diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 28586f1..7e0fa31 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v5.0.0 + rev: v6.0.0 hooks: - id: check-yaml - id: check-json @@ -17,7 +17,7 @@ repos: - id: nbstripout - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: v0.11.5 + rev: v0.14.1 hooks: # Run the linter. - id: ruff diff --git a/definitions/barty.node.info.yaml b/definitions/barty.node.info.yaml deleted file mode 100644 index a93a307..0000000 --- a/definitions/barty.node.info.yaml +++ /dev/null @@ -1,488 +0,0 @@ -node_name: barty -node_id: 01JPNF3ZJCZPDT2YFXPD10538C -node_url: null -node_description: MADSci node for controlling Barty, the Bartending Robot -node_type: device -module_name: barty -module_version: 0.0.1 -capabilities: - get_info: true - get_state: true - get_status: true - send_action: true - get_action_result: true - get_action_history: true - action_files: true - send_admin_commands: true - set_config: true - get_resources: false - get_log: true - admin_commands: - - unlock - - shutdown - - lock - - safety_stop - - pause - - cancel - - reset - - resume -commands: {} -is_template: false -config_defaults: - host: kirby.cels.anl.gov - resource_server_url: http://parker.cels.anl.gov:8003/ -actions: - fill_all: - name: fill_all - description: Refills the specified amount of liquid from all motors - args: - amount: - name: amount - description: Amount of liquid to fill, in milliliters - argument_type: float - required: false - default: 10 - locations: {} - files: {} - results: {} - blocking: false - asynchronous: true - drain_all: - name: drain_all - description: Drains specified amount of liquid from all motors - args: - amount: - name: amount - description: Amount of liquid to drain, in milliliters - argument_type: float - required: false - default: 10 - locations: {} - files: {} - results: {} - blocking: false - asynchronous: true - fill: - name: fill - description: Refills the specified amount of liquid on target pumps - args: - pumps: - name: pumps - description: Pumps to refill with - argument_type: List[int] - required: true - default: null - amount: - name: amount - description: Amount of ink to fill, in milliliters - argument_type: float - required: false - default: 5 - locations: {} - files: {} - results: {} - blocking: false - asynchronous: true - drain: - name: drain - description: Drains the specified amount of liquid from target pumps - args: - pumps: - name: pumps - description: Pumps to drain from - argument_type: List[int] - required: true - default: null - amount: - name: amount - description: Amount of ink to drain, in milliliters - argument_type: float - required: false - default: 5 - locations: {} - files: {} - results: {} - blocking: false - asynchronous: true -config: - status_update_interval: 2.0 - state_update_interval: 2.0 - event_client_config: null - resource_server_url: http://parker.cels.anl.gov:8003/ - host: kirby.cels.anl.gov - port: 8000 - protocol: http - consumable_name_map: - - Red Ink - - Blue Ink - - Yellow Ink - - Black Ink - supply_definitions: - - resource_name: Red Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Red Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - - resource_name: Blue Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Blue Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - - resource_name: Yellow Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Yellow Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - - resource_name: Black Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Black Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - target_definitions: - - resource_name: Red Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - - resource_name: Blue Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - - resource_name: Yellow Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - - resource_name: Black Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - simulate: false -config_schema: - $defs: - ContinuousConsumableResourceDefinition: - description: Definition for a continuous consumable resource. - properties: - resource_name: - description: The name of the resource. - title: Resource Name - type: string - resource_type: - default: '' - description: The type of the resource. Either a custom type name or a resource - base type. - title: Resource Type - type: string - base_type: - const: continuous_consumable - default: continuous_consumable - description: The base type of the continuous consumable. - title: Resource Base Type - type: string - resource_description: - anyOf: - - type: string - - type: 'null' - default: null - description: A description of the resource. - title: Resource Description - owner: - $ref: '#/$defs/OwnershipInfo' - description: The owner of this