mirror of
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Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16
Workbench example, adjust log level, and ci check (#220) * TestLatency Return Value Example & gitignore update * Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode & * Add CI Check Fix/workstation yb revision (#217) * Revert log change & update registry * Revert opcua client & move electrolyte node Workstation yb merge dev ready 260113 (#216) * feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数 * feat(bioyond): 添加测量小瓶功能，支持基本参数配置 * feat(bioyond): 添加测量小瓶配置，支持新设备参数 * feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈 * feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积 * feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理 * feat(bioyond): 调整反应器位置配置，统一坐标格式 * feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常 * feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置 * feat(opcua): 增强节点ID解析兼容性和数据类型处理 改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符 添加数据类型转换处理，确保写入值时类型匹配 优化错误提示信息，便于调试节点连接问题 * feat(registry): 新增后处理站的设备配置文件 添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述 * 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑 * 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置 * fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property * fix:同步工作流序列 * feat: remove commented workflow synchronization from `reaction_station.py`. * 添加时间约束功能及相关配置 * fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项 * fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存 * fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息 * feat：添加实验报告简化功能，去除冗余信息并保留关键信息 * feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态 * fix: 修复添加物料时数据格式错误 * Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations - Removed redundant action value mappings from bioyond_dispensing_station. - Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters. - Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End). - Simplified descriptions and updated measurement units from μL to mL where applicable. - Removed unused commands from reaction_station_bioyond to streamline the configuration. * fix：Change the material unit from μL to mL * fix：refresh_material_cache * feat: 动态获取工作流步骤ID，优化工作流配置 * feat: 添加清空服务端所有非核心工作流功能 * fix：修复Bottle类的序列化和反序列化方法 * feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息 * Add debug log * feat(workstation): update bioyond config migration and coin cell material search logic - Migrate bioyond_cell config to JSON structure and remove global variable dependencies - Implement material search confirmation dialog auto-handling - Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md * Refactor module paths for Bioyond devices in YAML configuration files - Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure. - Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase. * fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 * refactor: Move config from module to instance initialization * fix: 修正 reaction_station 目录名拼写错误 * feat: Integrate material search logic and cleanup deprecated files - Update coin_cell_assembly.py with material search dialog handling - Update YB_warehouses.py with latest warehouse configurations - Remove outdated documentation and test data files * Refactor: Use instance attributes for action names and workflow step IDs * refactor: Split tipbox storage into left and right warehouses * refactor: Merge tipbox storage left and right into single warehouse --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Andy6M <xieqiming1132@qq.com> fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 fix parent_uuid fetch when bind_parent_id == node_name 物料更新也是用父节点进行报送 Add None conversion for tube rack etc. Add set_liquid example. Add create_resource and test_resource example. Add restart. Temp allow action message. Add no_update_feedback option. Create session_id by edge. bump version to 0.10.15 temp cancel update req
This commit is contained in:
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687
unilabos/devices/virtual/workbench.py
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687
unilabos/devices/virtual/workbench.py
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"""
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Virtual Workbench Device - 模拟工作台设备
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包含：
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- 1个机械臂 (每次操作3s, 独占锁)
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- 3个加热台 (每次加热10s, 可并行)
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工作流程：
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1. A1-A5 物料同时启动，竞争机械臂
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2. 机械臂将物料移动到空闲加热台
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3. 加热完成后，机械臂将物料移动到C1-C5
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注意：调用来自线程池，使用 threading.Lock 进行同步
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"""
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import logging
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import time
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from typing import Dict, Any, Optional
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from dataclasses import dataclass
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from enum import Enum
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from threading import Lock, RLock
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from typing_extensions import TypedDict
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.utils.decorator import not_action
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# ============ TypedDict 返回类型定义 ============
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class MoveToHeatingStationResult(TypedDict):
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"""move_to_heating_station 返回类型"""
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success: bool
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station_id: int
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material_id: str
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material_number: int
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message: str
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class StartHeatingResult(TypedDict):
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"""start_heating 返回类型"""
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success: bool
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station_id: int
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material_id: str
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material_number: int
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message: str
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class MoveToOutputResult(TypedDict):
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"""move_to_output 返回类型"""
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success: bool
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station_id: int
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material_id: str
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class PrepareMaterialsResult(TypedDict):
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"""prepare_materials 返回类型 - 批量准备物料"""
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success: bool
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count: int
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material_1: int # 物料编号1
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material_2: int # 物料编号2
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material_3: int # 物料编号3
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material_4: int # 物料编号4
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material_5: int # 物料编号5
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message: str
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# ============ 状态枚举 ============
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class HeatingStationState(Enum):
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"""加热台状态枚举"""
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IDLE = "idle" # 空闲
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OCCUPIED = "occupied" # 已放置物料，等待加热
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HEATING = "heating" # 加热中
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COMPLETED = "completed" # 加热完成，等待取走
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class ArmState(Enum):
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"""机械臂状态枚举"""
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IDLE = "idle" # 空闲
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BUSY = "busy" # 工作中
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@dataclass
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class HeatingStation:
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"""加热台数据结构"""
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station_id: int
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state: HeatingStationState = HeatingStationState.IDLE
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current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
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material_number: Optional[int] = None # 物料编号 (1-5)
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heating_start_time: Optional[float] = None
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heating_progress: float = 0.0
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class VirtualWorkbench:
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"""
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Virtual Workbench Device - 虚拟工作台设备
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模拟一个包含1个机械臂和3个加热台的工作站
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- 机械臂操作耗时3秒，同一时间只能执行一个操作
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- 加热台加热耗时10秒，3个加热台可并行工作
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工作流:
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1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
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2. 获取机械臂后，查找空闲加热台
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3. 机械臂将物料放入加热台，开始加热
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4. 加热完成后，机械臂将物料移动到目标位置Cn
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"""
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_ros_node: BaseROS2DeviceNode
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# 配置常量
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ARM_OPERATION_TIME: float = 3.0 # 机械臂操作时间(秒)
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HEATING_TIME: float = 10.0 # 加热时间(秒)
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NUM_HEATING_STATIONS: int = 3 # 加热台数量
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def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
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# 处理可能的不同调用方式
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if device_id is None and "id" in kwargs:
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device_id = kwargs.pop("id")
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if config is None and "config" in kwargs:
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config = kwargs.pop("config")
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self.device_id = device_id or "virtual_workbench"
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self.config = config or {}
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self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
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self.data: Dict[str, Any] = {}
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# 从config中获取可配置参数
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self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
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self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
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self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
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# 机械臂状态和锁 (使用threading.Lock)
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self._arm_lock = Lock()
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self._arm_state = ArmState.IDLE
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self._arm_current_task: Optional[str] = None
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# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
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self._heating_stations: Dict[int, HeatingStation] = {
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i: HeatingStation(station_id=i)
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for i in range(1, self.NUM_HEATING_STATIONS + 1)
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}
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self._stations_lock = RLock() # 可重入锁，保护加热台状态
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# 任务追踪
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self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
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self._tasks_lock = Lock()
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# 处理其他kwargs参数
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skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
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for key, value in kwargs.items():
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if key not in skip_keys and not hasattr(self, key):
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setattr(self, key, value)
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self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
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self.logger.info(
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f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
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f"加热时间: {self.HEATING_TIME}s | "
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f"加热台数量: {self.NUM_HEATING_STATIONS}"
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)
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@not_action
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def post_init(self, ros_node: BaseROS2DeviceNode):
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"""ROS节点初始化后回调"""
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self._ros_node = ros_node
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@not_action
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def initialize(self) -> bool:
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"""初始化虚拟工作台"""
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self.logger.info(f"初始化虚拟工作台 {self.device_id}")
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# 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
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with self._stations_lock:
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for station in self._heating_stations.values():
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station.state = HeatingStationState.IDLE
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station.current_material = None
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station.material_number = None
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station.heating_progress = 0.0
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# 初始化状态
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self.data.update({
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"status": "Ready",
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"arm_state": ArmState.IDLE.value,
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"arm_current_task": None,
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"heating_stations": self._get_stations_status(),
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"active_tasks_count": 0,
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"message": "工作台就绪",
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})
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self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
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return True
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@not_action
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def cleanup(self) -> bool:
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"""清理虚拟工作台"""
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self.logger.info(f"清理虚拟工作台 {self.device_id}")
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self._arm_state = ArmState.IDLE
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self._arm_current_task = None
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with self._stations_lock:
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self._heating_stations.clear()
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with self._tasks_lock:
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self._active_tasks.clear()
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self.data.update({
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"status": "Offline",
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"arm_state": ArmState.IDLE.value,
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"heating_stations": {},
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"message": "工作台已关闭",
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})
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return True
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def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
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"""获取所有加热台状态"""
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with self._stations_lock:
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return {
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station_id: {
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"state": station.state.value,
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"current_material": station.current_material,
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"material_number": station.material_number,
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"heating_progress": station.heating_progress,
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}
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for station_id, station in self._heating_stations.items()
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}
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def _update_data_status(self, message: Optional[str] = None):
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"""更新状态数据"""
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self.data.update({
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"arm_state": self._arm_state.value,
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"arm_current_task": self._arm_current_task,
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"heating_stations": self._get_stations_status(),
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"active_tasks_count": len(self._active_tasks),
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})
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if message:
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self.data["message"] = message
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def _find_available_heating_station(self) -> Optional[int]:
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"""查找空闲的加热台
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Returns:
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空闲加热台ID，如果没有则返回None
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"""
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with self._stations_lock:
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for station_id, station in self._heating_stations.items():
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if station.state == HeatingStationState.IDLE:
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return station_id
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return None
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def _acquire_arm(self, task_description: str) -> bool:
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"""获取机械臂使用权（阻塞直到获取）
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Args:
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task_description: 任务描述，用于日志
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Returns:
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是否成功获取
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"""
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self.logger.info(f"[{task_description}] 等待获取机械臂...")
