From 69e775142089aa62078da99609e9481fbe0d1e67 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Thu, 20 Nov 2025 14:18:46 +0100
Subject: [PATCH 01/10] - [WIP] Scanner resource

---
 laborchestrator/.gitignore                    |  1 +
 laborchestrator/platform_config.yaml          |  5 ++
 .../vu_lab/processes/basic_process.py         |  4 +-
 .../vu_lab/processes/scanner_process.py       | 46 +++++++++++++++++++
 .../vu_lab/resources/scanner_resource.py      | 29 ++++++++++++
 .../vu_lab/wrappers/scanner_wrapper.py        | 38 +++++++++++++++
 6 files changed, 122 insertions(+), 1 deletion(-)
 create mode 100644 laborchestrator/.gitignore
 create mode 100644 laborchestrator/vu_lab/processes/scanner_process.py
 create mode 100644 laborchestrator/vu_lab/resources/scanner_resource.py
 create mode 100644 laborchestrator/vu_lab/wrappers/scanner_wrapper.py

diff --git a/laborchestrator/.gitignore b/laborchestrator/.gitignore
new file mode 100644
index 0000000..965750f
--- /dev/null
+++ b/laborchestrator/.gitignore
@@ -0,0 +1 @@
+jssp**.json
diff --git a/laborchestrator/platform_config.yaml b/laborchestrator/platform_config.yaml
index 42f9197..f47d058 100755
--- a/laborchestrator/platform_config.yaml
+++ b/laborchestrator/platform_config.yaml
@@ -20,9 +20,14 @@ sila_servers:
     shaker6:
       capacity: 1
 
+   scanners:
+    scanner1:
+      capacity: 1
+
 # ------ Translation to used resources in the process description ------
 # the key must match the categories above and the values must match the required resources in the workflow description
 pythonlab_translation:
   storage: LabwareStorageResource
   movers: MoverServiceResource
   shakers: ShakerServiceResource
+  scanners: LabwareResource
diff --git a/laborchestrator/vu_lab/processes/basic_process.py b/laborchestrator/vu_lab/processes/basic_process.py
index e2ae7c5..b6271ed 100644
--- a/laborchestrator/vu_lab/processes/basic_process.py
+++ b/laborchestrator/vu_lab/processes/basic_process.py
@@ -6,7 +6,7 @@
 from pythonlab.resources.services.labware_storage import LabwareStorageResource
 from pythonlab.resources.services.moving import MoverServiceResource
 from pythonlab.resources.services.shaker import ShakerServiceResource
-
+from vu_lab.resources.scanner_resource import ScannerResource
 
 class BasicProcess(PLProcess, ABC):
     def __init__(
@@ -33,6 +33,8 @@ def create_resources(self) -> None:
 
         self.shaker_pool = ShakerServiceResource(proc=self, name=None)
 
