diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py new file mode 100644 index 00000000..eae09b84 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py @@ -0,0 +1,1006 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=0, + depth=0, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +import json + +if __name__ == "__main__": + #electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck(size_x=1000, + size_y=1000, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) +# + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + + + + #liaopan.children[3].assign_child_resource(jipian, location=None) + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" + BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py new file mode 100644 index 00000000..765328f2 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py @@ -0,0 +1,1412 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + if len(self.children) >= self._unilabos_state["max_sheets"]: + raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + + + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + children: List[ElectrodeSheet] = [] + def __init__( + self, + name: str, + diameter: float, + depth: float, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片 + + 根据洞的深度和极片的厚度来判断是否可以添加极片 + """ + # 检查极片直径是否适合洞的直径 + if sheet._unilabos_state["diameter"] > self.diameter: + return False + + # 计算当前已添加极片的总厚度 + current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) + + # 检查添加新极片后总厚度是否超过洞的深度 + if current_thickness + sheet._unilabos_state["thickness"] > self.depth: + return False + + return True + + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate] = None, + reassign: bool = True, + ): + """放置极片到洞位中 + + Args: + resource: 要放置的极片 + location: 极片在洞位中的位置（对于洞位，通常为None） + reassign: 是否允许重新分配 + """ + # 检查是否可以添加极片 + if not self.can_add_sheet(resource): + raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") + + # 调用父类方法实际执行分配 + super().assign_child_resource(resource, location, reassign) + + def unassign_child_resource(self, resource: ElectrodeSheet): + """从洞位中移除极片 + + Args: + resource: 要移除的极片 + """ + if resource not in self.children: + raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") + + # 调用父类方法实际执行移除 + super().unassign_child_resource(resource) + + + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self.children), + "sheets": [sheet.serialize() for sheet in self.children], + } +class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有4个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=2, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +# TODO: 这个要改 +class ClipMagazine(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + + electrolyte_name: str + electrolyte_volume: float + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState() + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + # 记录网格参数用于前端渲染 + self._grid_params = { + "num_items_x": 8, + "num_items_y": 8, + "dx": 8.0, + "dy": 8.0, + "item_dx": 9.0, + "item_dy": 9.0, + } + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + def serialize(self) -> dict: + return { + **super().serialize(), + **self._grid_params, + } + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + position_spacing: float + name_to_index: dict + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Resource] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + num_items_x: int = 3, + num_items_y: int = 4, + position_spacing: float = 35.0, + orientation: str = "horizontal", + padding_x: float = 20.0, + padding_y: float = 20.0, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # 初始化状态 + self._unilabos_state: BottleRackState = BottleRackState( + bottle_diameter=30.0, + bottle_height=100.0, + position_spacing=position_spacing, + name_to_index={}, + ) + # 基于网格生成瓶位坐标映射（居中摆放） + # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） + origin_x = padding_x + origin_y = padding_y + self.index_to_pos = {} + for j in range(num_items_y): + for i in range(num_items_x): + idx = j * num_items_x + i + if orientation == "vertical": + # 纵向：沿 y 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + j * position_spacing, + y=origin_y + i * position_spacing, + z=0, + ) + else: + # 横向（默认）：沿 x 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + i * position_spacing, + y=origin_y + j * position_spacing, + z=0, + ) + self.name_to_index = {} + self.name_to_pos = {} + self.num_items_x = num_items_x + self.num_items_y = num_items_y + self.orientation = orientation + self.padding_x = padding_x + self.padding_y = padding_y + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update( + self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): + capacity = self.num_items_x * self.num_items_y + assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = self.index_to_pos.get(index, Coordinate.zero()) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource(self, resource: Resource, index: int): + capacity = self.num_items_x * self.num_items_y + assert 0 <= index < capacity, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + def serialize(self) -> dict: + return { + **super().serialize(), + "num_items_x": self.num_items_x, + "num_items_y": self.num_items_y, + "position_spacing": self._unilabos_state.get("position_spacing", 35.0), + "orientation": self.orientation, + "padding_x": self.padding_x, + "padding_y": self.padding_y, + } + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +def create_a_liaopan(): + liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + return liaopan + +def create_a_coin_cell_deck(): + deck = Deck(size_x=1200, + size_y=800, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) + + print(deck) + + return deck + + +def create_a_full_coin_cell_deck(): + deck = CoincellDeck() + """======================================子弹夹============================================""" + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + """======================================子弹夹============================================""" + #liaopan = TipBox64(name="liaopan") + """======================================物料板============================================""" + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + #liaopan.children[3].assign_child_resource(jipian, location=None) + """======================================物料板============================================""" + """======================================瓶架，移液枪============================================""" + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + """======================================瓶架，移液枪============================================""" + print(deck) + return deck + + + + +import json + +if __name__ == "__main__": + electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck() + """======================================子弹夹============================================""" + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + """======================================子弹夹============================================""" + #liaopan = TipBox64(name="liaopan") + """======================================物料板============================================""" + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + #liaopan.children[3].assign_child_resource(jipian, location=None) + """======================================物料板============================================""" + """======================================瓶架，移液枪============================================""" + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + """======================================瓶架，移液枪============================================""" + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + + # 检查序列化后的资源 + + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json new file mode 100644 index 00000000..9468817f --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json @@ -0,0 +1,1895 @@ +{ + "nodes": [ + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2" + ], + "parent": null, + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1620.0, + "size_y": 1270.0, + "size_z": 500.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "liaopan1", + "name": "liaopan1", + "sample_id": null, + "children": [ + "liaopan1_materialhole_0_0", + "liaopan1_materialhole_0_1", + "liaopan1_materialhole_0_2", + "liaopan1_materialhole_0_3", + "liaopan1_materialhole_1_0", + "liaopan1_materialhole_1_1", + "liaopan1_materialhole_1_2", + "liaopan1_materialhole_1_3", + "liaopan1_materialhole_2_0", + "liaopan1_materialhole_2_1", + "liaopan1_materialhole_2_2", + "liaopan1_materialhole_2_3", + "liaopan1_materialhole_3_0", + "liaopan1_materialhole_3_1", + "liaopan1_materialhole_3_2", + "liaopan1_materialhole_3_3" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 120.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + 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@@ +#!/usr/bin/env python +#coding=utf-8 + +ENV = 'pro'#'test' +class MQConfig: + """MQTT 配置类""" + lab_id: str = '9F05593C' + instance_id: str = 'mqtt-cn-dsr48m6jy02' + + group_id: str = 'GID_prod' + broker_url: str = 'mqtt-cn-dsr48m6jy02.mqtt.aliyuncs.com' + port: int = 8883 + ca_content: str = '''-----BEGIN CERTIFICATE----- +MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda +Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi +MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 +NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC +VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr +erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L +0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz +ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB +AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME +fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ +BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE +CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN +BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK +9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 +4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 +bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I +lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d +SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== +-----END CERTIFICATE----- +''' + cert_content: str = '''-----BEGIN CERTIFICATE----- +MIIDlTCCAn2gAwIBAgIUa/ce6dpJ8K7XNvT0LknVmLgfJMIwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA4MTMwNDQ0MDVa +Fw0yNjEyMjYwNDQ0MDVaMHoxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxDDAKBgNVBAoMA0RQVDENMAsGA1UECwwETVFUVDEhMB8GCSqGSIb3 +DQEJARYSaHVhaGFpbWluZ0BkcC50ZWNoMREwDwYDVQQDDAg0NzJBMjZBQzCCASIw +DQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAPc4NHXcwaFX3jSN6DnDYoY7ON6c +AeVIlcQp3CMHnulh4t3I3Fnsyelpc809s7l5vEpAjMIuZ40DJKZQmV9ckmeylMiY +bAk851+i8YcRQPeYYY7Ggt0sfkY3TWIIqptZtlIhXtkTCWw6xpHAPkYxqNTiUN/0 +vwQWwiBS7WqD8NVjNhhHootYLsMjnQYc162L8nUwzG2pjB3UYqOldC3FkHXvBkG2 +Oeex8VM8Urblv0huCmoFRyuMmNol0QWqp+6nwAgdvf89Z38NJByPI9VHaBB/VV1F +HiAZe3H8Ph7wzgUSXBuVHJ4BaeJbg4+ax6BccpaQn26jgpJGUEj+YR+NwdMCAwEA +AaNCMEAwDAYDVR0TAQH/BAIwADAOBgNVHQ8BAf8EBAMCAvQwIAYDVR0lAQH/BBYw +FAYIKwYBBQUHAwIGCCsGAQUFBwMBMA0GCSqGSIb3DQEBCwUAA4IBAQAZaF8puP0/ +OcRM7Gcd4LrF8H/WG0Q7WM0T9BWGvee6A+Fcd4ajBC0S0tIfdsfYat0+g4U57jrr +vaQeZGFKc4YKVui8vSuth82fcsFk5fpyhz4JJRggzeoby+0gNx9eYDJwLIvbVy4Y +2LKGq+rsO07QF54jtwB4WpDNFnEIadXyjPBsMy/0Ssbetp827WYZygXYyAcUlCfN +Wns7K0phfZJwIMQgPs3d4mGwCC+xaRIB3GGjUGFXV1sFItjkTUHCvm+phw/MTpRp +pauplyDcWYux7z1dKhbuHElzCEqxZNwyI0nGJlRFP13Oo+jnuDO7gQh2lyz/AFyX +KyTA3xFZduHO +-----END CERTIFICATE----- +-----BEGIN CERTIFICATE----- +MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda +Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi +MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 +NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC +VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr +erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L +0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz +ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB +AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME +fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ +BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE +CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN +BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK +9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 +4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 +bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I +lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d +SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== +-----END CERTIFICATE----- +''' + key_content: str = '''-----BEGIN RSA PRIVATE KEY----- +MIIEpAIBAAKCAQEA9zg0ddzBoVfeNI3oOcNihjs43pwB5UiVxCncIwee6WHi3cjc +WezJ6WlzzT2zuXm8SkCMwi5njQMkplCZX1ySZ7KUyJhsCTznX6LxhxFA95hhjsaC +3Sx+RjdNYgiqm1m2UiFe2RMJbDrGkcA+RjGo1OJQ3/S/BBbCIFLtaoPw1WM2GEei +i1guwyOdBhzXrYvydTDMbamMHdRio6V0LcWQde8GQbY557HxUzxStuW/SG4KagVH +K4yY2iXRBaqn7qfACB29/z1nfw0kHI8j1UdoEH9VXUUeIBl7cfw+HvDOBRJcG5Uc +ngFp4luDj5rHoFxylpCfbqOCkkZQSP5hH43B0wIDAQABAoIBAAPzz0ZUcqmR1Eva +5PH98gQzp2wB9snLY86HY3Z/JVAPf5Ht9sbAUWHhT8PVoWpIasSmFbuJxz6DRk3S +M8VVVipxxgcTWqo/JOD4HZiCNfcRru6+5dHxZ4p2B/n4EWfoy+KyEZkgd5jQFONj +jIX+rDR3qZzFqoBRhQSHLuD+i66eZ7l1LOqsnk51r3nTCnGmdyV8fll56MMB5D6+ +8LN2rwbmSYX/UIBBqHUthgEt2onFNaetTLgSa3RSNGZ3xEZt4N32vw1SARxItuso +npAAY77POMUwWe3666fETI+yr/gJuppvTF4sQUXy7I4iz7I18n2SYivHabdgnk6H +7y1TcGECgYEA/NbBLFz1YPOQiT6TsuitIlfWcFWXYI4yHh/Mwwm/heHV683HrUti +RSHWbFxggW70BYJbGAQprEe9UIRVdP9YNi3aPeN5WNfnTFHlN2HRiKenlETM1tw9 +yaSWjNbAyc2ka+l1EblMJy92xoCkErS8riEPW83o+3+LqJwnjsJ8tVECgYEA+k93 +AyNpXuOZldAoqSHF3wHgzgd2jhfVdQcNlz9sLfT8TAdoR01mdBtdytcYAH+FHplW +wlkCfpT1RPf3fEd0Asy727pJnL9v/QfY/BB+vfgWKUQg9CWNIevwItCaTNOSekis +lKl5dxNGOyouU7rPbTj9BC26OHA50Z3vLMKmi+MCgYEAy0Sb6N6TJ26pNK1qcNs+ +1e1oKMem+6lWAYHvTJ35q9jz8q9taJTCXHHnwRZDP8vDwuoZ8iTmm+rQ+HprebQP +Zv9WBYtrc1GgUmtErFGn8wVWZI0rYVGPGx2HK5M7SwJYvajixW0DHD28b7ncLm2/ +gv5xKo1QUWEpFlT0OIGDYQECgYEA8WRlH6+s1Iel++ZM8B7T1ibXh5mG6a1ue3eb +0bqmNwPFtASIugqYvWwO3ajlSsWvuTyjgLWaRDye9C42i7HU3UZX/KUAjJvKAjjp +Nt0pfUadCJrdNNZp7sa8RLbrtx9qaWdgl9WAgCckWbZqCvFjTK/iwX7f0cHY4J/w +ojftqYUCgYARM6YaEJuBJEBmZV1I0rweiguqWssZz2j1awSlsfYxckwnci4VtSMI +D/sp0Wp0yn2N4cgqp49BFD0rCQCTsASVICEf9HWdMQXsUhzWsz4SjVEhjWWC1VAk +sEL+BOcbsHy3qMbV2uKBHrhuZShDdy5KtCm9TB+7zTWyDVHwE24nig== +-----END RSA PRIVATE KEY----- +''' + +# HTTP配置 +class HTTPConfig: + remote_addr = "https://uni-lab.test.bohrium.com/api/v1" diff --git a/unilabos/devices/workstation/coin_cell_assembly/celljson.json b/unilabos/devices/workstation/coin_cell_assembly/celljson.json new file mode 100644 index 00000000..ad904175 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/celljson.json @@ -0,0 +1,1332 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "coin_cell_deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", + "protocol_type": [], + "station_resource": { + "data": { + "_resource_child_name": "coin_cell_deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "ban_cao_wei" + ], + "parent": "BatteryStation", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1620.0, + "size_y": 1270.0, + "size_z": 500.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "ban_cao_wei", + "name": "ban_cao_wei", + "sample_id": null, + "children": [ + "plate_1" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PlateSlot", + "size_x": 0, + "size_y": 0, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "plate_slot", + "model": null, + "barcode": null, + "max_plates": 8 + }, + "data": {} + }, + { + "id": "plate_1", + "name": "plate_1", + "sample_id": null, + "children": [ + "plate_1_materialhole_0_0", + "plate_1_materialhole_0_1", + "plate_1_materialhole_0_2", + "plate_1_materialhole_0_3", + "plate_1_materialhole_1_0", + "plate_1_materialhole_1_1", + "plate_1_materialhole_1_2", + "plate_1_materialhole_1_3", + "plate_1_materialhole_2_0", + "plate_1_materialhole_2_1", + "plate_1_materialhole_2_2", + "plate_1_materialhole_2_3", + "plate_1_materialhole_3_0", + "plate_1_materialhole_3_1", + "plate_1_materialhole_3_2", + "plate_1_materialhole_3_3" + ], + "parent": "ban_cao_wei", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "plate_1_materialhole_0_0", + "B1": "plate_1_materialhole_0_1", + "C1": "plate_1_materialhole_0_2", + "D1": "plate_1_materialhole_0_3", + "A2": "plate_1_materialhole_1_0", + "B2": "plate_1_materialhole_1_1", + "C2": "plate_1_materialhole_1_2", + "D2": "plate_1_materialhole_1_3", + "A3": "plate_1_materialhole_2_0", + "B3": "plate_1_materialhole_2_1", + "C3": "plate_1_materialhole_2_2", + "D3": "plate_1_materialhole_2_3", + "A4": "plate_1_materialhole_3_0", + "B4": "plate_1_materialhole_3_1", + "C4": "plate_1_materialhole_3_2", + "D4": "plate_1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "plate_1_materialhole_0_0", + "name": "plate_1_materialhole_0_0", + "sample_id": null, + "children": [ + "hole_0_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_0_sheet_1", + "name": "hole_0_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_0_1", + "name": "plate_1_materialhole_0_1", + "sample_id": null, + "children": [ + "hole_1_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_1_sheet_1", + "name": "hole_1_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_0_2", + "name": "plate_1_materialhole_0_2", + "sample_id": null, + "children": [ + "hole_2_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_2_sheet_1", + "name": "hole_2_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_0_3", + "name": "plate_1_materialhole_0_3", + "sample_id": null, + "children": [ + "hole_3_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_3_sheet_1", + "name": "hole_3_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_0", + "name": "plate_1_materialhole_1_0", + "sample_id": null, + "children": [ + "hole_4_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_4_sheet_1", + "name": "hole_4_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_1", + "name": "plate_1_materialhole_1_1", + "sample_id": null, + "children": [ + "hole_5_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_5_sheet_1", + "name": "hole_5_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_2", + "name": "plate_1_materialhole_1_2", + "sample_id": null, + "children": [ + "hole_6_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_6_sheet_1", + "name": "hole_6_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_3", + "name": "plate_1_materialhole_1_3", + "sample_id": null, + "children": [ + "hole_7_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_7_sheet_1", + "name": "hole_7_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_0", + "name": "plate_1_materialhole_2_0", + "sample_id": null, + "children": [ + "hole_8_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_8_sheet_1", + "name": "hole_8_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_1", + "name": "plate_1_materialhole_2_1", + "sample_id": null, + "children": [ + "hole_9_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_9_sheet_1", + "name": "hole_9_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_2", + "name": "plate_1_materialhole_2_2", + "sample_id": null, + "children": [ + "hole_10_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_10_sheet_1", + "name": "hole_10_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_3", + "name": "plate_1_materialhole_2_3", + "sample_id": null, + "children": [ + "hole_11_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_11_sheet_1", + "name": "hole_11_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_0", + "name": "plate_1_materialhole_3_0", + "sample_id": null, + "children": [ + "hole_12_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_12_sheet_1", + "name": "hole_12_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_1", + "name": "plate_1_materialhole_3_1", + "sample_id": null, + "children": [ + "hole_13_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_13_sheet_1", + "name": "hole_13_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_2", + "name": "plate_1_materialhole_3_2", + "sample_id": null, + "children": [ + "hole_14_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_14_sheet_1", + "name": "hole_14_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_3", + "name": "plate_1_materialhole_3_3", + "sample_id": null, + "children": [ + "hole_15_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_15_sheet_1", + "name": "hole_15_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py new file mode 100644 index 00000000..eb23be55 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -0,0 +1,1163 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import Resource as PLRResource +from unilabos_msgs.msg import Resource +from unilabos.device_comms.modbus_plc.client import ModbusTcpClient +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 工站的配置 """ + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) + self.success = False + self.allow_data_read = False #允许读取函数运行标志位 + self.csv_export_thread = None + self.csv_export_running = False + self.csv_export_file = None + self.coin_num_N = 0 #已组装电池数量 + #创建一个物料台面，包含两个极片板 + #self.deck = create_a_coin_cell_deck() + + #self._ros_node.update_resource(self.deck) + + #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + # "resources": [self.deck] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num): + bottle_num = int(bottle_num) + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num) -> bool: + """UNILAB写参数""" + while (self.request_rec_msg_status) == False: + print("wait for request_rec_msg_status to True") + time.sleep(1) + self.success = False + #self._unilab_send_msg_electrolyte_num(elec_num) + time.sleep(1) + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + print("data_open_circuit_voltage", data_open_circuit_voltage) + print("data_pole_weight", data_pole_weight) + print("data_assembly_time", data_assembly_time) + print("data_assembly_pressure", data_assembly_pressure) + print("data_electrolyte_volume", data_electrolyte_volume) + print("data_coin_num", data_coin_num) + print("data_electrolyte_code", data_electrolyte_code) + print("data_coin_cell_code", data_coin_cell_code) + #接收完信息后，读取完毕标志位置True + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + #把物料解绑后放到另一盘上 + battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) + battery._unilabos_state = { + "electrolyte_name": data_coin_cell_code, + "data_electrolyte_code": data_electrolyte_code, + "open_circuit_voltage": data_open_circuit_voltage, + "assembly_pressure": data_assembly_pressure, + "electrolyte_volume": data_electrolyte_volume + } + liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num = int(elec_num), int(elec_use_num) + summary_csv_file = os.path.join(file_path, "duandian.csv") + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 + if read_status_flag == False: + pass + #初始化 + #self.func_pack_device_init() + #切换自动 + #self.func_pack_device_auto() + #启动，小车收回 + #self.func_pack_device_start() + #发送电解液瓶数量，启动搬运,多搬运没事 + #self.func_pack_send_bottle_num(elec_num) + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + #第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + time.sleep(1) + # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 + + + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + self.coin_num_N = coin_num_N + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + for i in range(16): + battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) + battery._unilabos_state = { + "diameter": 20.0, + "height": 20.0, + "assembly_pressure": i, + "electrolyte_volume": 20.0, + "electrolyte_name": f"DP{i}" + } + liaopan3.children[i].assign_child_resource(battery, location=None) + + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + time.sleep(4) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 + if self.csv_export_running: + return False, "读取已在运行中" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # TODO:#把电解液从瓶中取到电池夹子中 + # battery_site = deck.get_resource("battery_press_1") + # clip_magazine_battery = deck.get_resource("clip_magazine_battery") + # if battery_site.has_battery(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +if __name__ == "__main__": + from pylabrobot.resources import Resource + Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + #Coin_Cell.func_pack_device_init() + #Coin_Cell.func_pack_device_auto() + #Coin_Cell.func_pack_device_start() + #Coin_Cell.func_pack_send_bottle_num(2) + #Coin_Cell.func_pack_send_msg_cmd(2) + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_send_finished_cmd() +# + #Coin_Cell.func_allpack_cmd(3, 2) + #print(Coin_Cell.data_stack_vision_code) + #print("success") + #创建一个物料台面 + + deck = create_a_coin_cell_deck() + #deck = create_a_full_coin_cell_deck() + + + ##在台面上找到料盘和极片 + #liaopan1 = deck.get_resource("liaopan1") + #liaopan2 = deck.get_resource("liaopan2") + #jipian1 = liaopan1.children[1].children[0] +## + #print(jipian1) + ##把物料解绑后放到另一盘上 + #jipian1.parent.unassign_child_resource(jipian1) + #liaopan2.children[1].assign_child_resource(jipian1, location=None) + ##print(jipian2.parent) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: + # bioyond_resources_unilab = json.load(f) + #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") + #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) + #print(f"转换结果类型: {type(ulab_resources)}") + #print(ulab_resources) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv new file mode 100644 index 00000000..e8407159 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv @@ -0,0 +1,44 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address +COIL_SYS_START_CMD,BOOL,,豸,,coil,8010 +COIL_SYS_STOP_CMD,BOOL,,豸ֹͣ,,coil,8020 +COIL_SYS_RESET_CMD,BOOL,,豸λ,,coil,8030 +COIL_SYS_HAND_CMD,BOOL,,豸ֶģʽ,,coil,8040 +COIL_SYS_AUTO_CMD,BOOL,,豸Զģʽ,,coil,8050 +COIL_SYS_INIT_CMD,BOOL,,豸ʼģʽ,,coil,8060 +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,UNILAB䷽,,coil,8700 +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,UNILABܲ,,coil,8710 +COIL_SYS_START_STATUS,BOOL,,豸,,coil,8210 +COIL_SYS_STOP_STATUS,BOOL,,豸ֹͣ,,coil,8220 +COIL_SYS_RESET_STATUS,BOOL,,豸λ,,coil,8230 +COIL_SYS_HAND_STATUS,BOOL,,豸ֶģʽ,,coil,8240 +COIL_SYS_AUTO_STATUS,BOOL,,豸Զģʽ,,coil,8250 +COIL_SYS_INIT_STATUS,BOOL,,豸ʼ,,coil,8260 +COIL_REQUEST_REC_MSG_STATUS,BOOL,,豸䷽,,coil,8510 +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,豸Ͳ,,coil,8500 +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,ƿҺʹô,,hold_register,11000 +REG_MSG_ELECTROLYTE_NUM,INT16,,Һʹƿ,,hold_register,11002 +REG_MSG_ELECTROLYTE_VOLUME,INT16,,Һȡ,,hold_register,11004 +REG_MSG_ASSEMBLY_TYPE,INT16,,װƬѵʽ,,hold_register,11006 +REG_MSG_ASSEMBLY_PRESSURE,INT16,,װѹ,,hold_register,11008 +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,ǰװ,,hold_register,10000 +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,ǰصѹ,,hold_register,10002 +REG_DATA_AXIS_X_POS,FLOAT32,,ҺXᵱǰλ,,hold_register,10004 +REG_DATA_AXIS_Y_POS,FLOAT32,,ҺZᵱǰλ,,hold_register,10006 +REG_DATA_AXIS_Z_POS,FLOAT32,,ҺYᵱǰλ,,hold_register,10008 +REG_DATA_POLE_WEIGHT,FLOAT32,,ǰƬ,,hold_register,10010 +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,ǰŵװʱ,,hold_register,10012 +REG_DATA_ASSEMBLY_PRESSURE,INT16,,ǰװѹ,,hold_register,10014 +REG_DATA_ELECTROLYTE_VOLUME,INT16,,ǰҺע,,hold_register,10016 +REG_DATA_COIN_NUM,INT16,,ǰ,,hold_register,10018 +REG_DATA_ELECTROLYTE_CODE,STRING,,Һάк,,hold_register,10020 +REG_DATA_COIN_CELL_CODE,STRING,,ضάк,,hold_register,10030 +REG_DATA_STACK_VISON_CODE,STRING,,϶ѵͼƬ,,hold_register,12004 +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,ѹ,,hold_register,10050 +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,ˮ,,hold_register,10052 +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054 +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilabȷѷ͵Һƿź,,coil,8720 +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,UnilabɽܵҺƿ,,coil,8520 +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,Һװƽ,,hold_register,496 +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,ǰװƽ,,hold_register,10000 +UNILAB_SEND_FINISHED_CMD,BOOL,,Unilabյź,,coil,8730 +UNILAB_RECE_FINISHED_CMD,BOOL,,֪unilabź,,coil,8530 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv new file mode 100644 index 00000000..149a6833 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -0,0 +1,46 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, +COIL_SYS_START_CMD,BOOL,,,,coil,8010, +COIL_SYS_STOP_CMD,BOOL,,,,coil,8020, +COIL_SYS_RESET_CMD,BOOL,,,,coil,8030, +COIL_SYS_HAND_CMD,BOOL,,,,coil,8040, +COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050, +COIL_SYS_INIT_CMD,BOOL,,,,coil,8060, +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700, +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd +COIL_SYS_START_STATUS,BOOL,,,,coil,8210, +COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220, +COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230, +COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240, +COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250, +COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260, +COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500, +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000, +REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num +REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol +REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type +REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage +REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004, +REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006, +REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008, +REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time +REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure +REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume +REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num +REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code() +REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code() +REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code() +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720, +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520, +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496, +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, +UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, +UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, +REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 +COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py new file mode 100644 index 00000000..ac619486 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py @@ -0,0 +1,1149 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import Resource as PLRResource +from unilabos_msgs.msg import Resource +from unilabos.device_comms.modbus_plc.client import ModbusTcpClient +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 工站的配置 """ + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) + self.success = False + self.allow_data_read = False #允许读取函数运行标志位 + self.csv_export_thread = None + self.csv_export_running = False + self.csv_export_file = None + #创建一个物料台面，包含两个极片板 + #self.deck = create_a_coin_cell_deck() + + #self._ros_node.update_resource(self.deck) + + #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + # "resources": [self.deck] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num: int): + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num) -> bool: + """UNILAB写参数""" + while (self.request_rec_msg_status) == False: + print("wait for request_rec_msg_status to True") + time.sleep(1) + self.success = False + #self._unilab_send_msg_electrolyte_num(elec_num) + time.sleep(1) + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + print("data_open_circuit_voltage", data_open_circuit_voltage) + print("data_pole_weight", data_pole_weight) + print("data_assembly_time", data_assembly_time) + print("data_assembly_pressure", data_assembly_pressure) + print("data_electrolyte_volume", data_electrolyte_volume) + print("data_coin_num", data_coin_num) + print("data_electrolyte_code", data_electrolyte_code) + print("data_coin_cell_code", data_coin_cell_code) + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num = int(elec_num), int(elec_use_num) + summary_csv_file = os.path.join(file_path, "duandian.csv") + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 + if read_status_flag == False: + #初始化 + self.func_pack_device_init() + #切换自动 + self.func_pack_device_auto() + #启动，小车收回 + self.func_pack_device_start() + #发送电解液瓶数量，启动搬运,多搬运没事 + self.func_pack_send_bottle_num(elec_num) + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + #第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + time.sleep(1) + # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 + liaopan1 = self.station_resource.get_resource("liaopan1") + liaopan2 = self.station_resource.get_resource("liaopan2") + jipian1 = liaopan1.children[coin_num_N].children[0] + + #print(jipian1) + #把物料解绑后放到另一盘上 + jipian1.parent.unassign_child_resource(jipian1) + liaopan2.children[coin_num_N].assign_child_resource(jipian1, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan1 = self.station_resource.get_resource("liaopan1") + liaopan2 = self.station_resource.