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# 阻塞等待获取锁
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self._arm_lock.acquire()
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self._arm_state = ArmState.BUSY
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self._arm_current_task = task_description
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self._update_data_status(f"机械臂执行: {task_description}")
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self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
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return True
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def _release_arm(self):
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"""释放机械臂"""
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task = self._arm_current_task
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self._arm_state = ArmState.IDLE
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self._arm_current_task = None
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self._arm_lock.release()
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self._update_data_status(f"机械臂已释放 (完成: {task})")
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self.logger.info(f"机械臂已释放 (完成: {task})")
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def prepare_materials(
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self,
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count: int = 5,
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) -> PrepareMaterialsResult:
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"""
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批量准备物料 - 虚拟起始节点
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作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
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输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
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Args:
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count: 待生成的物料数量，默认5 (生成 A1-A5)
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Returns:
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PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
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"""
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# 生成物料列表 A1 - A{count}
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materials = [i for i in range(1, count + 1)]
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self.logger.info(
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f"[准备物料] 生成 {count} 个物料: "
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f"A1-A{count} -> material_1~material_{count}"
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)
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return {
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"success": True,
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"count": count,
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"material_1": materials[0] if len(materials) > 0 else 0,
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"material_2": materials[1] if len(materials) > 1 else 0,
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"material_3": materials[2] if len(materials) > 2 else 0,
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"material_4": materials[3] if len(materials) > 3 else 0,
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"material_5": materials[4] if len(materials) > 4 else 0,
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"message": f"已准备 {count} 个物料: A1-A{count}",
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}
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def move_to_heating_station(
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self,
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material_number: int,
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) -> MoveToHeatingStationResult:
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"""
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将物料从An位置移动到加热台
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多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
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Args:
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material_number: 物料编号 (1-5)
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Returns:
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MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
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"""
|
||||
# 根据物料编号生成物料ID
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
||||
|
||||
# 记录任务
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id] = {
|
||||
"status": "waiting_for_arm",
|
||||
"start_time": time.time(),
|
||||
}
|
||||
|
||||
try:
|
||||
# 步骤1: 等待获取机械臂使用权(竞争)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤2: 查找空闲加热台
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "finding_station"
|
||||
station_id = None
|
||||
|
||||
# 循环等待直到找到空闲加热台
|
||||
while station_id is None:
|
||||
station_id = self._find_available_heating_station()
|
||||
if station_id is None:
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
|
||||
# 释放机械臂，等待后重试
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
||||
self._heating_stations[station_id].current_material = material_id
|
||||
self._heating_stations[station_id].material_number = material_number
|
||||
|
||||
# 步骤4: 模拟机械臂移动操作 (3秒)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
||||
self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
|
||||
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 步骤5: 放入加热台完成
|
||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
||||
self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "placed_on_station"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": -1,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
}
|
||||
|
||||
def start_heating(
|
||||
self,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
|
||||
material_number: 物料编号，从 move_to_heating_station 的 handle 传入
|
||||
|
||||
Returns:
|
||||
StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
|
||||
if station.current_material is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": station.current_material,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}已经在加热中",
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
# 开始加热
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
# 模拟加热过程 (10秒)
|
||||
start_time = time.time()
|
||||
while True:
|
||||
elapsed = time.time() - start_time
|
||||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].heating_progress = progress
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
if elapsed >= self.HEATING_TIME:
|
||||
break
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
# 加热完成
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||||
self._heating_stations[station_id].heating_progress = 100.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热完成")
|
||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}加热完成",
|
||||
}
|
||||
|
||||
def move_to_output(
|
||||
self,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
|
||||
material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
|
||||
|
||||
Returns:
|
||||
MoveToOutputResult: 包含执行结果
|
||||
"""
|
||||
output_number = material_number # 物料编号决定输出位置
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
material_id = station.current_material
|
||||
|
||||
if material_id is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
||||
self.logger.info(f"[任务] {task_desc}")
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||||
|
||||
# 获取机械臂
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||||
|
||||
# 模拟机械臂操作 (3秒)
|
||||
self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 清空加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||||
self._heating_stations[station_id].current_material = None
|
||||
self._heating_stations[station_id].material_number = None
|
||||
self._heating_stations[station_id].heating_progress = 0.0
|
||||
self._heating_stations[station_id].heating_start_time = None
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
# 任务完成
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "completed"
|
||||
self._active_tasks[material_id]["end_time"] = time.time()
|
||||
|
||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||||
self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": output_position,
|
||||
"message": f"{material_id}已成功移动到{output_position}",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": output_position,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
@@ -1,9 +1,5 @@
|
||||
# 工作站抽象基类物料系统架构说明
|
||||
|
||||
## 设计理念
|
||||
|
||||
基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
|
||||
|
||||
### 核心原则
|
||||
|
||||
1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
|
||||
|
||||
@@ -0,0 +1,113 @@
|
||||
# Bioyond Cell 工作站 - 多订单返回示例
|
||||
|
||||
本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。
|
||||
|
||||
## 问题描述
|
||||
|
||||
之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。
|
||||
|
||||
## 解决方案
|
||||
|
||||
修改后的 `create_orders` 函数现在会：
|
||||
|
||||
1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号
|
||||
2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成
|
||||
3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表
|
||||
4. **统一返回**：返回包含所有订单报文的 JSON 格式数据
|
||||
|
||||
## 返回格式
|
||||
|
||||
```json
|
||||
{
|
||||
"status": "all_completed",
|
||||
"total_orders": 3,
|
||||
"reports": [
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:32:09.2148671+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
|
||||
"orderCode": "BSO2025122400024",
|
||||
"orderName": "DP20251224001",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
},
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:32:09.9999039+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
|
||||
"orderCode": "BSO2025122400025",
|
||||
"orderName": "DP20251224002",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
},
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:34:00.4139986+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
|
||||
"orderCode": "BSO2025122400026",
|
||||
"orderName": "DP20251224003",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
}
|
||||
],
|
||||
"original_response": {...}
|
||||
}
|
||||
```
|
||||
|
||||
## 使用示例
|
||||
|
||||
```python
|
||||
# 调用 create_orders
|
||||
result = workstation.create_orders("20251224.xlsx")
|
||||
|
||||
# 访问返回数据
|
||||
print(f"总订单数: {result['total_orders']}")
|
||||
print(f"状态: {result['status']}")
|
||||
|
||||
# 遍历所有订单的报文
|
||||
for i, report in enumerate(result['reports'], 1):
|
||||
order_data = report.get('data', {})
|
||||
print(f"\n订单 {i}:")
|
||||
print(f" orderCode: {order_data.get('orderCode')}")
|
||||
print(f" orderName: {order_data.get('orderName')}")
|
||||
print(f" status: {order_data.get('status')}")
|
||||
print(f" 使用物料数: {len(order_data.get('usedMaterials', []))}")
|
||||
```
|
||||
|
||||
## 控制台输出示例
|
||||
|
||||
```
|
||||
[create_orders] 即将提交订单数量: 3
|
||||
[create_orders] 接口返回: {...}
|
||||
[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026']
|
||||
[create_orders] 正在等待第 1/3 个订单: BSO2025122400024
|
||||
[create_orders] ✓ 订单 BSO2025122400024 完成
|
||||
[create_orders] 正在等待第 2/3 个订单: BSO2025122400025
|
||||
[create_orders] ✓ 订单 BSO2025122400025 完成
|
||||
[create_orders] 正在等待第 3/3 个订单: BSO2025122400026
|
||||
[create_orders] ✓ 订单 BSO2025122400026 完成
|
||||
[create_orders] 所有订单已完成，共收集 3 个报文
|
||||
实验记录本========================create_orders========================
|
||||
返回报文数量: 3
|
||||
报文 1: orderCode=BSO2025122400024, status=30
|
||||
报文 2: orderCode=BSO2025122400025, status=30
|
||||
报文 3: orderCode=BSO2025122400026, status=30
|
||||
========================
|
||||
```
|
||||
|
||||
## 关键改进
|
||||
|
||||
1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode
|
||||
2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中
|
||||
3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况
|
||||
4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息
|
||||
5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析
|
||||
Binary file not shown.
