + - 其他异常 → 包装为 UNKNOWN DeviceException 后同样流程 + - 通用 action: retry/skip/manual_fix/abort + - 自定义 action: 在 exc.suggested_actions 中查 handler,按 then 决定下一步 + """ + from unilabos.devices.exceptions import DeviceException, UserAction + + iteration = 0 + exc: Optional[DeviceException] = None + while True: + iteration += 1 + if iteration > max_user_iterations: + raise DeviceException( + f"动作 {action_name} 异常处理超过 {max_user_iterations} 轮,强制终止" + ) + + try: + return await action_func(**action_kwargs) + except DeviceException as e: + exc = e + decision = await self._handle_device_exception(e, action_name, task_id, job_id) + except Exception as e: + wrapped = DeviceException( + f"未预期异常: {type(e).__name__}: {e}", + suggested_actions=[ + UserAction("retry", "重试", "重新执行"), + UserAction("skip", "跳过", "跳过当前操作继续执行"), + UserAction("abort", "终止", "终止任务"), + ], + cause=e, + ) + wrapped.traceback_str = traceback.format_exc() + exc = wrapped + decision = await self._handle_device_exception(wrapped, action_name, task_id, job_id) + + action = decision.get("action", "abort") + self.get_logger().info(f"[DEBUG] 用户决策 action={action}, reason={decision.get('reason', '')}") + + if action == "retry": + self.get_logger().info(f"[DEBUG] 执行 retry，重新执行动作") + continue + if action == "skip": + self.get_logger().info(f"[DEBUG] 执行 skip，跳过动作") + return {"status": "skipped", "reason": decision.get("reason", "user_skip")} + if action == "manual_fix": + self.get_logger().info(f"[DEBUG] 执行 manual_fix，重新执行动作") + continue + if action == "abort": + self.get_logger().info(f"[DEBUG] 执行 abort，终止任务") + raise exc + + # 自定义 action: 找 handler + matched: Optional[UserAction] = None + for ua in (exc.suggested_actions if isinstance(exc, DeviceException) else []): + if ua.action == action: + matched = ua + break + + if matched is None or matched.handler is None: + self.get_logger().warning( + f"未知决策 action={action} 且无 handler,fallback 为 abort" + ) + raise exc + + try: + handler_result = await matched.handler(exception=exc, decision=decision) + except DeviceException as he: + # handler 自身抛 DeviceException → 进入下一轮决策 + exc = he + # 直接发起一次决策,然后回到主循环顶端按新决策处理 + next_decision = await self._handle_device_exception(he, action_name, task_id, job_id) + # 把新决策塞回 action_func 重试前先处理:简化做法 — 复用 continue 让外层捕获 + # 由于外层 try 已不再进入,这里手动处理 next_decision + action = next_decision.get("action", "abort") + if action == "retry" or action == "manual_fix": + continue + if action == "skip": + return {"status": "skipped", "reason": next_decision.get("reason", "user_skip")} + if action == "abort": + raise he + # 自定义 action 继续套用主循环逻辑:这里简化为 abort + raise he + + then = matched.then + if then == "retry": + continue + if then == "skip": + return {"status": "skipped", "reason": f"after_{action}"} + if then == "continue": + return handler_result + continue + + async def _handle_device_exception( + self, + exc, + action_name: str, + task_id: str, + job_id: str, + ) -> dict: + """推送异常报警并等待用户决策,超时默认 abort""" + alarm_data = exc.to_alarm_dict( + device_id=self.device_id, + device_uuid=self.uuid, + action_name=action_name, + task_id=task_id, + job_id=job_id, + ) + self.get_logger().error( + f"[DeviceException] {action_name} 抛出 {type(exc).__name__}: {exc.message}" + ) + + ws_client = self._get_ws_client() + ws_client.publish_device_exception_alarm(alarm_data) + + self.get_logger().info(f"[DEBUG] 开始等待用户决策: task_id={task_id}") + try: + decision = await self._wait_for_user_decision(task_id, exc) + self.get_logger().info(f"[DEBUG] _handle_device_exception 收到决策: {decision}") + return decision + except asyncio.TimeoutError: + self.get_logger().warning( + f"[DeviceException] 用户决策超时,默认 abort: {action_name}" + ) + return {"action": "abort", "reason": "user_decision_timeout"} + + async def _wait_for_user_decision(self, task_id: str, exc) -> dict: + """通过 Future 阻塞等待用户决策""" + loop = asyncio.get_event_loop() + fut: asyncio.Future = loop.create_future() + key = f"{task_id}:{exc.message[:32]}" + self._pending_decisions[key] = fut + try: + result = await asyncio.wait_for(fut, timeout=self._user_decision_timeout) + self.get_logger().info(f"[DEBUG] _wait_for_user_decision 返回: {result}") + return result + finally: + self._pending_decisions.pop(key, None) + + def handle_user_decision(self, task_id: str, decision: dict): + """由 ws_client 在收到 device_exception_decision 时调用""" + self.get_logger().info(f"[DEBUG] 收到用户决策: task_id={task_id}, decision={decision}") + for key in list(self._pending_decisions.keys()): + if key.startswith(f"{task_id}:"): + fut = self._pending_decisions[key] + if not fut.done(): + self.get_logger().info(f"[DEBUG] 设置 Future 结果: key={key}") + # 使用 call_soon_threadsafe 确保跨线程安全地设置结果 + fut.get_loop().call_soon_threadsafe(fut.set_result, decision) + else: + self.get_logger().warning(f"[DEBUG] Future 已完成: key={key}") + break + else: + self.get_logger().warning(f"[DEBUG] 未找到匹配的 pending_decision, task_id={task_id}, 当前 keys={list(self._pending_decisions.keys())}") + + def _get_ws_client(self): + """获取通信客户端(单例),节点无法直接持有 ws_client 时通过工厂取得""" + from unilabos.app.communication import CommunicationClientFactory + return CommunicationClientFactory.get_client() + def _create_execute_callback(self, action_name, action_value_mapping): """创建动作执行回调函数""" @@ -1652,7 +1830,58 @@ def ACTION(**kwargs): time_start = time.time() time_overall = 100 future = None - if not error_skip: + # ──── 异常处理新路径:启用时走 _execute_with_exception_handling ──── + from unilabos.registry.decorators import is_exception_handling_enabled, get_action_timeout + use_exception_handling = (not error_skip) and is_exception_handling_enabled(ACTION) + if use_exception_handling: + action_timeout = get_action_timeout(ACTION) + ctx = getattr(self, "_current_job_context", None) or {} + task_id = (getattr(goal, "task_id", "") or "") or ctx.get("task_id", "") or "" + job_id = (getattr(goal, "job_id", "") or "") or ctx.get("job_id", "") or "" + self.get_logger().warn( + f"[DEBUG-EXC-CTX] action={ACTION.