+        self.scanner1 = ScannerResource(proc=self, name="scanner1")
+
         # the containers are automatically named/enumerated. You can change the naming without causing problems
         self.containers = [
             LabwareResource(
diff --git a/laborchestrator/vu_lab/processes/scanner_process.py b/laborchestrator/vu_lab/processes/scanner_process.py
new file mode 100644
index 0000000..2b5e4bf
--- /dev/null
+++ b/laborchestrator/vu_lab/processes/scanner_process.py
@@ -0,0 +1,46 @@
+"""Duplicate this file and add/modify the missing parts to create new processes"""
+
+from pythonlab.process import PLProcess
+from vu_lab.processes.basic_process import BasicProcess
+from pythonlab.resource import LabwareResource
+from vu_lab.resources.scanner_resource import ScannerResource
+
+DURATION = 10
+FREQUENCY = 10
+NUM_BEDS = 1
+PRIORITY = 3
+
+
+class ScannerProcess(BasicProcess):
+    """A simple test process that moves plates to a scanner, scans them, and returns them to the hotel."""
+
+    def __init__(
+        self,
+        priority: int = PRIORITY,
+        num_beds: int = NUM_BEDS,
+        duration: float = DURATION,
+        frequency: float = FREQUENCY,
+    ):
+        super().__init__(
+            priority=priority, num_plates=num_beds, process_name="VU Test Process"
+        )
+        self.duration = duration
+        self.frequency = frequency
+
+    def init_service_resources(self):
+        # setting start position of containers
+        super().init_service_resources()
+        for i, cont in enumerate(self.containers):
+            cont.set_start_position(self.hotel1, i + 1)
+
+    def process(self):
+
+        resolution = 640
+        # loop through all containers
+        for idx in range(self.num_mw_plates):
+            cont = self.containers[idx]
+
+            # Move all containers to shaker
+            self.robot_arm.move(cont, self.scanner1)
+            self.scanner1.scan(cont, resolution)
+            self.robot_arm.move(cont, self.hotel1)
diff --git a/laborchestrator/vu_lab/resources/scanner_resource.py b/laborchestrator/vu_lab/resources/scanner_resource.py
new file mode 100644
index 0000000..b931eba
--- /dev/null
+++ b/laborchestrator/vu_lab/resources/scanner_resource.py
@@ -0,0 +1,29 @@
+"""Duplicate this file and add/modify the missing parts to create new processes"""
+
+from pythonlab.process import PLProcess
+from vu_lab.processes.basic_process import BasicProcess
+from pythonlab.resource import LabwareResource
+
+DURATION = 10
+FREQUENCY = 10
+NUM_BEDS = 1
+PRIORITY = 3
+
+
+class ScannerResource(LabwareResource):
+
+    def scan(
+        self,
+        container: LabwareResource,
+        resolution: int,
+        **kwargs,
+    ):
+        kwargs.update(
+            {
+                "fct": "scan",
+                "resolution": resolution,
+            }
+        )
+
+        self.proc.add_process_step(self, [container], **kwargs)
+        print(f"==[ Scan invoked.")
diff --git a/laborchestrator/vu_lab/wrappers/scanner_wrapper.py b/laborchestrator/vu_lab/wrappers/scanner_wrapper.py
new file mode 100644
index 0000000..f96e965
--- /dev/null
+++ b/laborchestrator/vu_lab/wrappers/scanner_wrapper.py
@@ -0,0 +1,38 @@
+from laborchestrator.structures import ProcessStep, ContainerInfo
+from laborchestrator.engine.worker_interface import Observable
+
+from vu_lab.wrappers import DeviceInterface
+
+from sila2.client import SilaClient as ScannerClient
+
+
+class ScannerWrapper(DeviceInterface):
+    @staticmethod
+    def get_SiLA_handler(
+        step: ProcessStep,
+        cont: ContainerInfo,
+        sila_client: ScannerClient,
+        **kwargs,
+    ) -> Observable:
+        pass
+
+    # Start scanning
+    # Stop scanning
+    # Start scan runtime
+
+    def start_scan(
+        self,
+        client: ScannerClient,
+        resolution: int,
+    ) -> Observable:
+        """
+        Start scanning with the specified mode, duration, and displacement.
+        :param client: SiLA client for the shaker device
+        :param resolution: The scanner resolution.
+        """
+
+        return client.ScanController.start_scan_step(resolution)
+
+    def abort_scan(self, client: ScannerClient) -> Observable:
+
+        return client.ScanController.abort_shake()

From 1acfb768d41065ed1dd6ac2d37a0b30b9a3d8dae Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Wed, 26 Nov 2025 16:58:14 +0100
Subject: [PATCH 02/10] Suppressing errors during docker bootstrapping phase

---
 docker-compose.yml | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/docker-compose.yml b/docker-compose.yml
index e58872c..bab7423 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,25 +1,24 @@
 
 services:
-
   teleshake:
     build: ./teleshake/
     environment:
       - PORT=50050
-    ports:
-      - "50050:50050"
+    # ports:
+    #   - "50050:50050"
     network_mode: host
 
   sila-browser:
     image: registry.gitlab.com/unitelabs/sila2/sila-browser:latest
     network_mode: host
-    ports:
-      - "3000:3000"
+    # ports:
+    #   - "3000:3000"
 
   robot-arm:
     build: ./robot-arm/
     network_mode: host
-    environment:
-      - ROBOT_IP=192.168.1.4 # Change
+    # environment:
+    #   - ROBOT_IP=192.168.1.4 # Change
 #    command: [ "python", "-m", "genericroboticarm", "--address", "0.0.0.0" ]
     command: python -m genericroboticarm --port 50054 --address 0.0.0.0  -r XArm --simulation
     volumes:
@@ -78,4 +77,4 @@ services:
     network_mode: host
 
 volumes:
-  pgdata:
\ No newline at end of file
+  pgdata:

From 29cef27f5242e0aef969ad78aae59bd213044d6d Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Wed, 26 Nov 2025 16:59:35 +0100
Subject: [PATCH 03/10] Ignore some generated files.