@@ -0,0 +1,204 @@
|
||||
# BioyondCellWorkstation JSON 配置迁移经验总结
|
||||
|
||||
**日期**: 2026-01-13
|
||||
**目的**: 从 `config.py` 迁移到 JSON 配置文件
|
||||
|
||||
---
|
||||
|
||||
## 问题背景
|
||||
|
||||
原系统通过 `config.py` 管理配置，导致：
|
||||
1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动）
|
||||
2. 配置分散在代码中，不便于管理
|
||||
3. 无法通过 JSON 统一配置所有参数
|
||||
|
||||
---
|
||||
|
||||
## 解决方案：嵌套配置结构
|
||||
|
||||
### JSON 结构设计
|
||||
|
||||
**正确示例** (嵌套在 `config` 中):
|
||||
```json
|
||||
{
|
||||
"nodes": [{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"protocol_type": [],
|
||||
"bioyond_config": {
|
||||
"api_host": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"timeout": 30,
|
||||
"HTTP_host": "172.16.11.206",
|
||||
"HTTP_port": 8080,
|
||||
"debug_mode": false,
|
||||
"material_type_mappings": {...},
|
||||
"warehouse_mapping": {...},
|
||||
"solid_liquid_mappings": {...}
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}]
|
||||
}
|
||||
```
|
||||
|
||||
**关键点**：
|
||||
- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`）
|
||||
- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递）
|
||||
|
||||
---
|
||||
|
||||
## Python 代码适配
|
||||
|
||||
### 1. 修改 `BioyondCellWorkstation.__init__` 签名
|
||||
|
||||
**文件**: `bioyond_cell_workstation.py`
|
||||
|
||||
```python
|
||||
def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""
|
||||
Args:
|
||||
bioyond_config: 从 JSON 加载的配置字典
|
||||
deck: Deck 配置
|
||||
protocol_type: 协议类型
|
||||
"""
|
||||
# 验证配置
|
||||
if bioyond_config is None:
|
||||
raise ValueError("需要 bioyond_config 参数")
|
||||
|
||||
# 保存配置
|
||||
self.bioyond_config = bioyond_config
|
||||
|
||||
# 设置 HTTP 服务去重标志
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
# 调用父类
|
||||
super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
|
||||
```
|
||||
|
||||
### 2. 替换全局变量引用
|
||||
|
||||
**修改前**（使用全局变量）:
|
||||
```python
|
||||
from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
|
||||
|
||||
def create_sample(self, board_type, ...):
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
|
||||
```
|
||||
|
||||
**修改后**（从配置读取）:
|
||||
```python
|
||||
def create_sample(self, board_type, ...):
|
||||
carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
|
||||
location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code]
|
||||
```
|
||||
|
||||
### 3. 修复父类配置访问
|
||||
|
||||
在 `station.py` 中安全访问配置默认值：
|
||||
|
||||
```python
|
||||
# 修改前（会 KeyError）
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"])
|
||||
}
|
||||
|
||||
# 修改后（安全访问）
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", ""))
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见陷阱
|
||||
|
||||
### ❌ 错误1：将配置放在 `data` 字段
|
||||
```json
|
||||
"config": {"deck": {...}},
|
||||
"data": {"bioyond_config": {...}} // ❌ 不会传递到 __init__
|
||||
```
|
||||
|
||||
### ❌ 错误2：扁平化配置（已废弃方案）
|
||||
虽然扁平化也能工作，但不推荐：
|
||||
```json
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"api_host": "...", // ❌ 不够清晰
|
||||
"api_key": "...",
|
||||
"HTTP_host": "..."
|
||||
}
|
||||
```
|
||||
|
||||
### ❌ 错误3：忘记替换全局变量引用
|
||||
代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。
|
||||
|
||||
---
|
||||
|
||||
## 云端同步注意事项
|
||||
|
||||
使用 `--upload_registry` 时，云端配置可能覆盖本地配置：
|
||||
- 首次上传时确保 JSON 完整
|
||||
- 或使用新的 `ak/sk` 避免旧配置干扰
|
||||
- 调试时可暂时移除 `--upload_registry` 参数
|
||||
|
||||
---
|
||||
|
||||
## 验证清单
|
||||
|
||||
启动成功后应看到：
|
||||
```
|
||||
✅ 从 JSON 配置加载 bioyond_config 成功
|
||||
API Host: http://...
|
||||
HTTP Service: ...
|
||||
✅ BioyondCellWorkstation 初始化完成
|
||||
Loaded ResourceTreeSet with ... nodes
|
||||
```
|
||||
|
||||
运行时不应出现：
|
||||
- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined`
|
||||
- ❌ `KeyError: 'http_service_host'`
|
||||
- ❌ `bioyond_config 缺少必需参数`
|
||||
|
||||
---
|
||||
|
||||
## 调试经验
|
||||
|
||||
1. **添加调试日志**查看参数传递链路：
|
||||
- `graphio.py`: JSON 加载后的 config 内容
|
||||
- `initialize_device.py`: `device_config.res_content.config` 的键
|
||||
- `bioyond_cell_workstation.py`: `__init__` 接收到的参数
|
||||
|
||||
2. **config vs data 区别**：
|
||||
- `config`: 初始化参数，传递给 `__init__`
|
||||
- `data`: 运行时状态，不传递给 `__init__`
|
||||
|
||||
3. **参数名必须匹配**：
|
||||
- JSON 中的键名必须与 `__init__` 参数名完全一致
|
||||
|
||||
4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记）
|
||||
|
||||
---
|
||||
|
||||
## 修改文件清单
|
||||
|
||||
| 文件 | 修改内容 |
|
||||
|------|----------|
|
||||
| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 |
|
||||
| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 |
|
||||
| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 |
|
||||
|
||||
---
|
||||
|
||||
## 参考代码位置
|
||||
|
||||
- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353
|
||||
- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94
|
||||
- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966
|
||||
- HTTP 服务配置: `station.py` L629-L634
|
||||
|
||||
---
|
||||
|
||||
**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。
|
||||
@@ -0,0 +1,312 @@
|
||||
# BioyondCell 配置迁移修改总结
|
||||
|
||||
**日期**: 2026-01-13
|
||||
**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖
|
||||
|
||||
---
|
||||
|
||||
## 📋 修改概览
|
||||
|
||||
本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。
|
||||
|
||||
### 核心成果
|
||||
|
||||
- ✅ 完全移除对 `config.py` 的导入依赖
|
||||
- ✅ 使用嵌套 JSON 结构 `config.bioyond_config`
|
||||
- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用
|
||||
- ✅ 修复 3 处其他文件中的全局变量引用
|
||||
- ✅ HTTP 服务去重机制完善
|
||||
- ✅ 系统成功启动并正常运行
|
||||
|
||||
---
|
||||
|
||||
## 🔧 修改文件清单
|
||||
|
||||
### 1. JSON 配置文件
|
||||
|
||||
**文件**: `yibin_electrolyte_config.json`
|
||||
|
||||
**修改**:
|
||||
- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中
|
||||
- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等
|
||||
|
||||
**示例结构**:
|
||||
```json
|
||||
{
|
||||
"nodes": [{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"protocol_type": [],
|
||||
"bioyond_config": {
|
||||
"api_host": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"HTTP_host": "172.16.11.206",
|
||||
"HTTP_port": 8080,
|
||||
"material_type_mappings": {...},
|
||||
"warehouse_mapping": {...},
|
||||
"solid_liquid_mappings": {...}
|
||||
}
|
||||
}
|
||||
}]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 2. bioyond_cell_workstation.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
#### 修改 A: `__init__` 方法签名 (L39-99)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def __init__(self, deck=None, protocol_type=None, **kwargs):
|
||||
# 从 kwargs 收集配置字段
|
||||
self.bioyond_config = {}
|
||||
for field in bioyond_field_names:
|
||||
if field in kwargs:
|
||||
self.bioyond_config[field] = kwargs.pop(field)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""直接接收 bioyond_config 参数"""
|
||||
if bioyond_config is None:
|
||||
raise ValueError("需要 bioyond_config 参数")
|
||||
|
||||
self.bioyond_config = bioyond_config
|
||||
|
||||
# 设置 HTTP 服务去重标志
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
|
||||
```
|
||||
|
||||
#### 修改 B: 替换全局变量引用 (7 处)
|
||||
|
||||
| 位置 | 原代码 | 修改后 |
|
||||
|------|--------|--------|
|
||||
| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` |
|
||||
| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` |
|
||||
| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` |
|
||||
| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` |
|
||||
| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` |
|
||||
| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` |
|
||||
| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` |
|
||||
|
||||
---
|
||||
|
||||
### 3. station.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/station.py`
|
||||
|
||||
#### 修改 A: 删除 config 导入 (L26-28)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
|
||||
)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
# 已删除此导入
|
||||
```
|
||||
|
||||
#### 修改 B: `_create_communication_module` 方法 (L691-702)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
default_config = {
|
||||
**API_CONFIG,
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS,
|
||||
"material_type_mappings": MATERIAL_TYPE_MAPPINGS,
|
||||
"warehouse_mapping": WAREHOUSE_MAPPING
|
||||
}
|
||||
if config:
|
||||
self.bioyond_config = {**default_config, **config}
|
||||
else:
|
||||
self.bioyond_config = default_config
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 使用传入的 config 参数（来自 bioyond_config）
|
||||
# 不再依赖全局变量 API_CONFIG 等
|
||||
if config:
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||
self.bioyond_config = {}
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