__name__} task_id={task_id!r} job_id={job_id!r} ctx={ctx!r}" + ) + + async def _wrapped_action(**kwargs): + if asyncio.iscoroutinefunction(ACTION): + return await ACTION(**kwargs) + loop = asyncio.get_event_loop() + import functools as _ft + return await loop.run_in_executor( + self._executor, _ft.partial(ACTION, **kwargs) + ) + + async def _wrapped_with_timeout(**kwargs): + # 同步函数 + timeout:由框架层用 wait_for 包装,捕获 TimeoutError 转 TimeoutException + if action_timeout is not None and not asyncio.iscoroutinefunction(ACTION): + try: + return await asyncio.wait_for( + _wrapped_action(**kwargs), timeout=action_timeout + ) + except asyncio.TimeoutError as e: + from unilabos.devices.exceptions import TimeoutException + raise TimeoutException( + f"动作 {ACTION.__name__} 执行超时 (>{action_timeout}s)", + cause=e, + ) + return await _wrapped_action(**kwargs) + + try: + action_return_value = await self._execute_with_exception_handling( + action_func=_wrapped_with_timeout, + action_name=ACTION.__name__, + task_id=task_id, + job_id=job_id, + action_kwargs=action_kwargs, + ) + execution_success = True + except Exception as _: + execution_error = traceback.format_exc() + execution_success = False + error( + f"动作 {ACTION.__name__} 异常处理后仍失败\n{traceback.format_exc()}" + ) + elif not error_skip: # 将阻塞操作放入线程池执行 if asyncio.iscoroutinefunction(ACTION): try: @@ -1855,6 +2084,12 @@ async def _wake(): attr_name, get_result_info_str(execution_error, execution_success, action_return_value), ) + elif attr_name == "status": + # 如果 action_return_value 包含 status 字段（如 skipped），则使用它 + if isinstance(action_return_value, dict) and "status" in action_return_value: + setattr(result_msg, attr_name, action_return_value["status"]) + else: + setattr(result_msg, attr_name, "success" if execution_success else "failed") self.lab_logger().trace(f"动作 {action_name} 完成并返回结果") return result_msg @@ -2098,6 +2333,27 @@ async def _execute_driver_command_async(self, string: str): ) raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}") + # 启用异常处理时，走用户决策回环；并且因当前线程通常无 asyncio loop， + # 提交到 ROS2DeviceNode._asyncio_loop 上跑（与 @action wrapper case B 一致） + from unilabos.registry.decorators import is_exception_handling_enabled + if is_exception_handling_enabled(function): + target_loop = ROS2DeviceNode.get_asyncio_loop() + if target_loop is not None and target_loop.is_running(): + ctx = getattr(self, "_current_job_context", None) or {} + self.get_logger().warn( + f"[DEBUG-EXC-CTX-JSON] action={function_name} ctx={ctx!r}" + ) + cfuture = asyncio.run_coroutine_threadsafe( + self._execute_with_exception_handling( + action_func=function, + action_name=function_name, + task_id=ctx.get("task_id", "") or "", + job_id=ctx.get("job_id", "") or "", + action_kwargs=function_args, + ), + target_loop, + ) + return cfuture.result() return await function(**function_args) except KeyError as ex: raise JsonCommandInitError( diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 9e34c16b4..754c7eff6 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -835,6 +835,14 @@ def send_goal( action_client: ActionClient = self._action_clients[action_id] goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs) + # 把当前 job 上下文写到目标 device_node,异常处理时 alarm 才能携带 task_id/job_id + target_wrapper = self.devices_instances.get(device_id) + if target_wrapper is not None and getattr(target_wrapper, "_ros_node", None) is not None: + target_wrapper._ros_node._current_job_context = { + "task_id": item.task_id, + "job_id": item.job_id, + } + # self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}") self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}") self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}") @@ -932,13 +940,17 @@ def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None return_info = serialize_result_info("Job was cancelled", False, {}) else: result_data = convert_from_ros_msg(result_msg) - status = "success" + # 优先检查 result_data 中的 status 字段（支持 skipped 等状态） + status = result_data.get("status", "success") return_info_str = result_data.get("return_info") if return_info_str is not None: try: return_info = json.loads(return_info_str) - # 适配后端的一些额外处理 + # 检查 return_value 中是否有 status 字段（跳过操作会返回 {"status": "skipped"}） return_value = return_info.get("return_value") + if isinstance(return_value, dict) and "status" in return_value: + status = return_value["status"] + # 适配后端的一些额外处理 if isinstance(return_value, dict): unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None) if isinstance(unilabos_samples, list) and unilabos_samples: @@ -949,7 +961,7 @@ def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None ) return_info["samples"] = unilabos_samples suc = return_info.get("suc", False) - if not suc: + if not suc and status == "success": status = "failed" except json.JSONDecodeError: status = "failed" diff --git a/unilabos/test/experiments/fault_injection.json b/unilabos/test/experiments/fault_injection.json new file mode 100644 index 000000000..7d2d73a69 --- /dev/null +++ b/unilabos/test/experiments/fault_injection.json @@ -0,0 +1,15 @@ +{ + "nodes": [ + { + "id": "fault_injection_device", + "name": "fault_injection_device", + "type": "device", + "class": "fault_injection_device", + "parent": null, + "children": [], + "config": {}, + "data": {} + } + ], + "links": [] +} diff --git a/unilabos/test/experiments/fault_injection_config.py b/unilabos/test/experiments/fault_injection_config.py new file mode 100644 index 000000000..ce7bbf3ca --- /dev/null +++ b/unilabos/test/experiments/fault_injection_config.py @@ -0,0 +1,18 @@ +# fault_injection e2e 测试用配置 +# ak/sk 请替换为本地 Go 后端创建的实验室凭证 + +class BasicConfig: + ak = "REPLACE_WITH_LAB_AK" + sk = "REPLACE_WITH_LAB_SK" + machine_name = "fault_injection_edge" + + +class WSConfig: + reconnect_interval = 5 + max_reconnect_attempts = 999 + ping_interval = 30 + + +class HTTPConfig: + # 指向本地 Go 后端 + remote_addr = "http://127.0.0.1:48197/api/v1" diff --git a/unilabos/test/experiments/registry_cache.pkl b/unilabos/test/experiments/registry_cache.pkl new file mode 100644 index 000000000..6345ea7e2 Binary files /dev/null and b/unilabos/test/experiments/registry_cache.pkl differ diff --git a/unilabos/test/experiments/req_device_registry_upload.json b/unilabos/test/experiments/req_device_registry_upload.json new file mode 100644 index 000000000..39d1e682c --- /dev/null +++ b/unilabos/test/experiments/req_device_registry_upload.json @@ -0,0 +1,61699 @@ +{ + "resources": [ + { + "id": "fault_injection_device", + "category": [ + "virtual_device" + ], + "class": { + "module": "unilabos.devices.virtual.fault_injection_device:FaultInjectionDevice", + "status_types": {}, + "action_value_mappings": { + "raise_emergency_stop": { + "type": "UniLabJsonCommandAsync", + "goal": {}, + "feedback": {}, + "result": {}, + "schema": { + "title": "raise_emergency_stop参数", + "description": "抛出 EmergencyStopError，critical 不可关闭", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "raise_modbus_error": { + "type": "UniLabJsonCommandAsync", + "goal": {}, + "feedback": {}, + "result": {}, + "schema": { + "title": "raise_modbus_error参数", + "description": "抛出 ModbusConnectionError", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "raise_plc_step_timeout": { + "type": "UniLabJsonCommandAsync", + "goal": {}, + "feedback": {}, + "result": {}, + "schema": { + "title": "raise_plc_step_timeout参数", + "description": "抛出 PLCStepTimeout", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "raise_sensor_error": { + "type": "UniLabJsonCommandAsync", + "goal": {}, + "feedback": {}, + "result": {}, + "schema": { + "title": "raise_sensor_error参数", + "description": "抛出 SensorError", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "raise_tip_pickup_error": { + "type": "UniLabJsonCommandAsync", + "goal": {}, + "feedback": {}, + "result": {}, + "schema": { + "title": "raise_tip_pickup_error参数", + "description": "抛出 TipPickupError，提供 use_next_tip 自定义恢复", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "run_long": { + "type": "UniLabJsonCommandAsync", + "goal": { + "duration": "duration" + }, + "feedback": {}, + "result": {}, + "schema": { + "title": "run_long参数", + "description": "模拟长耗时操作，触发 timeout", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "duration": { + "type": "number", + "default": 5.0, + "title": "duration", + "description": "" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": { + "duration": 5.0 + }, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "run_ok": { + "type": "UniLabJsonCommandAsync", + "goal": {}, + "feedback": {}, + "result": {}, + "schema": { + "title": "run_ok参数", + "description": "正常调用，立即返回成功", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "message": { + "title": "Message", + "type": "string" + } + }, + "required": [ + "success", + "message" + ], + "title": "SimpleResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "feedback_interval": 1.0 + } + }, + "type": "python" + }, + "config_info": [], + "description": "按 fault_type 主动抛出各类 DeviceException 用于 e2e 测试", + "handles": [], + "icon": "", + "init_param_schema": { + "config": { + "type": "object", + "properties": { + "device_id": { + "type": "string", + "title": "device_id", + "description": "" + }, + "config": { + "type": "object", + "title": "config", + "description": "" + } + }, + "required": [] + }, + "data": { + "type": "object", + "properties": {}, + "required": [] + } + }, + "version": "1.0.0", + "registry_type": "device", + "file_path": "/Users/dp/software/GitHub/LeapLab/Uni-Lab-OS/unilabos/devices/virtual/fault_injection_device.py" + }, + { + "id": "virtual_workbench", + "category": [ + "virtual_device" + ], + "class": { + "module": "unilabos.devices.virtual.workbench:VirtualWorkbench", + "status_types": { + "active_tasks_count": "Int64", + "arm_current_task": "String", + "arm_state": "String", + "heating_station_1_material": "String", + "heating_station_1_progress": "Float64", + "heating_station_1_state": "String", + "heating_station_2_material": "String", + "heating_station_2_progress": "Float64", + "heating_station_2_state": "String", + "heating_station_3_material": "String", + "heating_station_3_progress": "Float64", + "heating_station_3_state": "String", + "message": "String", + "status": "String" + }, + "action_value_mappings": { + "auto-move_to_heating_station": { + "type": "UniLabJsonCommand", + "goal": { + "material_number": "material_number" + }, + "feedback": {}, + "result": {}, + "schema": { + "title": "move_to_heating_station参数", + "description": "将物料从An位置移动到空闲加热台, 返回分配的加热台ID", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "material_number": { + "type": "integer", + "title": "物料编号", + "description": "要移动的物料编号，对应 A1、A2 等起始位置。" + } + }, + "required": [ + "material_number" + ], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "$defs": { + "LabSample": { + "properties": { + "sample_uuid": { + "title": "Sample Uuid", + "type": "string" + }, + "oss_path": { + "title": "Oss Path", + "type": "string" + }, + "extra": { + "additionalProperties": true, + "title": "Extra", + "type": "object" + } + }, + "required": [ + "sample_uuid", + "oss_path", + "extra" + ], + "title": "LabSample", + "type": "object" + } + }, + "description": "move_to_heating_station 返回类型", + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "station_id": { + "title": "Station Id", + "type": "integer" + }, + "material_id": { + "title": "Material Id", + "type": "string" + }, + "material_number": { + "title": "Material Number", + "type": "integer" + }, + "message": { + "title": "Message", + "type": "string" + }, + "unilabos_samples": { + "items": { + "$ref": "#/$defs/LabSample" + }, + "title": "Unilabos Samples", + "type": "array" + } + }, + "required": [ + "success", + "station_id", + "material_id", + "material_number", + "message", + "unilabos_samples" + ], + "title": "MoveToHeatingStationResult", + "type": "object" + } + }, + "required": [ + "goal" + ] + }, + "goal_default": { + "material_number": 0 + }, + "handles": { + "input": [ + { + "handler_key": "material_input", + "data_type": "workbench_material", + "label": "物料编号", + "data_key": "material_number", + "data_source": "handle", + "io_type": "source" + } + ], + "output": [ + { + "handler_key": "heating_station_output", + "data_type": "workbench_station", + "label": "加热台ID", + "data_key": "station_id", + "data_source": "executor" + }, + { + "handler_key": "material_number_output", + "data_type": "workbench_material", + "label": "物料编号", + "data_key": "material_number", + "data_source": "executor" + } + ] + }, + "placeholder_keys": {}, + "feedback_interval": 1.0 + }, + "auto-move_to_output": { + "type": "UniLabJsonCommand", + "goal": { + "station_id": "station_id", + "material_number": "material_number" + }, + "feedback": {}, + "result": {}, + "schema": { + "title": "move_to_output参数", + "description": "将物料从加热台移动到输出位置Cn", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "station_id": { + "type": "integer", + "title": "加热台ID", + "description": "已完成加热的加热台编号。" + }, + "material_number": { + "type": "integer", + "title": "物料编号", + "description": "要移动到输出位置的物料编号，对应 Cn。" + } + }, + "required": [ + "station_id", + "material_number" + ], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "$defs": { + "LabSample": { + "properties": { + "sample_uuid": { + "title": "Sample Uuid", + "type": "string" + }, + "oss_path": { + "title": "Oss Path", + "type": "string" + }, + "extra": { + "additionalProperties": true, + "title": "Extra", + "type": "object" + } + }, + "required": [ + "sample_uuid", + "oss_path", + "extra" + ], + "title": "LabSample", + "type": "object" + } + }, + "description": "move_to_output 返回类型", + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "station_id": { + "title": "Station Id", + "type": "integer" + }, + "material_id": { + "title": "Material Id", + "type": "string" + }, + "output_position": { + "title": "Output Position", + "type": "string" + }, + "message": { + "title": "Message", + "type": "string" + }, + "unilabos_samples": { + "items": { + "$ref": "#/$defs/LabSample" + }, + "title": "Unilabos Samples", + "type": "array" + } + }, + "required": [ + "success", + "station_id", + 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{ + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "count": { + "type": "integer", + "default": 5, + "title": "物料数量", + "description": "要生成的物料数量，默认生成 5 个。" + } + }, + "required": [], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "$defs": { + "LabSample": { + "properties": { + "sample_uuid": { + "title": "Sample Uuid", + "type": "string" + }, + "oss_path": { + "title": "Oss Path", + "type": "string" + }, + "extra": { + "additionalProperties": true, + "title": "Extra", + "type": "object" + } + }, + "required": [ + "sample_uuid", + "oss_path", + "extra" + ], + "title": "LabSample", + "type": "object" + } + }, + "description": "prepare_materials 返回类型 - 批量准备物料", + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "count": { + "title": "Count", + "type": "integer" + }, + "material_1": { + "title": 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"unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "station_id": { + "type": "integer", + "title": "加热台ID", + "description": "要启动加热的加热台编号。" + }, + "material_number": { + "type": "integer", + "title": "物料编号", + "description": "当前加热台上的物料编号。" + } + }, + "required": [ + "station_id", + "material_number" + ], + "_unilabos_placeholder_info": {} + }, + "feedback": {}, + "result": { + "$defs": { + "LabSample": { + "properties": { + "sample_uuid": { + "title": "Sample Uuid", + "type": "string" + }, + "oss_path": { + "title": "Oss Path", + "type": "string" + }, + "extra": { + "additionalProperties": true, + "title": "Extra", + "type": "object" + } + }, + "required": [ + "sample_uuid", + "oss_path", + "extra" + ], + "title": "LabSample", + "type": "object" + } + }, + "description": "start_heating 返回类型", + "properties": { + "success": { + "title": "Success", + "type": "boolean" + }, + "station_id": { + "title": 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"material_number", + "data_source": "handle", + "io_type": "source" + } + ], + "output": [ + { + "handler_key": "heating_done_station", + "data_type": "workbench_station", + "label": "加热完成-加热台ID", + "data_key": "station_id", + "data_source": "executor" + }, + { + "handler_key": "heating_done_material", + "data_type": "workbench_material", + "label": "加热完成-物料编号", + "data_key": "material_number", + "data_source": "executor" + } + ] + }, + "placeholder_keys": {}, + "always_free": true, + "feedback_interval": 1.0 + }, + "manual_confirm": { + "type": "UniLabJsonCommand", + "goal": { + "resource": "resource", + "target_device": "target_device", + "mount_resource": "mount_resource", + "collector_mass": "collector_mass", + "active_material": "active_material", + "capacity": "capacity", + "battery_system": "battery_system", + "timeout_seconds": "timeout_seconds", + "assignee_user_ids": "assignee_user_ids" + }, + "feedback": {}, + "result": {}, + "schema": { + "title": "manual_confirm参数", + "description": "人工确认资源转移和扣电测试参数。", + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "resource": { + "items": { + "type": "object", + "additionalProperties": false, + "properties": { + "id": { + "type": "string" + }, + "name": { + "type": "string" + }, + "sample_id": { + "type": "string" + }, + "children": { + "type": "array", + "items": { + "type": "string" + } + }, + "parent": { + "type": "string" + }, + "type": { + "type": "string" + }, + "category": { + "type": "string" + }, + "pose": { + "type": "object", + "properties": { + "position": { + "type": "object", + "properties": { + "x": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308 + }, + "y": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308 + }, + "z": { + 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+ }, + "title": "resource" + }, + "type": "array", + "title": "待转移资源", + "description": "需要人工确认的资源列表。" + }, + "target_device": { + "type": "string", + "description": "资源要转移到的目标设备 ID。", + "title": "目标设备" + }, + "mount_resource": { + "items": { + "type": "object", + "additionalProperties": false, + "properties": { + "id": { + "type": "string" + }, + "name": { + "type": "string" + }, + "sample_id": { + "type": "string" + }, + "children": { + "type": "array", + "items": { + "type": "string" + } + }, + "parent": { + "type": "string" + }, + "type": { + "type": "string" + }, + "category": { + "type": "string" + }, + "pose": { + "type": "object", + "properties": { + "position": { + "type": "object", + "properties": { + "x": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308 + }, + "y": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308 + }, + "z": { + "type": "number", + "minimum": 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+ "handler_key": "mount_resource", + "data_type": "resource", + "label": "目标孔位", + "data_key": "mount_resource", + "data_source": "handle", + "io_type": "source" + }, + { + "handler_key": "collector_mass", + "data_type": "collector_mass", + "label": "极流体质量", + "data_key": "collector_mass", + "data_source": "handle", + "io_type": "source" + }, + { + "handler_key": "active_material", + "data_type": "active_material", + "label": "活性物质含量", + "data_key": "active_material", + "data_source": "handle", + "io_type": "source" + }, + { + "handler_key": "capacity", + "data_type": "capacity", + "label": "克容量", + "data_key": "capacity", + "data_source": "handle", + "io_type": "source" + }, + { + "handler_key": "battery_system", + "data_type": "battery_system", + "label": "电池体系", + "data_key": "battery_system", + "data_source": "handle", + "io_type": "source" + } + ], + "output": [ + { + "handler_key": "target_device", + "data_type": "device_id", + "label": "目标设备", + "data_key": "target_device", + 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} + }, + "title": "mount_resource" + }, + "type": "array", + "title": "目标孔位", + "description": "目标设备上的挂载孔位列表。" + } + }, + "required": [ + "resource", + "target_device", + "mount_resource" + ], + "_unilabos_placeholder_info": { + "resource": "unilabos_resources", + "target_device": "unilabos_devices", + "mount_resource": "unilabos_resources" + } + }, + "feedback": {}, + "result": {} + }, + "required": [ + "goal" + ] + }, + "goal_default": { + "resource": [], + "target_device": "", + "mount_resource": [] + }, + "handles": { + "input": [ + { + "handler_key": "target_device", + "data_type": "device_id", + "label": "目标设备", + "data_key": "target_device", + "data_source": "handle", + "io_type": "source" + }, + { + "handler_key": "resource", + "data_type": "resource", + "label": "待转移资源", + "data_key": "resource", + "data_source": "handle", + "io_type": "source" + }, + { + "handler_key": "mount_resource", + "data_type": "resource", + "label": "目标孔位", + "data_key": "mount_resource", + 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"temperature", + "titration": "titration" + }, + "goal_default": { + "delay_time": null, + "hold_m_name": null, + "liquid_material_name": "NMP", + "speed": null, + "temperature": null, + "titration": null + }, + "handles": { + "input": [ + { + "data_key": "titration", + "data_source": "handle", + "data_type": "object", + "handler_key": "titration", + "io_type": "source", + "label": "Titration Data From Calculation Node" + } + ], + "output": [ + { + "data_key": "return_info", + "data_source": "executor", + "data_type": "string", + "handler_key": "BATCH_CREATE_RESULT", + "io_type": "sink", + "label": "Complete Batch Create Result JSON (contains order_codes and order_ids)" + } + ] + }, + "placeholder_keys": {}, + "result": {}, + "schema": { + "description": "批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。", + "properties": { + "feedback": { + "title": "BatchCreate9010VialFeedingTasks_Feedback" + }, + "goal": { + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "delay_time": { + "description": "延迟时间(秒),默认600", + "type": "string", + "title": "delay_time" + }, + "hold_m_name": { + "description": "库位名称,如\"C01\",必填参数", + "type": "string", + "title": "hold_m_name" + }, + "liquid_material_name": { + "default": "NMP", + "description": "10%物料的液体物料名称,默认为\"NMP\"", + "type": "string", + "title": "liquid_material_name" + }, + "speed": { + "description": "搅拌速度,默认400", + "type": "string", + "title": "speed" + }, + "temperature": { + "description": "温度(℃),默认40", + "type": "string", + "title": "temperature" + }, + "titration": { + "description": "滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g), titration_solvent(滴定溶液体积mL)", + "type": "string", + "title": "titration" + } + }, + "required": [ + "titration" + ], + "title": "BatchCreate9010VialFeedingTasks_Goal", + "type": "object", + "_unilabos_placeholder_info": {} + }, + "result": { + "title": "BatchCreate9010VialFeedingTasks_Result", + "type": "string" + } + }, + "required": [ + "goal" + ], + "title": "batch_create_90_10_vial_feeding_tasks参数", + "type": "object" + }, + "type": "UniLabJsonCommand" + }, + "batch_create_diamine_solution_tasks": { + "feedback": {}, + "goal": { + "delay_time": "delay_time", + "liquid_material_name": "liquid_material_name", + "solutions": "solutions", + "speed": "speed", + "temperature": "temperature" + }, + "goal_default": { + "delay_time": null, + "liquid_material_name": "NMP", + "solutions": null, + "speed": null, + "temperature": null + }, + "handles": { + "input": [ + { + "data_key": "solutions", + "data_source": "handle", + "data_type": "array", + "handler_key": "solutions", + "io_type": "source", + "label": "Solution Data From Python" + } + ], + "output": [ + { + "data_key": "return_info", + "data_source": "executor", + "data_type": "string", + "handler_key": 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\"order\": 0, \"solid_mass\": 5.0, \"solvent_volume\": 20}, {\"name\": \"MPDA\", \"order\": 1, \"solid_mass\": 4.5, \"solvent_volume\": 18}]", + "type": "string", + "title": "solutions" + }, + "speed": { + "description": "搅拌速度（rpm），用于混合溶液，默认400转/分钟", + "type": "string", + "title": "speed" + }, + "temperature": { + "description": "配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）", + "type": "string", + "title": "temperature" + } + }, + "required": [ + "solutions" + ], + "title": "BatchCreateDiamineSolutionTasks_Goal", + "type": "object", + "_unilabos_placeholder_info": {} + }, + "result": { + "title": "BatchCreateDiamineSolutionTasks_Result", + "type": "string" + } + }, + "required": [ + "goal" + ], + "title": "batch_create_diamine_solution_tasks参数", + "type": "object" + }, + "type": "UniLabJsonCommand" + }, + "compute_experiment_design": { + "feedback": {}, + "goal": { + "m_tot": "m_tot", + "ratio": "ratio", + "titration_percent": "titration_percent", + "wt_percent": "wt_percent" + }, + "goal_default": { + "m_tot": "70", + "ratio": null, + "titration_percent": "0.03", + "wt_percent": "0.25" + }, + "handles": { + "output": [ + { + "data_key": "solutions", + "data_source": "executor", + "data_type": "array", + "handler_key": "solutions", + "io_type": "sink", + "label": "Solution Data From Python" + }, + { + "data_key": "titration", + "data_source": "executor", + "data_type": "object", + "handler_key": "titration", + "io_type": "sink", + "label": "Titration Data From Calculation