---
 laborchestrator/.gitignore | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/laborchestrator/.gitignore b/laborchestrator/.gitignore
index 965750f..38618e7 100644
--- a/laborchestrator/.gitignore
+++ b/laborchestrator/.gitignore
@@ -1 +1,3 @@
 jssp**.json
+Schedule**
+WFG**

From bcc7f775a7f3e508a37d17ec1dee8daf2041b0e7 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Wed, 26 Nov 2025 17:00:24 +0100
Subject: [PATCH 04/10] Added `scanner` as a resource in
 `platform_config.yaml`.

---
 laborchestrator/platform_config.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/laborchestrator/platform_config.yaml b/laborchestrator/platform_config.yaml
index ec1c902..3ad54e6 100755
--- a/laborchestrator/platform_config.yaml
+++ b/laborchestrator/platform_config.yaml
@@ -20,9 +20,10 @@ sila_servers:
     shaker_6_d_pos_:
       capacity: 1
 
-   scanners:
+  scanners:
     scanner1:
       capacity: 1
+      resolution: 640
 
 # ------ Translation to used resources in the process description ------
 # the key must match the categories above and the values must match the required resources in the workflow description

From 2f8922437fd3aa95fe870768b4eac6fd3c46f4f9 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Wed, 26 Nov 2025 17:01:12 +0100
Subject: [PATCH 05/10] Added a scanner resource (`laborchestrator/resources`)

---
 laborchestrator/vu_lab/resources/scanner_resource.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/laborchestrator/vu_lab/resources/scanner_resource.py b/laborchestrator/vu_lab/resources/scanner_resource.py
index b931eba..800f8b5 100644
--- a/laborchestrator/vu_lab/resources/scanner_resource.py
+++ b/laborchestrator/vu_lab/resources/scanner_resource.py
@@ -1,7 +1,5 @@
 """Duplicate this file and add/modify the missing parts to create new processes"""
 
-from pythonlab.process import PLProcess
-from vu_lab.processes.basic_process import BasicProcess
 from pythonlab.resource import LabwareResource
 
 DURATION = 10

From b93c35e9f5f08bf638b374eb86ff5988abaf3c22 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Wed, 26 Nov 2025 17:02:27 +0100
Subject: [PATCH 06/10] Added process classes to `processes/__init__.py`

---
 laborchestrator/vu_lab/processes/__init__.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/laborchestrator/vu_lab/processes/__init__.py b/laborchestrator/vu_lab/processes/__init__.py
index e69de29..833f19b 100644
--- a/laborchestrator/vu_lab/processes/__init__.py
+++ b/laborchestrator/vu_lab/processes/__init__.py
@@ -0,0 +1,2 @@
+from .basic_process import BasicProcess
+from .mini_process import MiniProcess

From 01dfaba22390d45f1467bf39bc37a47e0f8ec325 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Wed, 26 Nov 2025 17:03:04 +0100
Subject: [PATCH 07/10] Added a simple scanner process.

---
 laborchestrator/vu_lab/processes/scanner_process.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/laborchestrator/vu_lab/processes/scanner_process.py b/laborchestrator/vu_lab/processes/scanner_process.py
index 2b5e4bf..b230afd 100644
--- a/laborchestrator/vu_lab/processes/scanner_process.py
+++ b/laborchestrator/vu_lab/processes/scanner_process.py
@@ -22,21 +22,18 @@ def __init__(
         frequency: float = FREQUENCY,
     ):
         super().__init__(
-            priority=priority, num_plates=num_beds, process_name="VU Test Process"
+            priority=priority, num_plates=num_beds, process_name="Vu Test Process"
         )
         self.duration = duration
         self.frequency = frequency
 
     def init_service_resources(self):
-        # setting start position of containers
         super().init_service_resources()
-        for i, cont in enumerate(self.containers):
-            cont.set_start_position(self.hotel1, i + 1)
 
     def process(self):
 
         resolution = 640
-        # loop through all containers
+        # Loop through all containers and scan them
         for idx in range(self.num_mw_plates):
             cont = self.containers[idx]
 

From 16a130c4ce9baa4e59467a0cfcc35927c134df3c Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Thu, 27 Nov 2025 14:15:00 +0100
Subject: [PATCH 08/10] Updated `laborchestrator/platform_config.yaml` with the
 correct resource class for the scanner.