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + time.sleep(10) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 + if self.csv_export_running: + return False, "读取已在运行中" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # TODO:#把电解液从瓶中取到电池夹子中 + # battery_site = deck.get_resource("battery_press_1") + # clip_magazine_battery = deck.get_resource("clip_magazine_battery") + # if battery_site.has_battery(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +if __name__ == "__main__": + from pylabrobot.resources import Resource + Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + #Coin_Cell.func_pack_device_init() + #Coin_Cell.func_pack_device_auto() + #Coin_Cell.func_pack_device_start() + #Coin_Cell.func_pack_send_bottle_num(2) + #Coin_Cell.func_pack_send_msg_cmd(2) + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_send_finished_cmd() +# + #Coin_Cell.func_allpack_cmd(3, 2) + #print(Coin_Cell.data_stack_vision_code) + #print("success") + #创建一个物料台面 + + #deck = create_a_coin_cell_deck() + deck = create_a_full_coin_cell_deck() + + + ##在台面上找到料盘和极片 + #liaopan1 = deck.get_resource("liaopan1") + #liaopan2 = deck.get_resource("liaopan2") + #jipian1 = liaopan1.children[1].children[0] +## + #print(jipian1) + ##把物料解绑后放到另一盘上 + #jipian1.parent.unassign_child_resource(jipian1) + #liaopan2.children[1].assign_child_resource(jipian1, location=None) + ##print(jipian2.parent) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: + # bioyond_resources_unilab = json.load(f) + #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") + #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) + #print(f"转换结果类型: {type(ulab_resources)}") + #print(ulab_resources) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py new file mode 100644 index 00000000..6abdc38b --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py @@ -0,0 +1,135 @@ +import json +import re +from pymodbus.client import ModbusTcpClient +from unilabos.device_comms.modbus_plc.modbus import WorderOrder, Coil, DiscreteInputs, HoldRegister, InputRegister, DataType +from pymodbus.constants import Endian +import time +import threading +import csv +import os +from datetime import datetime +from typing import Callable +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder + +class Coin_Cell_Assembly: + + +if __name__ == '__main__': + coin_cell_assmbly = Coin_Cell_Assembly(address="192.168.1.20", port="502") + + #params = { + # "elec_num": 32 + #} + #str_data = json.dumps(params, ensure_ascii=False) + #print('param:', coin_cell_assmbly.func_pack_device_write_batch_elec_param(params)) + #time.sleep(1) + + print(coin_cell_assmbly.func_pack_device_write_per_elec_param( + elec_use_num=4, + elec_num=5, + elec_vol=55, + assembly_type=25, + assembly_pressure=550)) + time.sleep(1) + + +''' + print('start:', coin_cell_assmbly.func_pack_device_start()) + time.sleep(1) + + + + + + + + + print('start:', coin_cell_assmbly.func_pack_device_start()) + time.sleep(1) + + print('stop:', coin_cell_assmbly.func_pack_device_stop()) + time.sleep(1) + + while True: + # cmd coil + print('start cmd:', coin_cell_assmbly.sys_start_cmd(True)) + time.sleep(1) + print('stop cmd:', coin_cell_assmbly.sys_stop_cmd(False)) + time.sleep(1) + print('reset cmd:', coin_cell_assmbly.sys_reset_cmd(True)) + time.sleep(1) + print('hand cmd:', coin_cell_assmbly.sys_hand_cmd(False)) + time.sleep(1) + print('auto cmd:', coin_cell_assmbly.sys_auto_cmd(True)) + time.sleep(1) + print('init cmd:', coin_cell_assmbly.sys_init_cmd(False)) + time.sleep(1) + print('send msg succ cmd:', coin_cell_assmbly.unilab_send_msg_succ_cmd(False)) + time.sleep(1) + print('rec msg succ cmd:', coin_cell_assmbly.unilab_rec_msg_succ_cmd(True)) + time.sleep(1) + + # cmd reg + print('elec use num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_use_num(8)) + time.sleep(1) + print('elec num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_num(4)) + time.sleep(1) + print('elec vol msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_vol(3.3)) + time.sleep(1) + print('assembly type msg:', coin_cell_assmbly.unilab_send_msg_assembly_type(1)) + time.sleep(1) + print('assembly pressure msg:', coin_cell_assmbly.unilab_send_msg_assembly_pressure(1)) + time.sleep(1) + + # status coil + print('start status:',coin_cell_assmbly.sys_start_status) + time.sleep(1) + print('stop status:',coin_cell_assmbly.sys_stop_status) + time.sleep(1) + print('reset status:',coin_cell_assmbly.sys_reset_status) + time.sleep(1) + print('hand status:',coin_cell_assmbly.sys_hand_status) + time.sleep(1) + print('auto status:', coin_cell_assmbly.sys_auto_status) + time.sleep(1) + print('init ok:', coin_cell_assmbly.sys_init_status) + time.sleep(1) + print('request rec msg:', coin_cell_assmbly.request_rec_msg_status) + time.sleep(1) + print('request send msg:', coin_cell_assmbly.request_send_msg_status) + time.sleep(1) + + # status reg + print('assembly coin cell num:', coin_cell_assmbly.data_assembly_coin_cell_num) + time.sleep(1) + print('assembly coin assembly per time:', coin_cell_assmbly.data_assembly_time) + time.sleep(1) + print('open circuit vol:', coin_cell_assmbly.data_open_circuit_voltage) + time.sleep(1) + print('axis x pos:', coin_cell_assmbly.data_axis_x_pos) + time.sleep(1) + print('axis y pos:', coin_cell_assmbly.data_axis_y_pos) + time.sleep(1) + print('axis z pos:', coin_cell_assmbly.data_axis_z_pos) + time.sleep(1) + print('pole weight:', coin_cell_assmbly.data_pole_weight) + time.sleep(1) + print('assembly pressure:', coin_cell_assmbly.data_assembly_coin_cell_num) + time.sleep(1) + print('assembly electrolyte vol:', coin_cell_assmbly.data_electrolyte_volume) + time.sleep(1) + print('assembly coin num:', coin_cell_assmbly.data_coin_num) + time.sleep(1) + print('coin cell code:', coin_cell_assmbly.data_coin_cell_code) + time.sleep(1) + print('elec code:', coin_cell_assmbly.data_electrolyte_code) + time.sleep(1) + print('glove box pressure:', coin_cell_assmbly.data_glove_box_pressure) + time.sleep(1) + print('glove box o2:', coin_cell_assmbly.data_glove_box_o2_content) + time.sleep(1) + print('glove box water:', coin_cell_assmbly.data_glove_box_water_content) + time.sleep(1) + +''' \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json new file mode 100644 index 00000000..31fb0033 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json @@ -0,0 +1,1925 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", + "protocol_type": [], + "station_resource": { + "data": { + "_resource_child_name": "deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "deck", + "name": "deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2" + ], + "parent": null, + "type": "deck", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "Deck", + "size_x": 1200, + "size_y": 800, + "size_z": 900, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null + }, + "data": {} + }, + { + "id": "liaopan1", + "name": "liaopan1", + "sample_id": null, + "children": [ + "liaopan1_materialhole_0_0", + "liaopan1_materialhole_0_1", + "liaopan1_materialhole_0_2", + "liaopan1_materialhole_0_3", + "liaopan1_materialhole_1_0", + "liaopan1_materialhole_1_1", + "liaopan1_materialhole_1_2", + "liaopan1_materialhole_1_3", + "liaopan1_materialhole_2_0", + "liaopan1_materialhole_2_1", + "liaopan1_materialhole_2_2", + "liaopan1_materialhole_2_3", + "liaopan1_materialhole_3_0", + "liaopan1_materialhole_3_1", + "liaopan1_materialhole_3_2", + "liaopan1_materialhole_3_3" + ], + "parent": "deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 120.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "liaopan1_materialhole_0_0", + "B1": "liaopan1_materialhole_0_1", + "C1": "liaopan1_materialhole_0_2", + "D1": "liaopan1_materialhole_0_3", + "A2": "liaopan1_materialhole_1_0", + "B2": "liaopan1_materialhole_1_1", + "C2": "liaopan1_materialhole_1_2", + "D2": "liaopan1_materialhole_1_3", + "A3": "liaopan1_materialhole_2_0", + "B3": "liaopan1_materialhole_2_1", + "C3": "liaopan1_materialhole_2_2", + "D3": "liaopan1_materialhole_2_3", + "A4": "liaopan1_materialhole_3_0", + "B4": "liaopan1_materialhole_3_1", + "C4": "liaopan1_materialhole_3_2", + "D4": "liaopan1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "liaopan1_materialhole_0_0", + "name": "liaopan1_materialhole_0_0", + "sample_id": null, + "children": [ + "jipian_0" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + 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"tip_box_64_tipspot_7_2", + "name": "tip_box_64_tipspot_7_2", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 53.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_3", + "name": "tip_box_64_tipspot_7_3", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 44.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_4", + "name": "tip_box_64_tipspot_7_4", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 35.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_5", + "name": "tip_box_64_tipspot_7_5", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 26.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_6", + "name": "tip_box_64_tipspot_7_6", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 17.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_7", + "name": "tip_box_64_tipspot_7_7", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 8.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "waste_tip_box", + "name": "waste_tip_box", + "sample_id": null, + "children": [], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 300, + "y": 200, + "z": 0 + }, + "config": { + "type": "WasteTipBox", + "size_x": 127.8, + "size_y": 85.5, + "size_z": 60.