resource - title: Ownership Info - unit: - anyOf: - - type: string - - type: 'null' - default: null - description: The unit used to measure the quantity of the consumable. - title: Resource Unit - quantity: - anyOf: - - type: number - - type: integer - default: 0.0 - description: The initial quantity of the consumable. - ge: 0 - title: Default Resource Quantity - capacity: - anyOf: - - anyOf: - - type: number - - type: integer - ge: 0 - - type: 'null' - default: null - description: The initial capacity of the consumable. - title: Resource Capacity - title: ContinuousConsumableResourceDefinition - type: object - EventClientConfig: - description: Configuration for an Event Client. - properties: - name: - anyOf: - - type: string - - type: 'null' - default: null - description: The name of the event client. - title: Event Client Name - event_server_url: - anyOf: - - type: string - - type: 'null' - default: null - description: The URL of the event server. - title: Event Server URL - log_level: - default: 20 - description: The log level of the event client. - title: Event Client Log Level - type: integer - source: - $ref: '#/$defs/OwnershipInfo' - description: Information about the source of the event client. - title: Source - log_dir: - anyOf: - - type: string - - format: path - type: string - description: The directory to store logs in. - title: Log Directory - title: EventClientConfig - type: object - OwnershipInfo: - description: Information about the ownership of a MADSci object. - properties: - user_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the user who owns the object. - title: User ID - experiment_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the experiment that owns the object. - title: Experiment ID - campaign_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the campaign that owns the object. - title: Campaign ID - project_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the project that owns the object. - title: Project ID - node_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the node that owns the object. - title: Node ID - workcell_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the workcell that owns the object. - title: Workcell ID - lab_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the lab that owns the object. - title: Lab ID - step_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the step that owns the object. - title: Step ID - workflow_id: - anyOf: - - type: string - - type: 'null' - default: null - description: The ID of the workflow that owns the object. - title: Workflow ID - title: OwnershipInfo - type: object - additionalProperties: true - description: Configuration for Barty the bartender robot. - properties: - status_update_interval: - anyOf: - - type: number - - type: 'null' - default: 2.0 - description: The interval in seconds at which the node should update its status. - title: Status Update Interval - state_update_interval: - anyOf: - - type: number - - type: 'null' - default: 2.0 - description: The interval in seconds at which the node should update its state. - title: State Update Interval - event_client_config: - anyOf: - - $ref: '#/$defs/EventClientConfig' - - type: 'null' - default: null - description: The configuration for a MADSci event client. - title: Event Client Configuration - resource_server_url: - anyOf: - - format: uri - minLength: 1 - type: string - - type: 'null' - default: null - description: The URL of the resource server for this node to use. - title: Resource Client URL - host: - default: 127.0.0.1 - description: The host of the REST API. - title: Host - type: string - port: - default: 8000 - description: The port of the REST API. - title: Port - type: integer - protocol: - default: http - description: The protocol of the REST API, either 'http' or 'https'. - title: Protocol - type: string - consumable_name_map: - default: - - Red Ink - - Blue Ink - - Yellow Ink - - Black Ink - items: - type: string - title: Consumable Name Map - type: array - supply_definitions: - default: - - resource_name: Red Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Red Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - - resource_name: Blue Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Blue Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - - resource_name: Yellow Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Yellow Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - - resource_name: Black Ink Supply Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: Consumable resource Black Ink for Barty - owner: {} - unit: mL - quantity: 250 - capacity: 250 - items: - $ref: '#/$defs/ContinuousConsumableResourceDefinition' - title: Supply Definitions - type: array - target_definitions: - default: - - resource_name: Red Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - - resource_name: Blue Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - - resource_name: Yellow Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - - resource_name: Black Ink Target Reservoir - resource_type: '' - base_type: continuous_consumable - resource_description: null - owner: {} - unit: mL - quantity: 0.0 - capacity: 150 - items: - $ref: '#/$defs/ContinuousConsumableResourceDefinition' - title: Target Definitions - type: array - simulate: - default: false - title: Simulate - type: boolean - title: BartyNodeConfig - type: object diff --git a/definitions/barty.node.yaml b/definitions/barty.node.yaml deleted file mode 100644 index d53e484..0000000 --- a/definitions/barty.node.yaml +++ /dev/null @@ -1,33 +0,0 @@ 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= "trogon" version = "0.6.0" @@ -1153,6 +1742,20 @@ files = [ {file = "typing_extensions-4.13.0.tar.gz", hash = "sha256:0a4ac55a5820789d87e297727d229866c9650f6521b64206413c4fbada24d95b"}, ] +[[package]] +name = "typing-inspection" +version = "0.4.2" +requires_python = ">=3.9" +summary = "Runtime typing introspection tools" +groups = ["default"] +dependencies = [ + "typing-extensions>=4.12.0", +] +files = [ + {file = "typing_inspection-0.4.2-py3-none-any.whl", hash = "sha256:4ed1cacbdc298c220f1bd249ed5287caa16f34d44ef4e9c3d0cbad5b521545e7"}, + {file = "typing_inspection-0.4.2.tar.gz", hash = "sha256:ba561c48a67c5958007083d386c3295464928b01faa735ab8547c5692e87f464"}, +] + [[package]] name = "uc-micro-py" version = "1.0.3" @@ -1438,7 +2041,6 @@ version = "3.21.0" requires_python = ">=3.9" summary = "Backport of pathlib-compatible object wrapper for zip files" groups = ["default"] -marker = "python_version < \"3.10\"" files = [ {file = "zipp-3.21.0-py3-none-any.whl", hash = "sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931"}, {file = "zipp-3.21.0.tar.gz", hash = "sha256:2c9958f6430a2040341a52eb608ed6dd93ef4392e02ffe219417c1b28b5dd1f4"}, diff --git a/pyproject.toml b/pyproject.toml index f4db36d..a74d850 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -7,12 +7,12 @@ authors = [ {name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"} ] dependencies = [ - "madsci.common>=0.1.9", - "madsci.node_module>=0.1.9", - "madsci.client>=0.1.9", + "madsci.common~=0.7.0", + "madsci.node_module~=0.7.0", + "madsci.client~=0.7.0", "gpiozero>=2.0.1", ] -requires-python = ">=3.9.1" +requires-python = ">=3.10.0" readme = "README.md" license = {text = "MIT"} diff --git a/settings.yaml b/settings.yaml new file mode 100644 index 0000000..a619255 --- /dev/null +++ b/settings.yaml @@ -0,0 +1,5 @@ +# Migrated from barty.node.yaml +# Migration date: 2026-03-05T21:33:17.930735+00:00 +node_name: barty +node_description: MADSci node for controlling Barty, the Bartending Robot +node_module_name: barty diff --git a/src/barty_node.py b/src/barty_node.py index d6e6799..ea214e1 100644 --- a/src/barty_node.py +++ b/src/barty_node.py @@ -2,12 +2,10 @@ from typing import Annotated, List -from madsci.client.resource_client import ResourceClient +from madsci.common.ownership import get_current_ownership_info from madsci.common.types.action_types import ActionSucceeded from madsci.common.types.node_types import RestNodeConfig -from madsci.common.types.resource_types.definitions import ( - ContinuousConsumableResourceDefinition, -) +from madsci.common.types.resource_types import ContinuousConsumable from madsci.node_module.helpers import action from madsci.node_module.rest_node_module import RestNode @@ -24,27 +22,6 @@ class BartyNodeConfig(RestNodeConfig): "Black Ink", ] """A list of consumable names to be used by Barty. The order of the names should match the order of the pumps.""" - supply_definitions: List[ContinuousConsumableResourceDefinition] = [ - ContinuousConsumableResourceDefinition( - resource_name=f"{name} Supply Reservoir", - resource_description=f"Consumable resource {name} for Barty", - quantity=250, - capacity=250, # *We're using 250ml beakers in the RPL - unit="mL", - ) - for name in consumable_name_map - ] - """A list of consumable definitions to be used by Barty. The order of the definitions should match the order of the pumps.""" - target_definitions: List[ContinuousConsumableResourceDefinition] = [ - ContinuousConsumableResourceDefinition( - resource_name=f"{name} Target Reservoir", - capacity=150, # *We're using 150ml deep reso in the RPL - unit="mL", - ) - for name in consumable_name_map - ] - """A list of target resource IDs to be used by Barty. The order of the IDs should match the order of the pumps. - These are the resource IDs of the pools that we're filling using barty, not Barty's own resources.""" simulate: bool = False """Whether to simulate the