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Squash merge from dev

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Update recipe.yaml

fix: figure_resource

use call_async in all service to avoid deadlock

fix: prcxi import error

临时兼容错误的driver写法

fix protocol node

fix filter protocol

bugfixes on organic protocols

fix and remove redundant info

feat: 新增use_remote_resource参数

fix all protocol_compilers and remove deprecated devices

feat: 优化protocol node节点运行日志

fix pumps and liquid_handler handle

feat: workstation example

add: prcxi res
fix: startup slow

fix: prcxi_res

fix: discard_tips

fix: discard_tips error

fix: drop_tips not using auto resource select

feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

feat: add trace log level

modify default discovery_interval to 15s

fix: working dir error when input config path
feat: report publish topic when error

fix: workstation handlers and vessel_id parsing

Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Junhan Chang
2025-08-03 11:21:37 +08:00
committed by Xuwznln
parent a555c59dc2
commit 0bfb52df00
97 changed files with 5033 additions and 164837 deletions
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304
unilabos/devices/powder_dispense/laiyu.py Normal file
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import serial
import time
import pandas as pd
class Laiyu:
@property
def status(self) -> str:
return ""
def __init__(self, port, baudrate=115200, timeout=0.5):
"""
初始化串口参数，默认波特率115200，8位数据位、1位停止位、无校验
"""
self.ser = serial.Serial(port, baudrate=baudrate, timeout=timeout)
def calculate_crc(self, data: bytes) -> bytes:
"""
计算Modbus CRC-16，返回低字节和高字节（little-endian）
"""
crc = 0xFFFF
for pos in data:
crc ^= pos
for _ in range(8):
if crc & 0x0001:
crc = (crc >> 1) ^ 0xA001
else:
crc >>= 1
return crc.to_bytes(2, byteorder='little')
def send_command(self, command: bytes) -> bytes:
"""
构造完整指令帧（加上CRC校验），发送指令后一直等待设备响应，直至响应结束或超时（最大3分钟）
"""
crc = self.calculate_crc(command)
full_command = command + crc
# 清空接收缓存
self.ser.reset_input_buffer()
self.ser.write(full_command)
print("发送指令：", full_command.hex().upper()) # 打印发送的指令帧
# 持续等待响应，直到连续0.5秒没有新数据或超时（3分钟）
start_time = time.time()
last_data_time = time.time()
response = bytearray()
while True:
if self.ser.in_waiting > 0:
new_data = self.ser.read(self.ser.in_waiting)
response.extend(new_data)
last_data_time = time.time()
# 如果已有数据，并且0.5秒内无新数据，则认为响应结束
if response and (time.time() - last_data_time) > 0.5:
break
# 超过最大等待时间，退出循环
if time.time() - start_time > 180:
break
time.sleep(0.1)
return bytes(response)
def pick_powder_tube(self, int_input: int) -> bytes:
"""
拿取粉筒指令：
- 功能码06
- 寄存器地址0x0037（取粉筒）
- 数据：粉筒编号（如1代表A，2代表B，以此类推）
示例：拿取A粉筒指令帧：01 06 00 37 00 01 + CRC
"""
slave_addr = 0x01
function_code = 0x06
register_addr = 0x0037
# 数据部分：粉筒编号转换为2字节大端
data = int_input.to_bytes(2, byteorder='big')
command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
return self.send_command(command)
def put_powder_tube(self, int_input: int) -> bytes:
"""
放回粉筒指令：
- 功能码06
- 寄存器地址0x0038（放回粉筒）
- 数据：粉筒编号
示例：放回A粉筒指令帧：01 06 00 38 00 01 + CRC
"""
slave_addr = 0x01
function_code = 0x06
register_addr = 0x0038
data = int_input.to_bytes(2, byteorder='big')
command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
return self.send_command(command)
def reset(self) -> bytes:
"""
重置指令：
- 功能码 0x06
- 寄存器地址 0x0042 （示例中用了 00 42）
- 数据 0x0001
示例发送：01 06 00 42 00 01 E8 1E
"""
slave_addr = 0x01
function_code = 0x06
register_addr = 0x0042 # 对应示例中的 00 42
payload = (0x0001).to_bytes(2, 'big') # 重置命令
cmd = (
bytes([slave_addr, function_code])
+ register_addr.to_bytes(2, 'big')
+ payload
)
return self.send_command(cmd)
def move_to_xyz(self, x: float, y: float, z: float) -> bytes:
"""
移动到指定位置指令：
- 功能码10（写多个寄存器）
- 寄存器起始地址0x0030
- 寄存器数量：3个（x,y,z）
- 字节计数：6
- 数据：x,y,z各2字节，单位为0.1mm（例如1mm对应数值10）
示例帧：01 10 00 30 00 03 06 00C8 02BC 02EE + CRC
"""
slave_addr = 0x01
function_code = 0x10
register_addr = 0x0030
num_registers = 3
byte_count = num_registers * 2 # 6字节
# 将mm转换为0.1mm单位（乘以10），转换为2字节大端表示
x_val = int(x * 10)
y_val = int(y * 10)
z_val = int(z * 10)
data = x_val.to_bytes(2, 'big') + y_val.to_bytes(2, 'big') + z_val.to_bytes(2, 'big')
command = (bytes([slave_addr, function_code]) +