```
|
||||
|
||||
#### 修改 C: HTTP 服务配置 (L627-632)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0))
|
||||
}
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 4. bioyond_rpc.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`
|
||||
|
||||
#### 修改 A: 删除 config 导入 (L12)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
# 已删除此导入
|
||||
```
|
||||
|
||||
#### 修改 B: `material_outbound` 方法 (L278-280)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = LOCATION_MAPPING.get(location_name, location_name)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||
location_id = location_name
|
||||
```
|
||||
|
||||
**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。
|
||||
|
||||
---
|
||||
|
||||
## 🎯 关键设计决策
|
||||
|
||||
### 1. 嵌套 vs 扁平配置
|
||||
|
||||
**选择**: 嵌套结构 `config.bioyond_config`
|
||||
|
||||
**理由**:
|
||||
- ✅ 语义清晰，配置分组明确
|
||||
- ✅ 参数传递直观，直接对应 `__init__` 参数
|
||||
- ✅ 易于维护，不需要硬编码字段列表
|
||||
- ✅ 符合 UniLab 设计模式
|
||||
|
||||
### 2. HTTP 服务去重
|
||||
|
||||
**实现**: 子类设置 `_disable_auto_http_service` 标志
|
||||
|
||||
```python
|
||||
# bioyond_cell_workstation.py
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
# station.py (post_init)
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
logger.info("子类已自行管理HTTP服务，跳过自动启动")
|
||||
return
|
||||
```
|
||||
|
||||
### 3. 全局变量替换策略
|
||||
|
||||
**原则**: 所有配置从 `self.bioyond_config` 获取
|
||||
|
||||
**模式**:
|
||||
```python
|
||||
# 修改前
|
||||
from config import MATERIAL_TYPE_MAPPINGS
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
|
||||
# 修改后
|
||||
carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## ✅ 验证结果
|
||||
|
||||
### 启动成功日志
|
||||
```
|
||||
✅ 从 JSON 配置加载 bioyond_config 成功
|
||||
API Host: http://172.16.11.219:44388
|
||||
HTTP Service: 172.16.11.206:8080
|
||||
🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动
|
||||
✅ BioyondCellWorkstation 初始化完成
|
||||
Loaded ResourceTreeSet with 1 trees, 1785 total nodes
|
||||
```
|
||||
|
||||
### 功能验证
|
||||
- ✅ 订单创建 (`create_orders_v2`)
|
||||
- ✅ 质量比计算
|
||||
- ✅ 物料转移 (`transfer_3_to_2_to_1`)
|
||||
- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish)
|
||||
- ✅ 等待机制 (`wait_for_order_finish`)
|
||||
- ✅ 仓库 UUID 映射
|
||||
- ✅ 物料类型映射
|
||||
|
||||
---
|
||||
|
||||
## 📚 相关文档
|
||||
|
||||
- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md`
|
||||
- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md`
|
||||
- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md`
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 注意事项
|
||||
|
||||
### 其他工作站模块
|
||||
|
||||
以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）:
|
||||
- `reaction_station.py` - 使用 `API_CONFIG`
|
||||
- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS`
|
||||
- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING`
|
||||
- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING`
|
||||
|
||||
**建议**: 后续可以统一迁移这些模块到 JSON 配置。
|
||||
|
||||
### config.py 文件
|
||||
|
||||
`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以：
|
||||
- 保留作为其他模块的参考
|
||||
- 或者完全删除（如果其他模块也迁移完成）
|
||||
|
||||
---
|
||||
|
||||
## 🚀 下一步建议
|
||||
|
||||
1. **清理调试代码** ✅ (已完成)
|
||||
2. **提交代码到 Git**
|
||||
3. **迁移其他工作站模块** (可选)
|
||||
4. **更新文档和启动脚本**
|
||||
|
||||
---
|
||||
|
||||
**修改完成日期**: 2026-01-13
|
||||
**系统状态**: ✅ 稳定运行
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,157 @@
|
||||
# 批量出库 Excel 模板使用说明
|
||||
|
||||
**文件**: `outbound_template.xlsx`
|
||||
**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作
|
||||
**API 端点**: `/api/lims/storage/auto-batch-out-bound`
|
||||
|
||||
---
|
||||
|
||||
## 📋 Excel 列说明
|
||||
|
||||
| 列名 | 说明 | 示例 | 必填 |
|
||||
|------|------|------|------|
|
||||
| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
|
||||
| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
|
||||
| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
|
||||
| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
|
||||
|
||||
### 📐 坐标说明
|
||||
|
||||
**x, y, z** 是库位在仓库内的**三维坐标**：
|
||||
|
||||
```
|
||||
仓库（例如 WH4）
|
||||
├── Z=1（第1层/加样头面）
|
||||
│ ├── X=1, Y=1（位置 A）
|
||||
│ ├── X=2, Y=1（位置 B）
|
||||
│ ├── X=3, Y=1（位置 C）
|
||||
│ └── ...
|
||||
│
|
||||
└── Z=2（第2层/原液瓶面）
|
||||
├── X=1, Y=1（位置 A）
|
||||
├── X=2, Y=1（位置 B）
|
||||
└── ...
|
||||
```
|
||||
|
||||
- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
|
||||
- **x, y, z**: 在该仓库内的三维坐标
|
||||
- **locationId**: 该坐标位置的唯一 UUID
|
||||
|
||||
### 🎯 起点与终点
|
||||
|
||||
**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
|
||||
|
||||
```
|
||||
出库流程：
|
||||
起点（Excel 指定） → ？终点（LIMS/工作流决定）
|
||||
↓
|
||||
locationId, x, y, z → 由 LIMS 系统或当前工作流自动分配
|
||||
```
|
||||
|
||||
**终点由以下方式确定：**
|
||||
- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
|
||||
- **工作流预定义**：在创建出库任务时已绑定目标位置
|
||||
- **暂存区**：默认放到出库暂存区，等待下一步操作
|
||||
|
||||
💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
|
||||
|
||||
---
|
||||
|
||||
## 🔍 如何获取 UUID？
|
||||
|
||||
### 方法 1：从配置文件获取
|
||||
|
||||
参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"配液站内试剂仓库": {
|
||||
"site_uuids": {
|
||||
"A01": "3a19da43-57b5-294f-d663-154a1cc32270",
|
||||
"B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
|
||||
"C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
|
||||
}
|
||||
},
|
||||
"手动堆栈": {
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 方法 2：通过 API 查询
|
||||
|
||||
```python
|
||||
material_info = hardware_interface.material_id_query(workflow_id)
|
||||
locations = material_info.get("locations", [])
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📝 填写示例
|
||||
|
||||
### 示例 1：从配液站内试剂仓库出库
|
||||
|
||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
||||
|------------|-------------|----------|---|---|---|----------|
|
||||
| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
|
||||
| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
|
||||
|
||||
### 示例 2：从手动堆栈出库
|
||||
|
||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
||||
|------------|-------------|----------|---|---|---|----------|
|
||||
| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
|
||||
| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
|
||||
|
||||
---
|
||||
|
||||
## 💻 使用方法
|
||||
|
||||
```python
|
||||
from bioyond_cell_workstation import BioyondCellWorkstation
|
||||
|
||||
# 初始化工作站
|
||||
workstation = BioyondCellWorkstation(config=config, deck=deck)
|
||||
|
||||
# 调用批量出库方法
|
||||
result = workstation.auto_batch_outbound_from_xlsx(
|
||||
xlsx_path="outbound_template.xlsx"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 注意事项
|
||||
|
||||
1. **locationId 必须是有效的 UUID**，不能使用库位名称
|
||||
2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
|
||||
3. **quantity 必须是数字**，可以是整数或浮点数
|
||||
4. Excel 文件必须包含表头行
|
||||
5. 空行会被自动跳过
|
||||
6. 确保 UUID 与实际库位对应，否则 API 会报错
|
||||
|
||||
---
|
||||
|
||||
## 📚 相关文件
|
||||
|
||||
- **配置文件**: `yibin_electrolyte_config.json`
|
||||
- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
|
||||
- **生成脚本**: `create_outbound_template.py`
|
||||
- **上料模板**: `material_template.xlsx`
|
||||
|
||||
---
|
||||
|
||||
## 🔄 重新生成模板
|
||||
|
||||
```bash
|
||||
conda activate newunilab
|
||||
python create_outbound_template.py
|
||||
```
|
||||
@@ -9,7 +9,7 @@ from datetime import datetime, timezone
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
from typing import Optional, List, Dict, Any
|
||||
import json
|
||||
from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
|
||||
|
||||
|
||||
|
||||
class SimpleLogger:
|
||||
@@ -49,6 +49,14 @@ class BioyondV1RPC(BaseRequest):
|
||||
self.config = config
|
||||
self.api_key = config["api_key"]
|
||||
self.host = config["api_host"]
|
||||
|
||||
# 初始化 location_mapping
|
||||
# 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
|
||||
self.location_mapping = {}
|
||||
warehouse_mapping = self.config.get("warehouse_mapping", {})
|
||||
for warehouse_name, warehouse_config in warehouse_mapping.items():
|
||||
if "site_uuids" in warehouse_config:
|
||||
self.location_mapping.update(warehouse_config["site_uuids"])
|
||||
self._logger = SimpleLogger()
|
||||
self.material_cache = {}
|
||||
self._load_material_cache()
|
||||
@@ -176,7 +184,40 @@ class BioyondV1RPC(BaseRequest):
|
||||
return {}
|
||||
|
||||
print(f"add material data: {response['data']}")
|
||||
return response.get("data", {})
|
||||
|
||||
# 自动更新缓存
|
||||
data = response.get("data", {})
|
||||
if data:
|
||||
if isinstance(data, str):
|
||||
# 如果返回的是字符串，通常是ID
|
||||
mat_id = data
|
||||
name = params.get("name")
|
||||
