1103-2byxinyu

unilabos/devices/workstation/bioyond_studio/station.py

@@ -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]
         })

unilabos/registry/devices/coin_cell_workstation.yaml

@@ -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

unilabos/resources/bioyond/YB_warehouses.py

@@ -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,
@@ -158,3 +175,35 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         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",
+    )

unilabos/resources/bioyond/decks.py

@@ -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,
@@ -86,31 +86,23 @@ class BIOYOND_YB_Deck(Deck):
     def setup(self) -> None:
         # 添加仓库
         self.warehouses = {
-            "321窗口": bioyond_warehouse_1x2x2("321窗口"),
+            "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"),
-            "43窗口": bioyond_warehouse_1x2x2("43窗口"),
+            "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"),
-            "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
+            "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"),
-            "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
+            "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"),
-            "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
+            "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"),
-            "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
+            "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"),
-            "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"),
         }
         # warehouse 的位置
         self.warehouse_locations = {
-            "321窗口": Coordinate(-150.0, 158.0, 0.0),
+            "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0),
-            "43窗口": Coordinate(4160.0, 158.0, 0.0),
+            "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0),
-            "手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
+            "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0),
-            "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
+            "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0),
-            "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
+            "粉末加样头堆栈": Coordinate(385.0, 1300.0, 0.0),
-            "加样头堆栈右": Coordinate(2187.0, 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),
-            "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),
         }
 
         for warehouse_name, warehouse in self.warehouses.items():