Node" + }, + { + "data_key": "solvents", + "data_source": "executor", + "data_type": "object", + "handler_key": "solvents", + "io_type": "sink", + "label": "Solvents Data From Calculation Node" + }, + { + "data_key": "feeding_order", + "data_source": "executor", + "data_type": "array", + "handler_key": "feeding_order", + "io_type": "sink", + "label": "Feeding Order Data From Calculation Node" + } + ] + }, + "placeholder_keys": {}, + "result": {}, + "schema": { + "description": "计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。", + "properties": { + "feedback": {}, + "goal": { + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "m_tot": { + "default": "70", + "description": "总质量(g)", + "type": "string", + "title": "m_tot" + }, + "ratio": { + "description": "组分摩尔比的对象，保持输入顺序，如{\"MDA\":1,\"BTDA\":1}", + "type": "object", + "title": "ratio" + }, + "titration_percent": { + "default": "0.03", + "description": "滴定比例(10%部分)", + "type": "string", + "title": "titration_percent" + }, + "wt_percent": { + "default": "0.25", + "description": "目标固含质量分数", + "type": "string", + "title": "wt_percent" + } + }, + "required": [ + "ratio" + ], + "type": "object", + "_unilabos_placeholder_info": {} + }, + "result": { + "properties": { + "feeding_order": { + "items": {}, + "title": "Feeding Order", + "type": "array" + }, + "return_info": { + "title": "Return Info", + "type": "string" + }, + "solutions": { + "items": {}, + "title": "Solutions", + "type": "array" + }, + "solvents": { + "additionalProperties": true, + "title": "Solvents", + "type": "object" + }, + "titration": { + "additionalProperties": true, + "title": "Titration", + "type": "object" + } + }, + "required": [ + "solutions", + "titration", + "solvents", + "feeding_order", + "return_info" + ], + "title": "ComputeExperimentDesignReturn", + "type": "object" + } + }, + "required": [ + "goal" + ], + "title": "compute_experiment_design参数", + "type": "object" + }, + "type": "UniLabJsonCommand" + }, + "create_90_10_vial_feeding_task": { + "feedback": {}, + "goal": { + "delay_time": "delay_time", + "hold_m_name": "hold_m_name", + "order_name": "order_name", + "percent_10_1_assign_material_name": "percent_10_1_assign_material_name", + "percent_10_1_liquid_material_name": "percent_10_1_liquid_material_name", + "percent_10_1_target_weigh": "percent_10_1_target_weigh", + "percent_10_1_volume": 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"object", + "properties": { + "goal": { + "type": "object", + "additionalProperties": false, + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "order_name": { + "type": "string", + "title": "order_name", + "description": "" + }, + "percent_90_1_assign_material_name": { + "type": "string", + "title": "percent_90_1_assign_material_name", + "description": "" + }, + "percent_90_1_target_weigh": { + "type": "string", + "title": "percent_90_1_target_weigh", + "description": "" + }, + "percent_90_2_assign_material_name": { + "type": "string", + "title": "percent_90_2_assign_material_name", + "description": "" + }, + "percent_90_2_target_weigh": { + "type": "string", + "title": "percent_90_2_target_weigh", + "description": "" + }, + "percent_90_3_assign_material_name": { + "type": "string", + "title": "percent_90_3_assign_material_name", + "description": "" + }, + "percent_90_3_target_weigh": { + "type": "string", + "title": "percent_90_3_target_weigh", + "description": "" + }, + "percent_10_1_assign_material_name": { + "type": "string", + "title": "percent_10_1_assign_material_name", + "description": "" + }, + "percent_10_1_target_weigh": { + "type": "string", + "title": "percent_10_1_target_weigh", + "description": "" + }, + "percent_10_1_volume": { + "type": "string", + "title": "percent_10_1_volume", + "description": "" + }, + "percent_10_1_liquid_material_name": { + "type": "string", + "title": "percent_10_1_liquid_material_name", + "description": "" + }, + "percent_10_2_assign_material_name": { + "type": "string", + "title": "percent_10_2_assign_material_name", + "description": "" + }, + "percent_10_2_target_weigh": { + "type": "string", + "title": "percent_10_2_target_weigh", + "description": "" + }, + "percent_10_2_volume": { + "type": "string", + "title": "percent_10_2_volume", + "description": "" + }, + 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"hold_m_name": "" + }, + "handles": {}, + "placeholder_keys": {}, + "result": { + "return_info": "return_info" + }, + "schema": { + "title": "DispenStationSolnPrep", + "description": "", + "type": "object", + "properties": { + "goal": { + "type": "object", + "additionalProperties": false, + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "order_name": { + "type": "string", + "title": "order_name", + "description": "" + }, + "material_name": { + "type": "string", + "title": "material_name", + "description": "" + }, + "target_weigh": { + "type": "string", + "title": "target_weigh", + "description": "" + }, + "volume": { + "type": "string", + "title": "volume", + "description": "" + }, + "liquid_material_name": { + "type": "string", + "title": "liquid_material_name", + "description": "" + }, + "speed": { + "type": "string", + "title": "speed", + "description": "" + }, + "temperature": { + "type": "string", + "title": "temperature", + "description": "" + }, + "delay_time": { + "type": "string", + "title": "delay_time", + "description": "" + }, + "hold_m_name": { + "type": "string", + "title": "hold_m_name", + "description": "" + } + }, + "title": "DispenStationSolnPrep_Goal", + "_unilabos_placeholder_info": {} + }, + "feedback": { + "type": "object", + "additionalProperties": true, + "title": "DispenStationSolnPrep_Feedback" + }, + "result": { + "type": "object", + "additionalProperties": false, + "properties": { + "return_info": { + "type": "string" + } + }, + "title": "DispenStationSolnPrep_Result" + } + }, + "required": [ + "goal" + ] + }, + "type": "DispenStationSolnPrep" + }, + "scheduler_start": { + "feedback": {}, + "goal": {}, + "goal_default": {}, + "handles": {}, + "placeholder_keys": {}, + "result": {}, + "schema": { + "description": "启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务", + "properties": { + "feedback": {}, + "goal": { + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + } + }, + "required": [], + "type": "object", + "_unilabos_placeholder_info": {} + }, + "result": { + "title": "scheduler_start结果", + "type": "object" + } + }, + "required": [ + "goal" + ], + "title": "scheduler_start参数", + "type": "object" + }, + "type": "UniLabJsonCommand" + }, + "transfer_materials_to_reaction_station": { + "feedback": {}, + "goal": { + "target_device_id": "target_device_id", + "transfer_groups": "transfer_groups" + }, + "goal_default": { + "target_device_id": null, + "transfer_groups": null + }, + "handles": {}, + "placeholder_keys": { + "target_device_id": "unilabos_devices" + }, + "result": {}, + "schema": { + "description": "将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。", + "properties": { + "feedback": {}, + "goal": { + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + 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{ + "type": "null" + } + ], + "default": null, + "description": "Parent resource uuid", + "title": "Parent Uuid" + }, + "pose": { + "$ref": "#/$defs/ResourceDictPosition", + "description": "Resource position" + }, + "schema": { + "additionalProperties": true, + "description": "Resource schema", + "title": "Schema", + "type": "object" + }, + "type": { + "anyOf": [ + { + "const": "device", + "type": "string" + }, + { + "type": "string" + } + ], + "description": "Resource type", + "title": "Type" + }, + "uuid": { + "description": "Resource UUID", + "title": "Uuid", + "type": "string" + } + }, + "required": [ + "id", + "uuid", + "name", + "type", + "class", + "config", + "data", + "extra" + ], + "title": "ResourceDict", + "type": "object" + }, + "ResourceDictPosition": { + "properties": { + "cross_section_type": { + "default": "rectangle", + "description": "Cross section type", + "enum": [ + "rectangle", + "circle", + "rounded_rectangle" + ], + "title": "Cross Section Type", + "type": "string" + }, + "extra": { + "anyOf": [ + { + "additionalProperties": true, + "type": "object" + }, + { + "type": "null" + } + ], + "default": null, + "description": "Extra data", + "title": "Extra" + }, + "layout": { + "default": "x-y", + "description": "Resource layout", + "enum": [ + "2d", + "x-y", + "z-y", + "x-z" + ], + "title": "Layout", + "type": "string" + }, + "position": { + "$ref": "#/$defs/ResourceDictPositionObject", + "description": "Resource position" + }, + "position3d": { + "$ref": "#/$defs/ResourceDictPositionObject", + "description": "Resource position in 3D space" + }, + "rotation": { + "$ref": "#/$defs/ResourceDictPositionObject", + "description": "Resource rotation" + }, + "scale": { + "$ref": "#/$defs/ResourceDictPositionScale", + "description": "Resource scale" + }, + "size": { + "$ref": "#/$defs/ResourceDictPositionSize", + "description": "Resource size" + } + }, + "title": "ResourceDictPosition", + "type": "object" + }, + "ResourceDictPositionObject": { + "properties": { + "x": { + "default": 0.0, + "description": "X coordinate", + "title": "X", + "type": "number" + }, + "y": { + "default": 0.0, + "description": "Y coordinate", + "title": "Y", + "type": "number" + }, + "z": { + "default": 0.0, + "description": "Z coordinate", + "title": "Z", + "type": "number" + } + }, + "title": "ResourceDictPositionObject", + "type": "object" + }, + "ResourceDictPositionScale": { + "properties": { + "x": { + "default": 0.0, + "description": "x scale", + "title": "X", + "type": "number" + }, + "y": { + "default": 0.0, + "description": "y scale", + "title": "Y", + "type": "number" + }, + "z": { + "default": 0.0, + "description": "z scale", + "title": "Z", + "type": "number" + } + }, + "title": "ResourceDictPositionScale", + "type": "object" + }, + "ResourceDictPositionSize": { + "properties": { + "depth": { + "default": 0.0, + "description": "Depth", + "title": "Depth", + "type": "number" + }, + "height": { + "default": 0.0, + "description": "Height", + "title": "Height", + "type": "number" + }, + "width": { + "default": 0.0, + "description": "Width", + "title": "Width", + "type": "number" + } + }, + "title": "ResourceDictPositionSize", + "type": "object" + } + }, + "properties": { + "plate": { + "items": { + "items": { + "$ref": "#/$defs/ResourceDict" + }, + "type": "array" + }, + "title": "Plate", + "type": "array" + }, + "volumes": { + "items": { + "type": "number" + }, + "title": "Volumes", + "type": "array" + }, + "wells": { + "items": { + "items": { + "$ref": "#/$defs/ResourceDict" + }, + "type": "array" + }, + "title": "Wells", + "type": "array" + } + }, + "required": [ + "plate", + "wells", + "volumes" + ], + "title": "SetLiquidFromPlateReturn", + "type": "object" + } + }, + "required": [ + "goal" + ], + "title": "set_liquid_from_plate参数", + "type": "object" + }, + "type": "UniLabJsonCommand" + }, + "set_tiprack": { + "feedback": {}, + "goal": { + "tip_racks": "tip_racks" + }, + "goal_default": { + "tip_racks": [] + }, + "handles": {}, + "placeholder_keys": { + "tip_racks": "unilabos_resources" + }, + "result": { + "return_info": "return_info", + "success": "success" + }, + "schema": { + "title": "LiquidHandlerSetTipRack", + "description": "", + "type": "object", + "properties": { + "goal": { + "type": "object", + "additionalProperties": false, + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "tip_racks": { + "type": "array", + "items": { + "type": "object", + "properties": { + "id": { + "type": "string" + }, + "name": { + "type": "string" + }, + "sample_id": { + "type": "string" + }, + "children": { + "type": "array", + "items": { + "type": "string" + } + }, + "parent": { + "type": "string" + }, + "type": { + "type": "string" + }, + "category": { + "type": "string" + }, + "pose": { + "type": "object", + "properties": { + "position": { + "type": "object", + "properties": { + "x": { + "type": "number" + }, + "y": { + "type": "number" + }, + "z": { + "type": "number" + } + }, + "required": [ + "x", + "y", + "z" + ], + "title": "position" + }, + "orientation": { + "type": "object", + "properties": { + "x": { + "type": "number" + }, + "y": { + "type": "number" + }, + "z": { + "type": "number" + }, + "w": { + "type": "number" + } + }, + "required": [ + "x", + "y", + "z", + "w" + ], + "title": "orientation" + } + }, + "required": [ + "position", + "orientation" + ], + "title": "pose" + }, + "config": { + "type": "string" + }, + "data": { + "type": "string" + } + }, + "required": [ + "id", + "name", + "sample_id", + "children", + "parent", + "type", + "category", + "pose", + "config", + "data" + ] + }, + "title": "tip_racks", + "description": "" + } + }, + "title": "LiquidHandlerSetTipRack_Goal", + "_unilabos_placeholder_info": { + "tip_racks": "unilabos_resources" + } + }, + "feedback": { + "type": "object", + "additionalProperties": true, + "title": "LiquidHandlerSetTipRack_Feedback" + }, + "result": { + "type": "object", + "additionalProperties": false, + "properties": { + "return_info": { + "type": "string" + }, + "success": { + "type": "boolean" + } + }, + "title": "LiquidHandlerSetTipRack_Result" + } + }, + "required": [ + "goal" + ] + }, + "type": "LiquidHandlerSetTipRack" + }, + "transfer": { + "goal": { + "aspiration_flow_rate": "aspiration_flow_rate", + "dispense_flow_rates": "dispense_flow_rates", + "ratios": "ratios", + "source": "source", + "source_vol": "source_vol", + "target_vols": "target_vols", + "targets": "targets" + }, + "goal_default": { + "from_vessel": "", + "to_vessel": "", + "volume": 0.0, + "amount": "", + "time": 0.0, + "viscous": false, + "rinsing_solvent": "", + "rinsing_volume": 0.0, + "rinsing_repeats": 0, + "solid": false + }, + "handles": {}, + "schema": { + "title": "Transfer", + "description": "", + "type": "object", + "properties": { + "goal": { + "type": "object", + "additionalProperties": false, + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "from_vessel": { + "type": "string", + "title": "from_vessel", + "description": "" + }, + "to_vessel": { + "type": "string", + "title": "to_vessel", + "description": "" + }, + "volume": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308, + "title": "volume", + "description": "" + }, + "amount": { + "type": "string", + "title": "amount", + "description": "" + }, + "time": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308, + "title": "time", + "description": "" + }, + "viscous": { + "type": "boolean", + "title": "viscous", + "description": "" + }, + "rinsing_solvent": { + "type": "string", + "title": "rinsing_solvent", + "description": "" + }, + "rinsing_volume": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308, + "title": "rinsing_volume", + "description": "" + }, + "rinsing_repeats": { + "type": "integer", + "minimum": -2147483648, + "maximum": 2147483647, + "title": "rinsing_repeats", + "description": "" + }, + "solid": { + "type": "boolean", + "title": "solid", + "description": "" + } + }, + "title": "Transfer_Goal" + }, + "feedback": { + "type": "object", + "additionalProperties": false, + "properties": { + "progress": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308 + }, + "transferred_volume": { + "type": "number", + "minimum": -1.7976931348623157e+308, + "maximum": 1.7976931348623157e+308 + }, + "current_status": { + "type": "string" + } + }, + "title": "Transfer_Feedback" + }, + "result": { + "type": "object", + "additionalProperties": false, + "properties": { + "success": { + "type": "boolean" + }, + "message": { + "type": "string" + }, + "return_info": { + "type": "string" + } + }, + "title": "Transfer_Result" + } + }, + "required": [ + "goal" + ] + }, + "type": "Transfer" + }, + "transfer_liquid": { + "feedback": {}, + "goal": { + "asp_flow_rates": "asp_flow_rates", + "asp_vols": "asp_vols", + "blow_out_air_volume": "blow_out_air_volume", + "delays": "delays", + "dis_flow_rates": "dis_flow_rates", + "dis_vols": "dis_vols", + "is_96_well": "is_96_well", + "liquid_height": "liquid_height", + "mix_liquid_height": "mix_liquid_height", + "mix_rate": "mix_rate", + "mix_stage": "mix_stage", + "mix_times": "mix_times", + "mix_vol": "mix_vol", + "none_keys": "none_keys", + "offsets": "offsets", + "sources": "sources", + "spread": "spread", + "targets": "targets", + "tip_racks": "tip_racks", + "touch_tip": "touch_tip", + "use_channels": "use_channels" + }, + "goal_default": { + "asp_vols": [], + "dis_vols": [], + "sources": [], + "targets": [], + "tip_racks": [], + "use_channels": [], + "asp_flow_rates": [], + "dis_flow_rates": [], + "offsets": [], + "touch_tip": false, + "liquid_height": [], + "blow_out_air_volume": [], + "spread": "", + "is_96_well": false, + "mix_stage": "", + "mix_times": 0, + "mix_vol": 0, + "mix_rate": 0, + "mix_liquid_height": 0.0, + "delays": [], + "none_keys": [] + }, + "handles": { + "input": [ + { + "data_key": "sources", + "data_source": "handle", + "data_type": "resource", + "handler_key": "sources_identifier", + "label": "待移动液体" + }, + { + "data_key": "targets", + "data_source": "handle", + "data_type": "resource", + "handler_key": "targets_identifier", + "label": "转移目标" + }, + { + "data_key": "tip_rack", + "data_source": "handle", + "data_type": "resource", + "handler_key": "tip_rack_identifier", + "label": "枪头盒" + } + ], + "output": [ + { + "data_key": "sources.@flatten", + "data_source": "executor", + "data_type": "resource", + "handler_key": "sources_out", + "label": "移液后源孔" + }, + { + "data_key": "targets.@flatten", + "data_source": "executor", + "data_type": "resource", + "handler_key": "targets_out", + "label": "移液后目标孔" + } + ] + }, + "placeholder_keys": { + "sources": "unilabos_resources", + "targets": "unilabos_resources", + "tip_racks": "unilabos_resources" + }, + "result": { + "return_info": "return_info", + "success": "success" + }, + "schema": { + "title": "LiquidHandlerTransfer", + "description": "", + "type": "object", + "properties": { + "goal": { + "type": "object", + "additionalProperties": false, + "properties": { + "unilabos_device_id": { + "type": "string", + "default": "", + "title": "设备ID", + "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例" + }, + "asp_vols": { + "type": "array", + "items": { + "type": "number" + }, + "title": "asp_vols", + "description": "" + }, + "dis_vols": { + "type": "array", + "items": { + "type": "number" + }, + "title": "dis_vols", + "description": "" + }, + "sources": { + "type": "array", + "items": { + "type": "object", + "properties": { + "id": { + "type": "string" + }, + "name": { + "type": "string" + }, + "sample_id": { + "type": "string" + }, + "children": { + "type": 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