else:
|
||||
# 如果返回的是字典，尝试获取name和id
|
||||
name = data.get("name") or params.get("name")
|
||||
mat_id = data.get("id")
|
||||
|
||||
if name and mat_id:
|
||||
self.material_cache[name] = mat_id
|
||||
print(f"已自动更新缓存: {name} -> {mat_id}")
|
||||
|
||||
# 处理返回数据中的 details (如果有)
|
||||
# 有些 API 返回结构可能直接包含 details，或者在 data 字段中
|
||||
details = data.get("details", []) if isinstance(data, dict) else []
|
||||
if not details and isinstance(data, dict):
|
||||
details = data.get("detail", [])
|
||||
|
||||
if details:
|
||||
for detail in details:
|
||||
d_name = detail.get("name")
|
||||
# 尝试从不同字段获取 ID
|
||||
d_id = detail.get("id") or detail.get("detailMaterialId")
|
||||
|
||||
if d_name and d_id:
|
||||
self.material_cache[d_name] = d_id
|
||||
print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
|
||||
|
||||
return data
|
||||
|
||||
def query_matial_type_id(self, data) -> list:
|
||||
"""查找物料typeid"""
|
||||
@@ -203,7 +244,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": {},
|
||||
"data": 0,
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return []
|
||||
@@ -273,11 +314,19 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
|
||||
# 自动更新缓存 - 移除被删除的物料
|
||||
for name, mid in list(self.material_cache.items()):
|
||||
if mid == material_id:
|
||||
del self.material_cache[name]
|
||||
print(f"已从缓存移除物料: {name}")
|
||||
break
|
||||
|
||||
return response.get("data", {})
|
||||
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = LOCATION_MAPPING.get(location_name, location_name)
|
||||
location_id = self.location_mapping.get(location_name, location_name)
|
||||
|
||||
params = {
|
||||
"materialId": material_id,
|
||||
@@ -1103,6 +1152,10 @@ class BioyondV1RPC(BaseRequest):
|
||||
for detail_material in detail_materials:
|
||||
detail_name = detail_material.get("name")
|
||||
detail_id = detail_material.get("detailMaterialId")
|
||||
if not detail_id:
|
||||
# 尝试其他可能的字段
|
||||
detail_id = detail_material.get("id")
|
||||
|
||||
if detail_name and detail_id:
|
||||
self.material_cache[detail_name] = detail_id
|
||||
print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
|
||||
@@ -1123,6 +1176,14 @@ class BioyondV1RPC(BaseRequest):
|
||||
print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||
return material_id
|
||||
|
||||
# 如果缓存中没有，尝试刷新缓存
|
||||
print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
|
||||
self.refresh_material_cache()
|
||||
if material_name_or_id in self.material_cache:
|
||||
material_id = self.material_cache[material_name_or_id]
|
||||
print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||
return material_id
|
||||
|
||||
print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
|
||||
return material_name_or_id
|
||||
|
||||
|
||||
@@ -1,142 +0,0 @@
|
||||
# config.py
|
||||
"""
|
||||
配置文件 - 包含所有配置信息和映射关系
|
||||
"""
|
||||
|
||||
# API配置
|
||||
API_CONFIG = {
|
||||
"api_key": "",
|
||||
"api_host": ""
|
||||
}
|
||||
|
||||
# 工作流映射配置
|
||||
WORKFLOW_MAPPINGS = {
|
||||
"reactor_taken_out": "",
|
||||
"reactor_taken_in": "",
|
||||
"Solid_feeding_vials": "",
|
||||
"Liquid_feeding_vials(non-titration)": "",
|
||||
"Liquid_feeding_solvents": "",
|
||||
"Liquid_feeding(titration)": "",
|
||||
"liquid_feeding_beaker": "",
|
||||
"Drip_back": "",
|
||||
}
|
||||
|
||||
# 工作流名称到DisplaySectionName的映射
|
||||
WORKFLOW_TO_SECTION_MAP = {
|
||||
'reactor_taken_in': '反应器放入',
|
||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
||||
'Solid_feeding_vials': '固体投料-小瓶',
|
||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
||||
'reactor_taken_out': '反应器取出'
|
||||
}
|
||||
|
||||
# 库位映射配置
|
||||
WAREHOUSE_MAPPING = {
|
||||
"粉末堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
# 样品板
|
||||
"A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A2": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
# 分装板
|
||||
"C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"B4": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C4": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D1": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
|
||||
"A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
|
||||
"A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
|
||||
"B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
|
||||
"B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
|
||||
"B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# 物料类型配置
|
||||
MATERIAL_TYPE_MAPPINGS = {
|
||||
"烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
|
||||
"试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
|
||||
"样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
|
||||
"分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
|
||||
"样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
|
||||
"90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
|
||||
"10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
|
||||
}
|
||||
|
||||
# 步骤参数配置（各工作流的步骤UUID）
|
||||
WORKFLOW_STEP_IDS = {
|
||||
"reactor_taken_in": {
|
||||
"config": ""
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
}
|
||||
}
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
|
||||
ACTION_NAMES = {}
|
||||
|
||||
HTTP_SERVICE_CONFIG = {}
|
||||
329
unilabos/devices/workstation/bioyond_studio/config.py.deprecated
Normal file
329
unilabos/devices/workstation/bioyond_studio/config.py.deprecated
Normal file
@@ -0,0 +1,329 @@
|
||||
# config.py
|
||||
"""
|
||||
Bioyond工作站配置文件
|
||||
包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
|
||||
"""
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
# ============================================================================
|
||||
# 基础配置
|
||||
# ============================================================================
|
||||
|
||||
# API配置
|
||||
API_CONFIG = {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44402"
|
||||
}
|
||||
|
||||
# HTTP 报送服务配置
|
||||
HTTP_SERVICE_CONFIG = {
|
||||
"http_service_host": "127.0.0.1", # 监听地址
|
||||
"http_service_port": 8080, # 监听端口
|
||||
}
|
||||
|
||||
# Deck配置 - 反应站工作台配置
|
||||
DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
|
||||
|
||||
# ============================================================================
|
||||
# 工作流配置
|
||||
# ============================================================================
|
||||
|
||||
# 工作流ID映射
|
||||
WORKFLOW_MAPPINGS = {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
|
||||
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
|
||||
}
|
||||
|
||||
# 工作流名称到显示名称的映射
|
||||
WORKFLOW_TO_SECTION_MAP = {
|
||||
'reactor_taken_in': '反应器放入',
|
||||
'reactor_taken_out': '反应器取出',
|
||||
'Solid_feeding_vials': '固体投料-小瓶',
|
||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
||||
'Drip_back': '液体回滴'
|
||||
}
|
||||
|
||||
# 工作流步骤ID配置
|
||||
WORKFLOW_STEP_IDS = {
|
||||
"reactor_taken_in": {
|
||||
"config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
|
||||
"observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
|
||||
"observe": "3a167d99-6172-b67b-5f22-a7892197142e"
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "1fcea355-2545-462b-b727-350b69a313bf",
|
||||
"observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
|
||||
"observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
|
||||
"observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "371be86a-ab77-4769-83e5-54580547c48a",
|
||||
"observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
|
||||
}
|
||||
}
|
||||
|
||||
# 工作流动作名称配置
|
||||
ACTION_NAMES = {
|
||||
"reactor_taken_in": {
|
||||
"config": "通量-配置",
|
||||
"stirring": "反应模块-开始搅拌"
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "粉末加样模块-投料",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "稀释液瓶加液位-液体投料",
|
||||
"observe": "反应模块-滴定结果观察"
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "稀释液瓶加液位-稀释液吸液分液",
|
||||
"observe": "反应模块-滴定结果观察"
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "烧杯溶液放置位-烧杯吸液分液",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
||||
"observe": "反应模块-向下滴定结果观察"
|
||||
}
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 仓库配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 出库和入库操作都需要UUID
|
||||
WAREHOUSE_MAPPING = {
|
||||
# ========== 反应站仓库 ==========
|
||||
|
||||
# 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
|
||||
"堆栈1左": {
|
||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
|
||||
"A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
|
||||
"A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
|
||||
"A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