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "waste_tip_box", + "model": null, + "barcode": null, + "max_volume": "Infinity", + "material_z_thickness": 0, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb new file mode 100644 index 00000000..76c07d74 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb @@ -0,0 +1,750 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 22, + "id": "80bc9500", + "metadata": {}, + "outputs": [], + "source": [ + "from __future__ import annotations\n", + "\n", + "from collections import OrderedDict\n", + "from typing import Any, Dict, List, Optional, TypedDict, Union, cast\n", + "\n", + "from pylabrobot.resources.coordinate import Coordinate\n", + "from pylabrobot.resources.container import Container\n", + "from pylabrobot.resources.deck import Deck\n", + "from pylabrobot.resources.itemized_resource import ItemizedResource\n", + "from pylabrobot.resources.resource import Resource\n", + "from pylabrobot.resources.resource_stack import ResourceStack\n", + "from pylabrobot.resources.tip_rack import TipRack, TipSpot\n", + "from pylabrobot.resources.trash import Trash\n", + "from pylabrobot.resources.utils import create_ordered_items_2d" + ] + }, + { + "cell_type": "markdown", + "id": "498a9159", + "metadata": {}, + "source": [ + "物料类型构建" + ] + }, + { + "cell_type": "code", + "execution_count": 23, + "id": "f4a27241", + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "class ElectrodeSheetState(TypedDict):\n", + " diameter: float # 直径 (mm)\n", + " thickness: float # 厚度 (mm)\n", + " mass: float # 质量 (g)\n", + " material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class ElectrodeSheet(Resource):\n", + " \"\"\"极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料\"\"\"\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str = \"极片\",\n", + " size_x=10,\n", + " size_y=10,\n", + " size_z=10,\n", + " category: str = \"electrode_sheet\",\n", + " model: Optional[str] = None,\n", + " ):\n", + " \"\"\"初始化极片\n", + "\n", + " Args:\n", + " name: 极片名称\n", + " category: 类别\n", + " model: 型号\n", + " \"\"\"\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " category=category,\n", + " model=model,\n", + " )\n", + " self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(\n", + " diameter=14,\n", + " thickness=0.1,\n", + " mass=0.5,\n", + " material_type=\"copper\",\n", + " info=None\n", + " )\n", + "\n", + " # TODO: 这个还要不要？给self._unilabos_state赋值的？\n", + " def load_state(self, state: Dict[str, Any]) -> None:\n", + " \"\"\"格式不变\"\"\"\n", + " super().load_state(state)\n", + " self._unilabos_state = state\n", + " #序列化\n", + " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", + " \"\"\"格式不变\"\"\"\n", + " data = super().serialize_state()\n", + " data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）\n", + " return data\n" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "id": "830f052e", + "metadata": {}, + "outputs": [], + "source": [ + "# TODO: 这个应该只能放一个极片\n", + "class MaterialHoleState(TypedDict):\n", + " diameter: int\n", + " depth: int\n", + " max_sheets: int\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class MaterialHole(Resource):\n", + " \"\"\"料板洞位类\"\"\"\n", + " children: List[ElectrodeSheet] = []\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str,\n", + " size_x: float,\n", + " size_y: float,\n", + " size_z: float,\n", + " category: str = \"material_hole\",\n", + " **kwargs\n", + " ):\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " category=category,\n", + " )\n", + " self._unilabos_state: MaterialHoleState = MaterialHoleState(\n", + " diameter=20,\n", + " depth=10,\n", + " max_sheets=1,\n", + " info=None\n", + " )\n", + "\n", + " def get_all_sheet_info(self):\n", + " info_list = []\n", + " for sheet in self.children:\n", + " info_list.append(sheet._unilabos_state[\"info\"])\n", + " return info_list\n", + " \n", + " #这个函数函数好像没用，一般不会集中赋值质量\n", + " def set_all_sheet_mass(self):\n", + " for sheet in self.children:\n", + " sheet._unilabos_state[\"mass\"] = 0.5 # 示例：设置质量为0.5g\n", + "\n", + " def load_state(self, state: Dict[str, Any]) -> None:\n", + " \"\"\"格式不变\"\"\"\n", + " super().load_state(state)\n", + " self._unilabos_state = state\n", + "\n", + " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", + " \"\"\"格式不变\"\"\"\n", + " data = super().serialize_state()\n", + " data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）\n", + " return data\n", + " #移动极片前先取出对象\n", + " def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:\n", + " for sheet in self.children:\n", + " if sheet.name == name:\n", + " return sheet\n", + " return None\n", + "\n", + " def has_electrode_sheet(self) -> bool:\n", + " \"\"\"检查洞位是否有极片\"\"\"\n", + " return len(self.children) > 0\n", + "\n", + " def assign_child_resource(\n", + " self,\n", + " resource: ElectrodeSheet,\n", + " location: Optional[Coordinate],\n", + " reassign: bool = True,\n", + " ):\n", + " \"\"\"放置极片\"\"\"\n", + " # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题\n", + " if resource._unilabos_state[\"diameter\"] > self._unilabos_state[\"diameter\"]:\n", + " raise ValueError(f\"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}\")\n", + " if len(self.children) >= self._unilabos_state[\"max_sheets\"]:\n", + " raise ValueError(f\"洞位已满，无法放置更多极片\")\n", + " super().assign_child_resource(resource, location, reassign)\n", + "\n", + " # 根据children的编号取物料对象。\n", + " def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:\n", + " return self.children[index]\n", + "\n", + "\n", + "#料板\n", + "class MaterialPlateState(TypedDict):\n", + " hole_spacing_x: float\n", + " hole_spacing_y: float\n", + " hole_diameter: float\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class MaterialPlate(ItemizedResource[MaterialHole]):\n", + " \"\"\"料板类 - 4x4个洞位，每个洞位放1个极片\"\"\"\n", + " \n", + " children: List[MaterialHole]\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str,\n", + " size_x: float,\n", + " size_y: float,\n", + " size_z: float,\n", + " ordered_items: Optional[Dict[str, MaterialHole]] = None,\n", + " ordering: Optional[OrderedDict[str, str]] = None,\n", + " category: str = \"material_plate\",\n", + " model: Optional[str] = None,\n", + " fill: bool = False\n", + " ):\n", + " \"\"\"初始化料板\n", + "\n", + " Args:\n", + " name: 料板名称\n", + " size_x: 长度 (mm)\n", + " size_y: 宽度 (mm)\n", + " size_z: 高度 (mm)\n", + " hole_diameter: 洞直径 (mm)\n", + " hole_depth: 洞深度 (mm)\n", + " hole_spacing_x: X方向洞位间距 (mm)\n", + " hole_spacing_y: Y方向洞位间距 (mm)\n", + " number: 编号\n", + " category: 类别\n", + " model: 型号\n", + " \"\"\"\n", + " self._unilabos_state: MaterialPlateState = MaterialPlateState(\n", + " hole_spacing_x=24.0,\n", + " hole_spacing_y=24.0,\n", + " hole_diameter=20.0,\n", + " info=\"\",\n", + " )\n", + " # 创建4x4的洞位\n", + " # TODO: 这里要改，对应不同形状\n", + " holes = create_ordered_items_2d(\n", + " klass=MaterialHole,\n", + " num_items_x=4,\n", + " num_items_y=4,\n", + " dx=(size_x - 4 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", + " dy=(size_y - 4 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", + " dz=size_z,\n", + " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", + " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", + " size_x = 16,\n", + " size_y = 16,\n", + " size_z = 16,\n", + " )\n", + " if fill:\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " ordered_items=holes,\n", + " category=category,\n", + " model=model,\n", + " )\n", + " else:\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " ordered_items=ordered_items,\n", + " ordering=ordering,\n", + " category=category,\n", + " model=model,\n", + " )\n", + "\n", + " def update_locations(self):\n", + " # TODO:调多次相加\n", + " holes = create_ordered_items_2d(\n", + " klass=MaterialHole,\n", + " num_items_x=4,\n", + " num_items_y=4,\n", + " dx=(self._size_x - 3 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", + " dy=(self._size_y - 3 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", + " dz=self._size_z,\n", + " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", + " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", + " size_x = 1,\n", + " size_y = 1,\n", + " size_z = 1,\n", + " )\n", + " for item, original_item in zip(holes.items(), self.children):\n", + " original_item.location = item[1].location" + ] + }, + { + "cell_type": "code", + "execution_count": 25, + "id": "8318ccca", + "metadata": {}, + "outputs": [], + "source": [ + "class CoincellDeck(Deck):\n", + " \"\"\"纽扣电池组装工作站台面类\"\"\"\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str = \"coin_cell_deck\",\n", + " size_x: float = 1620.0, # 3.66m\n", + " size_y: float = 1270.0, # 1.23m\n", + " size_z: float = 500.0,\n", + " origin: Coordinate = Coordinate(0, 0, 0),\n", + " category: str = \"coin_cell_deck\",\n", + " ):\n", + " \"\"\"初始化纽扣电池组装工作站台面\n", + "\n", + " Args:\n", + " name: 台面名称\n", + " size_x: 长度 (mm) - 3.66m\n", + " size_y: 宽度 (mm) - 1.23m\n", + " size_z: 高度 (mm)\n", + " origin: 原点坐标\n", + " category: 类别\n", + " \"\"\"\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " origin=origin,\n", + " category=category,\n", + " )" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "c73bae21", + "metadata": {}, + "outputs": [], + "source": [ + "import json" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "3369a1dd", + "metadata": {}, + "outputs": [], + "source": [ + "def upload_resources_to_unilab(wuliao: List[Resource]):\n", + " from unilabos.resources.graphio import convert_resources_from_type\n", + " from unilabos.config.config import BasicConfig \n", + " BasicConfig.ak = \"beb0c15f-2279-46a1-aba5-00eaf89aef55\"\n", + " BasicConfig.sk = \"15d4f25e-3512-4f9c-9bfb-43ab85e7b561\"\n", + " from unilabos.app.web.client import http_client\n", + " resources = convert_resources_from_type(wuliao, [Resource])\n", + " json.dump({\"nodes\": resources, \"links\": []}, open(\"button_battery_station_resources_unilab.json\", \"w\"), indent=2)\n", + " \n", + " #print(resources)\n", + " http_client.remote_addr = \"https://uni-lab.test.bohrium.com/api/v1\"\n", + " \n", + " http_client.resource_add(resources)" + ] + }, + { + "cell_type": "code", + "execution_count": 29, + "id": "1543ddab", + "metadata": {}, + "outputs": [], + "source": [ + "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "id": "b732754a", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=None)\n" + ] + } + ], + "source": [ + "print(liaopan1)" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "7e6e7252", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[MaterialHole(name=liaopan1_materialhole_0_0, location=Coordinate(012.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_1, location=Coordinate(012.