Barty interface.""" @@ -54,41 +31,82 @@ class BartyNode(RestNode): barty_interface: BartyInterface = None config_model = BartyNodeConfig - config: BartyNodeConfig + config: BartyNodeConfig = BartyNodeConfig() source_reservoir_ids: list[str] = [] target_reservoir_ids: list[str] = [] + def resource_template_init(self) -> None: + """Handle template creation for Barty""" + + self.resource_client.init_template( + resource=ContinuousConsumable( + resource_name="Barty Supply Reservoir Template", + resource_class="BartySupplyReservoir", + quantity=250, + capacity=250, # *We're using 250ml beakers in the RPL + unit="mL", + ), + template_name="barty_supply_reservoir", + description="Template for Barty supply reservoirs", + required_overrides=["resource_name", "quantity"], + tags=["barty", "supply_reservoir"], + created_by=get_current_ownership_info().node_id, + version="1.0.0", + ) + self.resource_client.init_template( + resource=ContinuousConsumable( + resource_name="Barty Target Reservoir Template", + resource_class="BartyTargetReservoir", + quantity=0, + capacity=150, # *We're using 150ml deep reservoirs in the RPL + unit="mL", + ), + template_name="barty_target_reservoir", + description="Template for Barty target reservoirs", + required_overrides=["resource_name", "quantity"], + tags=["barty", "target_reservoir"], + created_by=get_current_ownership_info().node_id, + version="1.0.0", + ) + + def resource_init(self) -> None: + """Handle resource initialization for Barty""" + + self.source_reservoir_ids = [] + self.target_reservoir_ids = [] + for material_name in self.config.consumable_name_map: + source_resource = self.resource_client.create_resource_from_template( + template_name="barty_supply_reservoir", + resource_name=f"{self.node_info.node_name} {material_name} Supply Reservoir", + overrides={ + "resource_description": f"Supply reservoir for {material_name} used by {self.node_info.node_name}", + }, + ) + self.source_reservoir_ids.append(source_resource.resource_id) + self.logger.log_debug( + f" Source Reservoir '{material_name}' ID: {source_resource.resource_id}" + ) + target_resource = self.resource_client.create_resource_from_template( + template_name="barty_target_reservoir", + resource_name=f"{self.node_info.node_name} {material_name} Target Reservoir", + overrides={ + "resource_description": f"Target reservoir for {material_name} used by {self.node_info.node_name}", + }, + ) + self.target_reservoir_ids.append(target_resource.resource_id) + self.logger.log_debug( + f"Target Reservoir '{material_name}' ID: {target_resource.resource_id}" + ) + def startup_handler(self) -> None: """Initialize or reinitialize Barty.""" self.logger.log("Barty initializing...") - if self.config.simulate: - self.barty_interface = BartyInterface(logger=self.logger, simulate=True) - else: - self.barty_interface = BartyInterface(logger=self.logger, simulate=False) - self.resource_client = ( - ResourceClient(self.config.resource_server_url) - if self.config.resource_server_url - else None + self.barty_interface = BartyInterface( + logger=self.logger, simulate=self.config.simulate ) - self.source_reservoir_ids = [] - self.target_reservoir_ids = [] - if self.resource_client is not None: - for i in range(4): - resource = self.resource_client.init_resource( - self.config.supply_definitions[i] - ) - self.source_reservoir_ids.append(resource.resource_id) - self.logger.log_debug( - f" Source Reservoir {i} ID: {resource.resource_id}" - ) - resource = self.resource_client.init_resource( - self.config.target_definitions[i] - ) - self.target_reservoir_ids.append(resource.resource_id) - self.logger.log_debug( - f"Target Reservoir {i} ID: {resource.resource_id}" - ) + self.resource_template_init() + self.resource_init() self.logger.log("Barty initialized!") @@ -168,6 +186,41 @@ def drain( ) return ActionSucceeded() + @action + def drain_to_empty( + self, + pumps: Annotated[List[int], "Pumps to drain from"], + ): + """Drains the specified pumps until they are empty""" + + for pump in pumps: + target_resource = self.resource_client.get_resource( + self.target_reservoir_ids[pump] + ) + amount = target_resource.quantity + self.barty_interface.drain([pump], amount) + self.transfer( + self.target_reservoir_ids[pump], + self.source_reservoir_ids[pump], + amount, + ) + return ActionSucceeded() + + @action + def drain_all_to_empty(self): + """Drains all pumps until they are empty""" + + for i in range(4): + target_resource = self.resource_client.get_resource( + self.target_reservoir_ids[i] + ) + amount = target_resource.quantity + self.barty_interface.drain([i], amount) + self.transfer( + self.target_reservoir_ids[i], self.source_reservoir_ids[i], amount + ) + return ActionSucceeded() + if __name__ == "__main__": barty_node = BartyNode()