|
||||
"B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
|
||||
"B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
|
||||
"B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
|
||||
"B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
|
||||
"C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
|
||||
"C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
|
||||
"C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
|
||||
"C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
|
||||
"D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
|
||||
"D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
|
||||
"D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
|
||||
"D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
|
||||
},
|
||||
},
|
||||
|
||||
# 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
|
||||
"堆栈1右": {
|
||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"site_uuids": {
|
||||
"A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
|
||||
"A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
|
||||
"A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
|
||||
"A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
|
||||
"B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
|
||||
"B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
|
||||
"B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
|
||||
"B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
|
||||
"C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
|
||||
"C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
|
||||
"C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
|
||||
"C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
|
||||
"D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
|
||||
"D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
|
||||
"D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
|
||||
"D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
|
||||
},
|
||||
},
|
||||
|
||||
# 站内试剂存放堆栈
|
||||
"站内试剂存放堆栈": {
|
||||
"uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
|
||||
"A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
# 测量小瓶仓库（测密度）
|
||||
"测量小瓶仓库": {
|
||||
"uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
|
||||
"site_uuids": {
|
||||
"A01": "3a15012f-705e-0524-3161-c523b5aebc97",
|
||||
"A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
|
||||
"A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
|
||||
"B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
|
||||
"B02": "3a15012f-705e-e499-180d-de06d60d0b21",
|
||||
"B03": "3a15012f-705e-eff6-63f1-09f742096b26"
|
||||
}
|
||||
},
|
||||
|
||||
# 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
|
||||
"站内Tip盒堆栈": {
|
||||
"uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
|
||||
"A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
|
||||
"A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
|
||||
"B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
|
||||
"B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
|
||||
"B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
|
||||
}
|
||||
},
|
||||
# ========== 配液站仓库 ==========
|
||||
"粉末堆栈": {
|
||||
"uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A02": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
"C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"A04": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"D02": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"D03": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198c-c2cf-8b40-af28-b467808f1c36", # x=1, y=1, code=0001-0001
|
||||
"A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", # x=1, y=2, code=0001-0002
|
||||
"A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", # x=1, y=3, code=0001-0003
|
||||
"A04": "3a14198c-c2d0-725e-523d-34c037ac2440", # x=1, y=4, code=0001-0004
|
||||
"B01": "3a14198c-c2d0-f3e7-871a-e470d144296f", # x=2, y=1, code=0001-0005
|
||||
"B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f", # x=2, y=2, code=0001-0006
|
||||
"B03": "3a14198c-c2d0-1559-105d-0ea30682cab4", # x=2, y=3, code=0001-0007
|
||||
"B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" # x=2, y=4, code=0001-0008
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 物料类型配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
|
||||
# - 这个映射基于 resource.model 属性 (不是显示名称!)
|
||||
# - UUID为空表示该类型暂未在Bioyond系统中定义
|
||||
MATERIAL_TYPE_MAPPINGS = {
|
||||
# ================================================配液站资源============================================================
|
||||
# ==================================================样品===============================================================
|
||||
"BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), # 配液站-样品-烧杯
|
||||
"BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"), # 配液站-样品-试剂瓶
|
||||
"BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), # 配液站-样品-分装板
|
||||
"BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"), # 配液站-样品-分装板-第一排小瓶
|
||||
"BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), # 配液站-样品-分装板-第二排小瓶
|
||||
# ==================================================试剂===============================================================
|
||||
"BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"), # 配液站-试剂-样品板（8孔）
|
||||
"BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), # 配液站-试剂-样品板-样品瓶
|
||||
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
|
||||
# ============================================================================
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
|
||||
if "site_uuids" in warehouse_config:
|
||||
LOCATION_MAPPING.update(warehouse_config["site_uuids"])
|
||||
|
||||
# ============================================================================
|
||||
# 物料默认参数配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
|
||||
# - 格式: 物料名称 → {参数字典}
|
||||
# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
|
||||
# - unit: 物料的计量单位（会用于 unit 字段）
|
||||
# - density/densityUnit: 密度信息（会添加到 Parameters 中）
|
||||
|
||||
MATERIAL_DEFAULT_PARAMETERS = {
|
||||
# 溶剂类
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
|
||||
},
|
||||
# 可以继续添加其他物料...
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 物料类型默认参数配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 为特定物料类型（UUID）自动添加默认参数
|
||||
# - 格式: Bioyond类型UUID → {参数字典}
|
||||
# - 优先级低于按名称匹配的配置
|
||||
MATERIAL_TYPE_PARAMETERS = {
|
||||
# 示例:
|
||||
# "3a14196b-24f2-ca49-9081-0cab8021bf1a": { # 烧杯
|
||||
# "unit": "个"
|
||||
# }
|
||||
}
|
||||
@@ -4,7 +4,8 @@ import time
|
||||
from typing import Optional, Dict, Any, List
|
||||
from typing_extensions import TypedDict
|
||||
import requests
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
import pint
|
||||
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
@@ -25,13 +26,89 @@ class ComputeExperimentDesignReturn(TypedDict):
|
||||
class BioyondDispensingStation(BioyondWorkstation):
|
||||
def __init__(
|
||||
self,
|
||||
config,
|
||||
# 桌子
|
||||
deck,
|
||||
*args,
|
||||
config: dict = None,
|
||||
deck=None,
|
||||
protocol_type=None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(config, deck, *args, **kwargs)
|
||||
):
|
||||
"""初始化配液站
|
||||
|
||||
Args:
|
||||
config: 配置字典,应包含material_type_mappings等配置
|
||||
deck: Deck对象
|
||||
protocol_type: 协议类型(由ROS系统传递,此处忽略)
|
||||
**kwargs: 其他可能的参数
|
||||
"""
|
||||
if config is None:
|
||||
config = {}
|
||||
|
||||
# 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
|
||||
config.update(kwargs)
|
||||
|
||||
if deck is None and config:
|
||||
deck = config.get('deck')
|
||||
|
||||
# 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
|
||||
# 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
|
||||
if config and "warehouse_mapping" in config and deck:
|
||||
warehouse_mapping = config["warehouse_mapping"]
|
||||
print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
|
||||
|
||||
user_deck = deck
|
||||
# 初始化 warehouses 字典
|
||||
if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
|
||||
user_deck.warehouses = {}
|
||||
|
||||
# 1. 尝试从 children 中查找匹配的资源
|
||||
for child in user_deck.children:
|
||||
# 简单判断: 如果名字在 mapping 中，就认为是 warehouse
|
||||
if child.name in warehouse_mapping:
|
||||
user_deck.warehouses[child.name] = child
|
||||
print(f" - 从子资源中找到 warehouse: {child.name}")
|
||||
|
||||
# 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
|
||||
if not user_deck.warehouses and hasattr(user_deck, "setup"):
|
||||
print(" - 尝试调用 deck.setup() 初始化仓库...")