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_2, location=Coordinate(012.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_3, location=Coordinate(012.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_0, location=Coordinate(036.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_1, location=Coordinate(036.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_2, location=Coordinate(036.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_3, location=Coordinate(036.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_0, location=Coordinate(060.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_1, location=Coordinate(060.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_2, location=Coordinate(060.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_3, location=Coordinate(060.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_0, location=Coordinate(084.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_1, location=Coordinate(084.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_2, location=Coordinate(084.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_3, location=Coordinate(084.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole)]\n" + ] + } + ], + "source": [ + "print(liaopan1.children)" + ] + }, + { + "cell_type": "code", + "execution_count": 26, + "id": "836ff68d", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:15:08,950]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "CoincellDeck(name=coin_cell_deck, location=Coordinate(000.000, 000.000, 000.000), size_x=1620.0, size_y=1270.0, size_z=500.0, category=coin_cell_deck)\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:15:09,218]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + } + ], + "source": [ + "deck = CoincellDeck()\n", + "#创建一个4*4的物料板\n", + "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", + "#把物料板放到桌子上\n", + "deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))\n", + "#创建一个极片\n", + "for i in range(16):\n", + " jipian = ElectrodeSheet(name=f\"jipian_{i}\", size_x= 12, size_y=12, size_z=0.1)\n", + " liaopan1.children[i].assign_child_resource(jipian, location=None)\n", + "#创建一个4*4的物料板\n", + "liaopan2 = MaterialPlate(name=\"liaopan2\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", + "#把物料板放到桌子上\n", + "deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))\n", + "#liaopan.children[3].assign_child_resource(jipian, location=None)\n", + "print(deck)\n", + "\n", + "upload_resources_to_unilab([deck])" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "id": "00aab9cf", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=Coordinate(000.000, 000.000, 000.000))\n" + ] + } + ], + "source": [ + "liaopan1 = deck.get_resource(\"liaopan1\")\n", + "print(liaopan1)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7409969c", + "metadata": {}, + "outputs": [], + "source": [ + "liaopan1 = deck.get_resource(\"liaopan1\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "096dde04", + "metadata": {}, + "outputs": [], + "source": [ + "print()" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "id": "5528df96", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:17:44,322]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "ElectrodeSheet(name=jipian_1, location=None, size_x=12, size_y=12, size_z=0.1, category=electrode_sheet)\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:17:44,599]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + } + ], + "source": [ + "#在台面上找到料盘和极片\n", + "liaopan1 = deck.get_resource(\"liaopan1\")\n", + "liaopan2 = deck.get_resource(\"liaopan2\")\n", + "jipian1 = liaopan1.children[1].children[0]\n", + "#\n", + "print(jipian1)\n", + "#把物料解绑后放到另一盘上\n", + "jipian1.parent.unassign_child_resource(jipian1)\n", + "liaopan2.children[1].assign_child_resource(jipian1, location=None)\n", + "#print(jipian2.parent)\n", + "upload_resources_to_unilab([deck])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "43736700", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [14:31:50,027]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [14:31:50,358]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "data": { + "text/plain": [ + "" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "unilab", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.11" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml new file mode 100644 index 00000000..29e84374 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml @@ -0,0 +1,6674 @@ +bettery_station_registry: + category: + - work_station + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + elec_num: null + elec_use_num: null + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + elec_num: + type: string + elec_use_num: + type: string + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: integer + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + elec_use_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + elec_use_num: + type: string + required: + - elec_use_num + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 192.168.1.20 + type: string + debug_mode: + default: true + type: boolean + port: + default: '502' + type: string + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + version: 1.0.0 +workstation: + category: + - work_station + class: + action_value_mappings: + AGVTransferProtocol: + feedback: {} + goal: + from_repo: from_repo + from_repo_position: from_repo_position + to_repo: to_repo + to_repo_position: to_repo_position + goal_default: + from_repo: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + from_repo_position: '' + to_repo: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + to_repo_position: '' + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: AGVTransfer_Feedback + type: object + goal: + properties: + from_repo: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_repo + type: object + from_repo_position: + type: string + to_repo: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_repo + type: object + to_repo_position: + type: string + required: + - from_repo + - from_repo_position + - to_repo + - to_repo_position + title: AGVTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: AGVTransfer_Result + type: object + required: + - goal + title: AGVTransfer + type: object + type: AGVTransfer + AddProtocol: + feedback: {} + goal: + amount: amount + equiv: equiv + event: event + mass: mass + mol: mol + purpose: purpose + rate_spec: rate_spec + ratio: ratio + reagent: reagent + stir: stir + stir_speed: stir_speed + time: time + vessel: vessel + viscous: viscous + volume: volume + goal_default: + amount: '' + equiv: '' + event: '' + mass: '' + mol: '' + purpose: '' + rate_spec: '' + ratio: '' + reagent: '' + stir: false + stir_speed: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + viscous: false + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: Add_Feedback + type: object + goal: + properties: + amount: + type: string + equiv: + type: string + event: + type: string + mass: + type: string + mol: + type: string + purpose: + type: string + rate_spec: + type: string + ratio: + type: string + reagent: + type: string + stir: + type: boolean + stir_speed: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + viscous: + type: boolean + volume: + type: string + required: + - vessel + - reagent + - volume + - mass + - amount + - time + - stir + - stir_speed + - viscous + - purpose + - event + - mol + - rate_spec + - equiv + - ratio + title: Add_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Add_Result + type: object + required: + - goal + title: Add + type: object + type: Add + AdjustPHProtocol: + feedback: {} + goal: + ph_value: ph_value + reagent: reagent + settling_time: settling_time + stir: stir + stir_speed: stir_speed + stir_time: stir_time + vessel: vessel + volume: volume + goal_default: + ph_value: 0.0 + reagent: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: AdjustPH_Feedback + type: object + goal: + properties: + ph_value: + type: number + reagent: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - ph_value + - reagent + title: AdjustPH_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: AdjustPH_Result + type: object + required: + - goal + title: AdjustPH + type: object + type: AdjustPH + CentrifugeProtocol: + feedback: {} + goal: + speed: speed + temp: temp + time: time + vessel: vessel + goal_default: + speed: 0.0 + temp: 0.0 + time: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + current_temp: + type: number + progress: + type: number + required: + - progress + - current_speed + - current_temp + - current_status + title: Centrifuge_Feedback + type: object + goal: + properties: + speed: + type: number + temp: + type: number + time: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - speed + - time + - temp + title: Centrifuge_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Centrifuge_Result + type: object + required: + - goal + title: Centrifuge + type: object + type: Centrifuge + CleanProtocol: + feedback: {} + goal: + repeats: repeats + solvent: solvent + temp: temp + vessel: vessel + volume: volume + goal_default: + repeats: 0 + solvent: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Clean_Feedback + type: object + goal: + properties: + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + solvent: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - solvent + - volume + - temp + - repeats + title: Clean_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Clean_Result + type: object + required: + - goal + title: Clean + type: object + type: Clean + CleanVesselProtocol: + feedback: {} + goal: + repeats: repeats + solvent: solvent + temp: temp + vessel: vessel + volume: volume + goal_default: + repeats: 0 + solvent: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: CleanVessel_Feedback + type: object + goal: + properties: + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + solvent: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - solvent + - volume + - temp + - repeats + title: CleanVessel_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: CleanVessel_Result + type: object + required: + - goal + title: CleanVessel + type: object + type: CleanVessel + DissolveProtocol: + feedback: {} + goal: + amount: amount + event: event + mass: mass + mol: mol + reagent: reagent + solvent: solvent + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + volume: volume + goal_default: + amount: '' + event: '' + mass: '' + mol: '' + reagent: '' + solvent: '' + stir_speed: 0.0 + temp: '' + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Dissolve_Feedback + type: object + goal: + properties: + amount: + type: string + event: + type: string + mass: + type: string + mol: + type: string + reagent: + type: string + solvent: + type: string + stir_speed: + type: number + temp: + type: string + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + required: + - vessel + - solvent + - volume + - amount + - temp + - time + - stir_speed + - mass + - mol + - reagent + - event + title: Dissolve_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Dissolve_Result + type: object + required: + - goal + title: Dissolve + type: object + type: Dissolve + DryProtocol: + feedback: {} + goal: + compound: compound + vessel: vessel + goal_default: + compound: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Dry_Feedback + type: object + goal: + properties: + compound: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - compound + - vessel + title: Dry_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Dry_Result + type: object + required: + - goal + title: Dry + type: object + type: Dry + EvacuateAndRefillProtocol: + feedback: {} + goal: + gas: gas + vessel: vessel + goal_default: + gas: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: EvacuateAndRefill_Feedback + type: object + goal: + properties: + gas: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - gas + title: EvacuateAndRefill_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: EvacuateAndRefill_Result + type: object + required: + - goal + title: EvacuateAndRefill + type: object + type: EvacuateAndRefill + EvaporateProtocol: + feedback: {} + goal: + pressure: pressure + solvent: solvent + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + goal_default: + pressure: 0.0 + solvent: '' + stir_speed: 0.0 + temp: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Evaporation Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Eluting Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: VesselOut + label: Evaporation Vessel + placeholder_keys: + vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Evaporate_Feedback + type: object + goal: + properties: + pressure: + type: number + solvent: + type: string + stir_speed: + type: number + temp: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - pressure + - temp + - time + - stir_speed + - solvent + title: Evaporate_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Evaporate_Result + type: object + required: + - goal + title: Evaporate + type: object + type: Evaporate + FilterProtocol: + feedback: {} + goal: + continue_heatchill: continue_heatchill + filtrate_vessel: filtrate_vessel + stir: stir + stir_speed: stir_speed + temp: temp + vessel: vessel + volume: volume + goal_default: + continue_heatchill: false + filtrate_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: filtrate_vessel + data_source: handle + data_type: resource + handler_key: FiltrateVessel + label: Filtrate Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + - data_key: filtrate_vessel + data_source: executor + data_type: resource + handler_key: FiltrateOut + label: Filtrate Vessel + placeholder_keys: + filtrate_vessel: unilabos_resources + vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + current_temp: + type: number + filtered_volume: + type: number + progress: + type: number + required: + - progress + - current_temp + - filtered_volume + - current_status + title: Filter_Feedback + type: object + goal: + properties: + continue_heatchill: + type: boolean + filtrate_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filtrate_vessel + type: object + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - filtrate_vessel + - stir + - stir_speed + - temp + - continue_heatchill + - volume + title: Filter_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Filter_Result + type: object + required: + - goal + title: Filter + type: object + type: Filter + FilterThroughProtocol: + feedback: {} + goal: + eluting_repeats: eluting_repeats + eluting_solvent: eluting_solvent + eluting_volume: eluting_volume + filter_through: filter_through + from_vessel: from_vessel + residence_time: residence_time + to_vessel: to_vessel + goal_default: + eluting_repeats: 0 + eluting_solvent: '' + eluting_volume: 0.0 + filter_through: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + residence_time: 0.0 + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Eluting Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_resources + to_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: FilterThrough_Feedback + type: object + goal: + properties: + eluting_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + eluting_solvent: + type: string + eluting_volume: + type: number + filter_through: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filter_through + type: object + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + residence_time: + type: number + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + required: + - from_vessel + - to_vessel + - filter_through + - eluting_solvent + - eluting_volume + - eluting_repeats + - residence_time + title: FilterThrough_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: FilterThrough_Result + type: object + required: + - goal + title: FilterThrough + type: object + type: FilterThrough + HeatChillProtocol: + feedback: {} + goal: + pressure: pressure + purpose: purpose + reflux_solvent: reflux_solvent + stir: stir + stir_speed: stir_speed + temp: temp + temp_spec: temp_spec + time: time + time_spec: time_spec + vessel: vessel + goal_default: + pressure: '' + purpose: '' + reflux_solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + temp_spec: '' + time: '' + time_spec: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChill_Feedback + type: object + goal: + properties: + pressure: + type: string + purpose: + type: string + reflux_solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + temp_spec: + type: string + time: + type: string + time_spec: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - temp + - time + - temp_spec + - time_spec + - pressure + - reflux_solvent + - stir + - stir_speed + - purpose + title: HeatChill_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: HeatChill_Result + type: object + required: + - goal + title: HeatChill + type: object + type: HeatChill + HeatChillStartProtocol: + feedback: {} + goal: + purpose: purpose + temp: temp + vessel: vessel + goal_default: + purpose: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStart_Feedback + type: object + goal: + properties: + purpose: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - temp + - purpose + title: HeatChillStart_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStart_Result + type: object + required: + - goal + title: HeatChillStart + type: object + type: HeatChillStart + HeatChillStopProtocol: + feedback: {} + goal: + vessel: vessel + goal_default: + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStop_Feedback + type: object + goal: + properties: + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + title: HeatChillStop_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStop_Result + type: object + required: + - goal + title: HeatChillStop + type: object + type: HeatChillStop + HydrogenateProtocol: + feedback: {} + goal: + temp: temp + time: time + vessel: vessel + goal_default: + temp: '' + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Hydrogenate_Feedback + type: object + goal: + properties: + temp: + type: string + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - temp + - time + - vessel + title: Hydrogenate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Hydrogenate_Result + type: object + required: + - goal + title: Hydrogenate + type: object + type: Hydrogenate + PumpTransferProtocol: + feedback: {} + goal: + amount: amount + event: event + flowrate: flowrate + from_vessel: from_vessel + rate_spec: rate_spec + rinsing_repeats: rinsing_repeats + rinsing_solvent: rinsing_solvent + rinsing_volume: rinsing_volume + solid: solid + through: through + time: time + to_vessel: to_vessel + transfer_flowrate: transfer_flowrate + viscous: viscous + volume: volume + goal_default: + amount: '' + event: '' + flowrate: 0.0 + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + rate_spec: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + through: '' + time: 0.0 + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + transfer_flowrate: 0.0 + viscous: false + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Rinsing Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_nodes + to_vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: PumpTransfer_Feedback + type: object + goal: + properties: + amount: + type: string + event: + type: string + flowrate: + type: number + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + rate_spec: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + through: + type: string + time: + type: number + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + transfer_flowrate: + type: number + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + - flowrate + - transfer_flowrate + - rate_spec + - event + - through + title: PumpTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: PumpTransfer_Result + type: object + required: + - goal + title: PumpTransfer + type: object + type: PumpTransfer + RecrystallizeProtocol: + feedback: {} + goal: + ratio: ratio + solvent1: solvent1 + solvent2: solvent2 + vessel: vessel + volume: volume + goal_default: + ratio: '' + solvent1: '' + solvent2: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent1 + data_source: handle + data_type: resource + handler_key: solvent1 + label: Solvent 1 + - data_key: solvent2 + data_source: handle + data_type: resource + handler_key: solvent2 + label: Solvent 2 + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Recrystallize_Feedback + type: object + goal: + properties: + ratio: + type: string + solvent1: + type: string + solvent2: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + required: + - ratio + - solvent1 + - solvent2 + - vessel + - volume + title: Recrystallize_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Recrystallize_Result + type: object + required: + - goal + title: Recrystallize + type: object + type: Recrystallize + ResetHandlingProtocol: + feedback: {} + goal: + solvent: solvent + goal_default: + solvent: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: [] + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: ResetHandling_Feedback + type: object + goal: + properties: + solvent: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - solvent + - vessel + title: ResetHandling_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: ResetHandling_Result + type: object + required: + - goal + title: ResetHandling + type: object + type: ResetHandling + RunColumnProtocol: + feedback: {} + goal: + column: column + from_vessel: from_vessel + to_vessel: to_vessel + goal_default: + column: '' + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + pct1: '' + pct2: '' + ratio: '' + rf: '' + solvent1: '' + solvent2: '' + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + column: unilabos_devices + from_vessel: unilabos_resources + to_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: RunColumn_Feedback + type: object + goal: + properties: + column: + type: string + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + pct1: + type: string + pct2: + type: string + ratio: + type: string + rf: + type: string + solvent1: + type: string + solvent2: + type: string + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + required: + - from_vessel + - to_vessel + - column + - rf + - pct1 + - pct2 + - solvent1 + - solvent2 + - ratio + title: RunColumn_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: RunColumn_Result + type: object + required: + - goal + title: RunColumn + type: object + type: RunColumn + SeparateProtocol: + feedback: {} + goal: + from_vessel: from_vessel + product_phase: product_phase + purpose: purpose + repeats: repeats + separation_vessel: separation_vessel + settling_time: settling_time + solvent: solvent + solvent_volume: solvent_volume + stir_speed: stir_speed + stir_time: stir_time + through: through + to_vessel: to_vessel + waste_phase_to_vessel: waste_phase_to_vessel + goal_default: + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + product_phase: '' + product_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + purpose: '' + repeats: 0 + separation_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + settling_time: 0.0 + solvent: '' + solvent_volume: '' + stir_speed: 0.0 + stir_time: 0.0 + through: '' + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + waste_phase_to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + waste_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_resources + to_vessel: unilabos_resources + waste_phase_to_vessel: unilabos_resources + waste_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Separate_Feedback + type: object + goal: + properties: + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + product_phase: + type: string + product_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: product_vessel + type: object + purpose: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + separation_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: separation_vessel + type: object + settling_time: + type: number + solvent: + type: string + solvent_volume: + type: string + stir_speed: + type: number + stir_time: + type: number + through: + type: string + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + waste_phase_to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: waste_phase_to_vessel + type: object + waste_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: waste_vessel + type: object + required: + - vessel + - purpose + - product_phase + - from_vessel + - separation_vessel + - to_vessel + - waste_phase_to_vessel + - product_vessel + - waste_vessel + - solvent + - solvent_volume + - volume + - through + - repeats + - stir_time + - stir_speed + - settling_time + title: Separate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Separate_Result + type: object + required: + - goal + title: Separate + type: object + type: Separate + StartStirProtocol: + feedback: {} + goal: + purpose: purpose + stir_speed: stir_speed + vessel: vessel + goal_default: + purpose: '' + stir_speed: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + progress: + type: number + required: + - progress + - current_speed + - current_status + title: StartStir_Feedback + type: object + goal: + properties: + purpose: + type: string + stir_speed: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - stir_speed + - purpose + title: StartStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StartStir_Result + type: object + required: + - goal + title: StartStir + type: object + type: StartStir + StirProtocol: + feedback: {} + goal: + event: event + settling_time: settling_time + stir_speed: stir_speed + stir_time: stir_time + time: time + time_spec: time_spec + vessel: vessel + goal_default: + event: '' + settling_time: '' + stir_speed: 0.0 + stir_time: 0.0 + time: '' + time_spec: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: Stir_Feedback + type: object + goal: + properties: + event: + type: string + settling_time: + type: string + stir_speed: + type: number + stir_time: + type: number + time: + type: string + time_spec: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - time + - event + - time_spec + - stir_time + - stir_speed + - settling_time + title: Stir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Stir_Result + type: object + required: + - goal + title: Stir + type: object + type: Stir + StopStirProtocol: + feedback: {} + goal: + vessel: vessel + goal_default: + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: StopStir_Feedback + type: object + goal: + properties: + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + title: StopStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StopStir_Result + type: object + required: + - goal + title: StopStir + type: object + type: StopStir + TransferProtocol: + feedback: {} + goal: + amount: amount + from_vessel: from_vessel + rinsing_repeats: rinsing_repeats + rinsing_solvent: rinsing_solvent + rinsing_volume: rinsing_volume + solid: solid + time: time + to_vessel: to_vessel + viscous: viscous + volume: volume + goal_default: + amount: '' + from_vessel: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + time: 0.0 + to_vessel: '' + viscous: false + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Rinsing Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_nodes + to_vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + transferred_volume: + type: number + required: + - progress + - transferred_volume + - current_status + title: Transfer_Feedback + type: object + goal: + properties: + amount: + type: string + from_vessel: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + time: + type: number + to_vessel: + type: string + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + title: Transfer_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Transfer_Result + type: object + required: + - goal + title: Transfer + type: object + type: Transfer + WashSolidProtocol: + feedback: {} + goal: + filtrate_vessel: filtrate_vessel + repeats: repeats + solvent: solvent + stir: stir + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + volume: volume + goal_default: + event: '' + filtrate_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + mass: '' + repeats: 0 + repeats_spec: '' + solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + volume_spec: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + - data_key: filtrate_vessel + data_source: handle + data_type: resource + handler_key: filtrate_vessel + label: Filtrate Vessel + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: VesselOut + label: Vessel Out + - data_key: filtrate_vessel + data_source: executor + data_type: resource + handler_key: filtrate_vessel_out + label: Filtrate Vessel + placeholder_keys: + filtrate_vessel: unilabos_resources + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: WashSolid_Feedback + type: object + goal: + properties: + event: + type: string + filtrate_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filtrate_vessel + type: object + mass: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + repeats_spec: + type: string + solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + volume_spec: + type: string + required: + - vessel + - solvent + - volume + - filtrate_vessel + - temp + - stir + - stir_speed + - time + - repeats + - volume_spec + - repeats_spec + - mass + - event + title: WashSolid_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: WashSolid_Result + type: object + required: + - goal + title: WashSolid + type: object + type: WashSolid + auto-create_ros_action_server: + feedback: {} + goal: {} + goal_default: + action_name: null + action_value_mapping: null + handles: {} + result: {} + schema: + description: create_ros_action_server的参数schema + properties: + feedback: {} + goal: + properties: + action_name: + type: string + action_value_mapping: + type: string + required: + - action_name + - action_value_mapping + type: object + result: {} + required: + - goal + title: create_ros_action_server参数 + type: object + type: UniLabJsonCommand + auto-execute_single_action: + feedback: {} + goal: {} + goal_default: + action_kwargs: null + action_name: null + device_id: null + handles: {} + result: {} + schema: + description: execute_single_action的参数schema + properties: + feedback: {} + goal: + properties: + action_kwargs: + type: string + action_name: + type: string + device_id: + type: string + required: + - device_id + - action_name + - action_kwargs + type: object + result: {} + required: + - goal + title: execute_single_action参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize_device: + feedback: {} + goal: {} + goal_default: + device_config: null + device_id: null + handles: {} + result: {} + schema: + description: initialize_device的参数schema + properties: + feedback: {} + goal: + properties: + device_config: + type: string + device_id: + type: string + required: + - device_id + - device_config + type: object + result: {} + required: + - goal + title: initialize_device参数 + type: object + type: UniLabJsonCommand + module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode + status_types: {} + type: ros2 + config_info: [] + description: Workstation + handles: [] + icon: '' + init_param_schema: + config: + properties: + action_value_mappings: + type: object + children: + type: object + device_id: + type: string + driver_instance: + type: string + hardware_interface: + type: object + print_publish: + default: true + type: string + protocol_type: + items: + type: string + type: array + resource_tracker: + type: string + status_types: + type: object + required: + - protocol_type + - children + - driver_instance + - device_id + - status_types + - action_value_mappings + - hardware_interface + type: object + data: + properties: {} + required: [] + type: object + version: 1.0.0 +workstation.example: + category: + - work_station + class: + action_value_mappings: {} + module: unilabos.devices.workstation.workstation_base:WorkstationExample + status_types: {} + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: {} + required: [] + type: object + version: 1.0.0