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1103-2byxinyu

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This commit is contained in:
lixinyu1011
2025-11-03 19:50:01 +08:00
parent 4485907df8
commit 10adc853a5
4 changed files with 80 additions and 37 deletions
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2
unilabos/devices/workstation/bioyond_studio/station.py
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@@ -172,6 +172,8 @@ class BioyondWorkstation(WorkstationBase):
def post_init(self, ros_node: ROS2WorkstationNode):
self._ros_node = ros_node
print("~~~",self._ros_node)
print("deck",self.deck)
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
"resources": [self.deck]
})

4
unilabos/registry/devices/coin_cell_workstation.yaml
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@@ -79,7 +79,7 @@ coincellassemblyworkstation_device:
elec_num: null
elec_use_num: null
elec_vol: 50
file_path: D:\coin_cell_data
file_path: C:\Users\67484\Desktop
handles: {}
placeholder_keys: {}
result: {}
@@ -103,7 +103,7 @@ coincellassemblyworkstation_device:
default: 50
type: integer
file_path:
default: D:\coin_cell_data
default: C:\Users\67484\Desktop
type: string
required:
- elec_num

71
unilabos/resources/bioyond/YB_warehouses.py
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@@ -1,9 +1,9 @@
from unilabos.resources.warehouse import WareHouse, warehouse_factory
from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=1,
num_items_y=4,
@@ -20,7 +20,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
"""创建BioYond 4x1x2仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=1,
num_items_y=4,
@@ -37,7 +37,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
# 定义benyond的堆栈
def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=2,
num_items_y=2,
@@ -50,9 +50,26 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
item_dz=120.0,
category="YB_warehouse",
)
def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
"""创建BioYond 2x2x1仓库（自动堆栈）"""
return YB_warehouse_factory(
name=name,
num_items_x=2,
num_items_y=2,
num_items_z=1,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="YB_warehouse",
)
def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=10,
num_items_y=1,
@@ -67,7 +84,7 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
)
def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=1,
num_items_y=3,
@@ -82,7 +99,7 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
)
def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=2,
num_items_y=1,
@@ -98,7 +115,7 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=3,
num_items_y=3,
@@ -113,7 +130,7 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
)
def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=5,
num_items_y=1,
@@ -128,7 +145,7 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
)
def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
"""创建BioYond 4x1x4仓库"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=3,
num_items_y=3,
@@ -144,7 +161,7 @@ def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
"""创建BioYond开关盖加液模块台面"""
return warehouse_factory(
return YB_warehouse_factory(
name=name,
num_items_x=2,
num_items_y=5,
@@ -157,4 +174,36 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
item_dz=120.0,
category="warehouse",
removed_positions=None
)
def bioyond_warehouse_3x5x1(name: str) -> WareHouse:
"""创建BioYond 3x5x1仓库（手动堆栈）"""
return YB_warehouse_factory(
name=name,
num_items_x=3,
num_items_y=5,
num_items_z=1,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
)
def bioyond_warehouse_20x1x1(name: str) -> WareHouse:
"""创建BioYond 20x1x1仓库（粉末加样头堆栈）"""
return YB_warehouse_factory(
name=name,
num_items_x=20,
num_items_y=1,
num_items_z=1,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
)

40
unilabos/resources/bioyond/decks.py
View File

@@ -72,7 +72,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
class BIOYOND_YB_Deck(Deck):
def __init__(
self,
name: str = "YB_Bioyond_Deck",
name: str = "YB_Deck",
size_x: float = 4150,
size_y: float = 1400.0,
size_z: float = 2670.0,
@@ -86,36 +86,28 @@ class BIOYOND_YB_Deck(Deck):
def setup(self) -> None:
# 添加仓库
self.warehouses = {
"321窗口": bioyond_warehouse_1x2x2("321窗口"),
"43窗口": bioyond_warehouse_1x2x2("43窗口"),
"手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
"手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
"加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
"加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
"15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
"母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
"大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
"大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
"自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"),
"自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),
"手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"),
"手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"),
"粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"),
"配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"),
"试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"),
}
# warehouse 的位置
self.warehouse_locations = {
"321窗口": Coordinate(-150.0, 158.0, 0.0),
"43窗口": Coordinate(4160.0, 158.0, 0.0),
"手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
"手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
"加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
"加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
"15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
"母液加样右": Coordinate(2152.0, 333.0, 0.0),
"大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
"大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
"自动堆栈-左": Coordinate(-300.0, 158.0, 0.0),
"自动堆栈-右": Coordinate(4160.0, 158.0, 0.0),
"手动堆栈-左": Coordinate(-400.0, 877.0, 0.0),
"手动堆栈-右": Coordinate(4160.0, 877.0, 0.0),
"粉末加样头堆栈": Coordinate(385.0, 1300.0, 0.0),
"配液站内试剂仓库": Coordinate(1164.0, 676.0, 0.0),
"试剂替换仓库": Coordinate(2717.0, 676.0, 0.0),
}
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
# def YB_Deck(name: str) -> Deck:
# # by=BIOYOND_YB_Deck(name=name)
# # by.setup()