register_addr.to_bytes(2, 'big') +
num_registers.to_bytes(2, 'big') +
byte_count.to_bytes(1, 'big') +
data)
return self.send_command(command)
def discharge(self, float_in: float) -> bytes:
"""
出料指令：
- 使用写多个寄存器命令（功能码 0x10）
- 寄存器起始地址设为 0x0039
- 寄存器数量为 0x0002（两个寄存器：出料质量和误差范围）
- 字节计数为 0x04（每个寄存器2字节，共4字节）
- 数据：出料质量（单位0.1mg，例如10mg对应100，即0x0064）、误差范围固定为0x0005
示例发送帧：01 10 00 39 0002 04 00640005 + CRC
"""
mass = float_in
slave_addr = 0x01
function_code = 0x10 # 修改为写多个寄存器的功能码
start_register = 0x0039 # 寄存器起始地址
quantity = 0x0002 # 寄存器数量
byte_count = 0x04 # 字节数：2寄存器*2字节=4
mass_val = int(mass * 10) # 质量转换，单位0.1mg
error_margin = 5 # 固定误差范围，0x0005
command = (bytes([slave_addr, function_code]) +
start_register.to_bytes(2, 'big') +
quantity.to_bytes(2, 'big') +
byte_count.to_bytes(1, 'big') +
mass_val.to_bytes(2, 'big') +
error_margin.to_bytes(2, 'big'))
return self.send_command(command)
'''
示例：这个是标智96孔板的坐标转换，但是不同96孔板的坐标可能不同
所以需要根据实际情况进行修改
'''
def move_to_plate(self, string):
#只接受两位数的str，比如a1，a2，b1，b2
# 解析位置字符串
if len(string) != 2 and len(string) != 3:
raise ValueError("Invalid plate position")
if not string[0].isalpha() or not string[1:].isdigit():
raise ValueError("Invalid plate position")
a = string[0] # 字母部分s
b = string[1:] # 数字部分
if a.isalpha():
a = ord(a.lower()) - ord('a') + 1
else:
print('1')
raise ValueError("Invalid plate position")
a = int(a)
b = int(b)
# max a = 8, max b = 12, 否则报错
if a > 8 or b > 12:
print('2')
raise ValueError("Invalid plate position")
# 计算移动到指定位置的坐标
# a=1, x=3.0; a=12, x=220.0
# b=1, y=62.0; b=8, y=201.0
# z = 110.0
x = float((b-1) * (220-4.0)/11 + 4.0)
y = float((a-1) * (201.0-62.0)/7 + 62.0)
z = 110.0
# 移动到指定位置
resp_move = self.move_to_xyz(x, y, z)
print("移动位置响应：", resp_move.hex().upper())
# 打印移动到指定位置的坐标
print(f"移动到位置：{string}，坐标：x={x:.2f}, y={y:.2f}, z={z:.2f}")
return resp_move
def add_powder_tube(self, powder_tube_number, target_tube_position, compound_mass):
# 拿取粉筒
resp_pick = self.pick_powder_tube(powder_tube_number)
print("拿取粉筒响应：", resp_pick.hex().upper())
time.sleep(1)
# 移动到指定位置
self.move_to_plate(target_tube_position)
time.sleep(1)
# 出料，设定质量
resp_discharge = self.discharge(compound_mass)
print("出料响应：", resp_discharge.hex().upper())
# 使用modbus协议读取实际出料质量
# 样例 01 06 00 40 00 64 89 F5，其中 00 64 是实际出料质量，换算为十进制为100，代表10 mg
# 从resp_discharge读取实际出料质量
# 提取字节4和字节5的两个字节
actual_mass_raw = int.from_bytes(resp_discharge[4:6], byteorder='big')
# 根据说明，将读取到的数据转换为实际出料质量（mg），这里除以10，例如：0x0064 = 100，转换后为10 mg
actual_mass_mg = actual_mass_raw / 10
print(f"孔位{target_tube_position}，实际出料质量：{actual_mass_mg}mg")
time.sleep(1)
# 放回粉筒
resp_put = self.put_powder_tube(powder_tube_number)
print("放回粉筒响应：", resp_put.hex().upper())
print(f"放回粉筒{powder_tube_number}")
resp_reset = self.reset()
return actual_mass_mg
if __name__ == "__main__":
'''
样例：对单个粉筒进行称量
'''
modbus = Laiyu(port="COM25")
mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
print(f"实际出料质量：{mass_test}mg")
'''
样例: 对一份excel文件记录的化合物进行称量
'''
excel_file = r"C:\auto\laiyu\test1.xlsx"
# 定义输出文件路径，用于记录实际加样多少
output_file = r"C:\auto\laiyu\test_output.xlsx"
# 定义物料名称和料筒位置关系
compound_positions = {
'XPhos': '1',
'Cu(OTf)2': '2',
'CuSO4': '3',
'PPh3': '4',
}
# read excel file
# excel_file = r"C:\auto\laiyu\test.xlsx"
df = pd.read_excel(excel_file, sheet_name='Sheet1')
# 读取Excel文件中的数据
# 遍历每一行数据
for index, row in df.iterrows():
# 获取物料名称和质量
copper_name = row['copper']
copper_mass = row['copper_mass']
ligand_name = row['ligand']
ligand_mass = row['ligand_mass']
target_tube_position = row['position']
# 获取物料位置 from compound_positions
copper_position = compound_positions.get(copper_name)
ligand_position = compound_positions.get(ligand_name)
# 判断物料位置是否存在
if copper_position is None:
print(f"物料位置不存在：{copper_name}")
continue
if ligand_position is None:
print(f"物料位置不存在：{ligand_name}")
continue
# 加铜
copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
time.sleep(1)
# 加配体
ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
time.sleep(1)
# 保存至df
df.at[index, 'copper_actual_mass'] = copper_actual_mass
df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
# 保存修改后的数据到新的Excel文件
df.to_excel(output_file, index=False)
print(f"已保存到文件：{output_file}")
# 关闭串口
modbus.ser.close()
print("串口已关闭")