|
||||
try:
|
||||
user_deck.setup()
|
||||
# setup 后重新检查
|
||||
if hasattr(user_deck, "warehouses") and user_deck.warehouses:
|
||||
print(f" - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
|
||||
except Exception as e:
|
||||
print(f" - 调用 setup() 失败: {e}")
|
||||
|
||||
# 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
|
||||
if not user_deck.warehouses:
|
||||
print(" - ⚠️ 仍然无法找到任何 warehouse 资源！")
|
||||
|
||||
for wh_name, wh_config in warehouse_mapping.items():
|
||||
target_uuid = wh_config.get("uuid")
|
||||
|
||||
# 尝试在 deck.warehouses 中查找
|
||||
wh_resource = None
|
||||
if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
|
||||
wh_resource = user_deck.warehouses[wh_name]
|
||||
|
||||
# 如果没找到，尝试在所有子资源中查找
|
||||
if not wh_resource:
|
||||
wh_resource = user_deck.get_resource(wh_name)
|
||||
|
||||
if wh_resource:
|
||||
if target_uuid:
|
||||
current_uuid = getattr(wh_resource, "uuid", None)
|
||||
print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
|
||||
|
||||
# 动态添加 uuid 属性
|
||||
wh_resource.uuid = target_uuid
|
||||
# 同时也确保 category 正确，避免 graphio 识别错误
|
||||
# wh_resource.category = "warehouse"
|
||||
else:
|
||||
print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
|
||||
else:
|
||||
print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
|
||||
|
||||
super().__init__(bioyond_config=config, deck=deck)
|
||||
|
||||
# self.config = config
|
||||
# self.api_key = config["api_key"]
|
||||
# self.host = config["api_host"]
|
||||
@@ -43,6 +120,41 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
||||
self.order_completion_status = {}
|
||||
|
||||
# 初始化 pint 单位注册表
|
||||
self.ureg = pint.UnitRegistry()
|
||||
|
||||
# 化合物信息
|
||||
self.compound_info = {
|
||||
"MolWt": {
|
||||
"MDA": 108.14 * self.ureg.g / self.ureg.mol,
|
||||
"TDA": 122.16 * self.ureg.g / self.ureg.mol,
|
||||
"PAPP": 521.62 * self.ureg.g / self.ureg.mol,
|
||||
"BTDA": 322.23 * self.ureg.g / self.ureg.mol,
|
||||
"BPDA": 294.22 * self.ureg.g / self.ureg.mol,
|
||||
"6FAP": 366.26 * self.ureg.g / self.ureg.mol,
|
||||
"PMDA": 218.12 * self.ureg.g / self.ureg.mol,
|
||||
"MPDA": 108.14 * self.ureg.g / self.ureg.mol,
|
||||
"SIDA": 248.51 * self.ureg.g / self.ureg.mol,
|
||||
"ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
||||
"4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
||||
"134": 292.34 * self.ureg.g / self.ureg.mol,
|
||||
},
|
||||
"FuncGroup": {
|
||||
"MDA": "Amine",
|
||||
"TDA": "Amine",
|
||||
"PAPP": "Amine",
|
||||
"BTDA": "Anhydride",
|
||||
"BPDA": "Anhydride",
|
||||
"6FAP": "Amine",
|
||||
"MPDA": "Amine",
|
||||
"SIDA": "Amine",
|
||||
"PMDA": "Anhydride",
|
||||
"ODA": "Amine",
|
||||
"4,4'-ODA": "Amine",
|
||||
"134": "Amine",
|
||||
}
|
||||
}
|
||||
|
||||
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用POST调用
|
||||
|
||||
@@ -54,7 +166,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"apiKey": self.bioyond_config["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
@@ -85,7 +197,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"apiKey": self.bioyond_config["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
@@ -118,20 +230,22 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
ratio = json.loads(ratio)
|
||||
except Exception:
|
||||
ratio = {}
|
||||
root = str(Path(__file__).resolve().parents[3])
|
||||
if root not in sys.path:
|
||||
sys.path.append(root)
|
||||
try:
|
||||
mod = importlib.import_module("tem.compute")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"无法导入计算模块: {e}")
|
||||
try:
|
||||
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
||||
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
||||
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
|
||||
except Exception as e:
|
||||
raise BioyondException(f"参数解析失败: {e}")
|
||||
res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
|
||||
|
||||
# 2. 调用内部计算方法
|
||||
res = self._generate_experiment_design(
|
||||
ratio=ratio,
|
||||
wt_percent=wp,
|
||||
m_tot=mt,
|
||||
titration_percent=tp
|
||||
)
|
||||
|
||||
# 3. 构造返回结果
|
||||
out = {
|
||||
"solutions": res.get("solutions", []),
|
||||
"titration": res.get("titration", {}),
|
||||
@@ -140,11 +254,248 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
"return_info": json.dumps(res, ensure_ascii=False)
|
||||
}
|
||||
return out
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
raise BioyondException(str(e))
|
||||
|
||||
def _generate_experiment_design(
|
||||
self,
|
||||
ratio: dict,
|
||||
wt_percent: float = 0.25,
|
||||
m_tot: float = 70,
|
||||
titration_percent: float = 0.03,
|
||||
) -> dict:
|
||||
"""内部方法：生成实验设计
|
||||
|
||||
根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
|
||||
|
||||
参数:
|
||||
ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
|
||||
wt_percent: 固体重量百分比
|
||||
m_tot: 反应混合物总质量(g)
|
||||
titration_percent: 滴定溶液百分比
|
||||
|
||||
返回:
|
||||
包含实验设计详细参数的字典
|
||||
"""
|
||||
# 溶剂密度
|
||||
ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
|
||||
# 二酐溶解度
|
||||
solubility = 0.02 * self.ureg.g / self.ureg.ml
|
||||
# 投入固体时最小溶剂体积
|
||||
V_min = 30 * self.ureg.ml
|
||||
m_tot = m_tot * self.ureg.g
|
||||
|
||||
# 保持ratio中的顺序
|
||||
compound_names = list(ratio.keys())
|
||||
compound_ratios = list(ratio.values())
|
||||
|
||||
# 验证所有化合物是否在 compound_info 中定义
|
||||
undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
|
||||
if undefined_compounds:
|
||||
available = list(self.compound_info["MolWt"].keys())
|
||||
raise ValueError(
|
||||
f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
|
||||
f"可用的化合物: {available}"
|
||||
)
|
||||
|
||||
# 获取各化合物的分子量和官能团类型
|
||||
molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
|
||||
func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
|
||||
|
||||
# 记录化合物信息用于调试
|
||||
self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
|
||||
self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
|
||||
|
||||
# 按原始顺序分离二胺和二酐
|
||||
ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
|
||||
diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
|
||||
anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
|
||||
|
||||
if not diamine_compounds or not anhydride_compounds:
|
||||
raise ValueError(
|
||||
f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
|
||||
f"当前二胺: {[c[0] for c in diamine_compounds]}, "
|
||||
f"当前二酐: {[c[0] for c in anhydride_compounds]}"
|
||||
)
|
||||
|
||||
# 计算加权平均分子量 (基于摩尔比)
|
||||
total_molar_ratio = sum(compound_ratios)
|
||||
weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
|
||||
|
||||
# 取最后一个二酐用于滴定
|
||||
titration_anhydride = anhydride_compounds[-1]
|
||||
solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
|
||||
|
||||
# 二胺溶液配制参数 - 每种二胺单独配制
|
||||
diamine_solutions = []
|
||||
total_diamine_volume = 0 * self.ureg.ml
|
||||
|
||||
# 计算反应物的总摩尔量
|
||||
n_reactant = m_tot * wt_percent / weighted_molecular_weight
|
||||
|
||||
for name, ratio_val, mw, order_index in diamine_compounds:
|
||||
# 跳过 SIDA
|
||||
if name == "SIDA":
|
||||
continue
|
||||
|
||||
# 计算该二胺需要的摩尔数
|
||||
n_diamine_needed = n_reactant * ratio_val
|
||||
|
||||
# 二胺溶液配制参数 (每种二胺固定配制参数)
|
||||
m_diamine_solid = 5.0 * self.ureg.g # 每种二胺固体质量
|
||||
V_solvent_for_this = 20 * self.ureg.ml # 每种二胺溶剂体积
|
||||
m_solvent_for_this = ρ_solvent * V_solvent_for_this
|
||||
|
||||
# 计算该二胺溶液的浓度
|
||||
c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
|
||||
|
||||
# 计算需要移取的溶液体积
|
||||
V_diamine_needed = n_diamine_needed / c_diamine
|
||||
|
||||
diamine_solutions.append({
|
||||
"name": name,
|
||||
"order": order_index,
|
||||
"solid_mass": m_diamine_solid.magnitude,
|
||||
"solvent_volume": V_solvent_for_this.magnitude,
|
||||
"concentration": c_diamine.magnitude,
|
||||
"volume_needed": V_diamine_needed.magnitude,
|
||||
"molar_ratio": ratio_val
|
||||
})
|
||||
|
||||
total_diamine_volume += V_diamine_needed
|
||||
|
||||
# 按原始顺序排序
|
||||
diamine_solutions.sort(key=lambda x: x["order"])
|
||||
|
||||