---
 laborchestrator/platform_config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/laborchestrator/platform_config.yaml b/laborchestrator/platform_config.yaml
index 3ad54e6..5a5e1b4 100755
--- a/laborchestrator/platform_config.yaml
+++ b/laborchestrator/platform_config.yaml
@@ -31,4 +31,4 @@ pythonlab_translation:
   storage: LabwareStorageResource
   movers: MoverServiceResource
   shakers: ShakerServiceResource
-  scanners: LabwareResource
+  scanners: ScannerResource

From 02eb55195fa9727c4704973d2d04e314cef9d4d1 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Thu, 27 Nov 2025 14:15:43 +0100
Subject: [PATCH 09/10] Updated the scanner resource to have `ServiceResource`
 as the base class.

---
 .../vu_lab/resources/scanner_resource.py      | 25 +++++++++++++++----
 1 file changed, 20 insertions(+), 5 deletions(-)

diff --git a/laborchestrator/vu_lab/resources/scanner_resource.py b/laborchestrator/vu_lab/resources/scanner_resource.py
index 800f8b5..c1f82de 100644
--- a/laborchestrator/vu_lab/resources/scanner_resource.py
+++ b/laborchestrator/vu_lab/resources/scanner_resource.py
@@ -1,6 +1,7 @@
-"""Duplicate this file and add/modify the missing parts to create new processes"""
+"""Duplicate this file and add/modify the missing parts to create a new resource"""
 
-from pythonlab.resource import LabwareResource
+import logging
+from pythonlab.resource import ServiceResource
 
 DURATION = 10
 FREQUENCY = 10
@@ -8,11 +9,25 @@
 PRIORITY = 3
 
 
-class ScannerResource(LabwareResource):
+class ScannerResource(ServiceResource):
+    """
+    Flatbed scanner resource as a service.
+
+    :param Resource: [description]
+    :type Resource: [type]
+    """
+
+    def __init__(self, proc, name: str = "Scanner"):
+        super().__init__(proc=proc, name=name)
+
+        self._resolution = 640
+
+    def init(self):
+        logging.debug(f"init {self.name}")
 
     def scan(
         self,
-        container: LabwareResource,
+        container: ServiceResource,
         resolution: int,
         **kwargs,
     ):
@@ -23,5 +38,5 @@ def scan(
             }
         )
 
-        self.proc.add_process_step(self, [container], **kwargs)
         print(f"==[ Scan invoked.")
+        self.proc.add_process_step(self, [container], **kwargs)

From a27a41aaa32be69cd6ee77c956adf9755edf28f6 Mon Sep 17 00:00:00 2001
From: cantordust <43831101+cantordust@users.noreply.github.com>
Date: Thu, 27 Nov 2025 14:16:28 +0100
Subject: [PATCH 10/10] Updated the scanner process definition.

---
 laborchestrator/vu_lab/processes/scanner_process.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/laborchestrator/vu_lab/processes/scanner_process.py b/laborchestrator/vu_lab/processes/scanner_process.py
index b230afd..a8c9982 100644
--- a/laborchestrator/vu_lab/processes/scanner_process.py
+++ b/laborchestrator/vu_lab/processes/scanner_process.py
@@ -22,13 +22,15 @@ def __init__(
         frequency: float = FREQUENCY,
     ):
         super().__init__(
-            priority=priority, num_plates=num_beds, process_name="Vu Test Process"
+            priority=priority, num_plates=num_beds, process_name="Scanner process"
         )
         self.duration = duration
         self.frequency = frequency
 
     def init_service_resources(self):
         super().init_service_resources()
+        self.container = self.containers[0]
+        self.container.set_start_position(self.hotel1, 1)
 
     def process(self):