# 计算滴定二酐的质量
|
||||
titration_name, titration_ratio, titration_mw, _ = titration_anhydride
|
||||
m_titration_anhydride = n_reactant * titration_ratio * titration_mw
|
||||
m_titration_90 = m_titration_anhydride * (1 - titration_percent)
|
||||
m_titration_10 = m_titration_anhydride * titration_percent
|
||||
|
||||
# 计算其他固体二酐的质量 (按顺序)
|
||||
solid_anhydride_masses = []
|
||||
for name, ratio_val, mw, order_index in solid_anhydrides:
|
||||
mass = n_reactant * ratio_val * mw
|
||||
solid_anhydride_masses.append({
|
||||
"name": name,
|
||||
"order": order_index,
|
||||
"mass": mass.magnitude,
|
||||
"molar_ratio": ratio_val
|
||||
})
|
||||
|
||||
# 按原始顺序排序
|
||||
solid_anhydride_masses.sort(key=lambda x: x["order"])
|
||||
|
||||
# 计算溶剂用量
|
||||
total_diamine_solution_mass = sum(
|
||||
sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
|
||||
) * self.ureg.ml
|
||||
|
||||
# 预估滴定溶剂量、计算补加溶剂量
|
||||
m_solvent_titration = m_titration_10 / solubility * ρ_solvent
|
||||
m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
|
||||
|
||||
# 检查最小溶剂体积要求
|
||||
total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
|
||||
m_tot_min = V_min / total_liquid_volume * m_tot
|
||||
|
||||
# 如果需要，按比例放大
|
||||
scale_factor = 1.0
|
||||
if m_tot_min > m_tot:
|
||||
scale_factor = (m_tot_min / m_tot).magnitude
|
||||
m_titration_90 *= scale_factor
|
||||
m_titration_10 *= scale_factor
|
||||
m_solvent_add *= scale_factor
|
||||
m_solvent_titration *= scale_factor
|
||||
|
||||
# 更新二胺溶液用量
|
||||
for sol in diamine_solutions:
|
||||
sol["volume_needed"] *= scale_factor
|
||||
|
||||
# 更新固体二酐用量
|
||||
for anhydride in solid_anhydride_masses:
|
||||
anhydride["mass"] *= scale_factor
|
||||
|
||||
m_tot = m_tot_min
|
||||
|
||||
# 生成投料顺序
|
||||
feeding_order = []
|
||||
|
||||
# 1. 固体二酐 (按顺序)
|
||||
for anhydride in solid_anhydride_masses:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "solid_anhydride",
|
||||
"name": anhydride["name"],
|
||||
"amount": anhydride["mass"],
|
||||
"order": anhydride["order"]
|
||||
})
|
||||
|
||||
# 2. 二胺溶液 (按顺序)
|
||||
for sol in diamine_solutions:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "diamine_solution",
|
||||
"name": sol["name"],
|
||||
"amount": sol["volume_needed"],
|
||||
"order": sol["order"]
|
||||
})
|
||||
|
||||
# 3. 主要二酐粉末
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "main_anhydride",
|
||||
"name": titration_name,
|
||||
"amount": m_titration_90.magnitude,
|
||||
"order": titration_anhydride[3]
|
||||
})
|
||||
|
||||
# 4. 补加溶剂
|
||||
if m_solvent_add > 0:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "additional_solvent",
|
||||
"name": "溶剂",
|
||||
"amount": m_solvent_add.magnitude,
|
||||
"order": 999
|
||||
})
|
||||
|
||||
# 5. 滴定二酐溶液
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "titration_anhydride",
|
||||
"name": f"{titration_name} 滴定液",
|
||||
"amount": m_titration_10.magnitude,
|
||||
"titration_solvent": m_solvent_titration.magnitude,
|
||||
"order": titration_anhydride[3]
|
||||
})
|
||||
|
||||
# 返回实验设计结果
|
||||
results = {
|
||||
"total_mass": m_tot.magnitude,
|
||||
"scale_factor": scale_factor,
|
||||
"solutions": diamine_solutions,
|
||||
"solids": solid_anhydride_masses,
|
||||
"titration": {
|
||||
"name": titration_name,
|
||||
"main_portion": m_titration_90.magnitude,
|
||||
"titration_portion": m_titration_10.magnitude,
|
||||
"titration_solvent": m_solvent_titration.magnitude,
|
||||
},
|
||||
"solvents": {
|
||||
"additional_solvent": m_solvent_add.magnitude,
|
||||
"total_liquid_volume": total_liquid_volume.magnitude
|
||||
},
|
||||
"feeding_order": feeding_order,
|
||||
"minimum_required_mass": m_tot_min.magnitude
|
||||
}
|
||||
|
||||
return results
|
||||
|
||||
# 90%10%小瓶投料任务创建方法
|
||||
def create_90_10_vial_feeding_task(self,
|
||||
order_name: str = None,
|
||||
@@ -961,6 +1312,108 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
def _simplify_report(self, report) -> Dict[str, Any]:
|
||||
"""简化实验报告，只保留关键信息，去除冗余的工作流参数"""
|
||||
if not isinstance(report, dict):
|
||||
return report
|
||||
|
||||
data = report.get('data', {})
|
||||
if not isinstance(data, dict):
|
||||
return report
|
||||
|
||||
# 提取关键信息
|
||||
simplified = {
|
||||
'name': data.get('name'),
|
||||
'code': data.get('code'),
|
||||
'requester': data.get('requester'),
|
||||
'workflowName': data.get('workflowName'),
|
||||
'workflowStep': data.get('workflowStep'),
|
||||
'requestTime': data.get('requestTime'),
|
||||
'startPreparationTime': data.get('startPreparationTime'),
|
||||
'completeTime': data.get('completeTime'),
|
||||
'useTime': data.get('useTime'),
|
||||
'status': data.get('status'),
|
||||
'statusName': data.get('statusName'),
|
||||
}
|
||||
|
||||
# 提取物料信息（简化版）
|
||||
pre_intakes = data.get('preIntakes', [])
|
||||
if pre_intakes and isinstance(pre_intakes, list):
|
||||
first_intake = pre_intakes[0]
|
||||
sample_materials = first_intake.get('sampleMaterials', [])
|
||||
|
||||
# 简化物料信息
|
||||
simplified_materials = []
|
||||
for material in sample_materials:
|
||||
if isinstance(material, dict):
|
||||
mat_info = {
|
||||
'materialName': material.get('materialName'),
|
||||
'materialTypeName': material.get('materialTypeName'),
|
||||
'materialCode': material.get('materialCode'),
|
||||
'materialLocation': material.get('materialLocation'),
|
||||
}
|
||||
|
||||
# 解析parameters中的关键信息（如密度、加料历史等）
|
||||
params_str = material.get('parameters', '{}')
|
||||
try:
|
||||
params = json.loads(params_str) if isinstance(params_str, str) else params_str
|
||||
if isinstance(params, dict):
|
||||
# 只保留关键参数
|
||||
if 'density' in params:
|
||||
mat_info['density'] = params['density']
|
||||
if 'feedingHistory' in params:
|
||||
mat_info['feedingHistory'] = params['feedingHistory']
|
||||
if 'liquidVolume' in params:
|
||||
mat_info['liquidVolume'] = params['liquidVolume']
|
||||
if 'm_diamine_tot' in params:
|
||||
mat_info['m_diamine_tot'] = params['m_diamine_tot']
|
||||
if 'wt_diamine' in params:
|
||||
mat_info['wt_diamine'] = params['wt_diamine']
|
||||
except:
|
||||
pass
|
||||
|
||||
simplified_materials.append(mat_info)
|
||||
|
||||
simplified['sampleMaterials'] = simplified_materials
|
||||
|
||||
# 提取extraProperties中的实际值
|
||||
extra_props = first_intake.get('extraProperties', {})
|
||||
if isinstance(extra_props, dict):
|
||||
simplified_extra = {}
|
||||
for key, value in extra_props.items():
|
||||
try:
|
||||
parsed_value = json.loads(value) if isinstance(value, str) else value
|
||||
simplified_extra[key] = parsed_value
|
||||
except:
|
||||
simplified_extra[key] = value
|
||||
simplified['extraProperties'] = simplified_extra
|
||||
|
||||
return {
|
||||
'data': simplified,
|
||||
'code': report.get('code'),
|
||||
'message': report.get('message'),
|
||||
'timestamp': report.get('timestamp')
|
||||
}
|
||||
|
||||
def scheduler_start(self) -> dict:
|
||||
"""启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
||||
|
||||
Returns:
|
||||
dict: 包含return_info的字典，return_info为整型(1=成功)
|
||||
|
||||
Raises:
|
||||
BioyondException: 调度器启动失败时抛出异常
|
||||
"""
|
||||
result = self.hardware_interface.scheduler_start()
|
||||
self.hardware_interface._logger.info(f"调度器启动结果: {result}")
|
||||
|
||||
if result != 1:
|
||||
error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
return {"return_info": result}
|
||||
|
||||
# 等待多个任务完成并获取实验报告
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
@@ -1002,7 +1455,12 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
|
||||
# 验证batch_create_result参数
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||
raise BioyondException(
|
||||
"batch_create_result参数为空，请确保:\n"
|
||||
"1. batch_create节点与wait节点之间正确连接了handle\n"
|
||||
"2. batch_create节点成功执行并返回了结果\n"
|
||||
"3. 检查上游batch_create任务是否成功创建了订单"
|
||||
)
|
||||
|
||||
# 解析batch_create_result JSON对象
|
||||
try:
|
||||
@@ -1031,7 +1489,17 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
|
||||
# 验证提取的数据
|
||||
if not order_codes:
|
||||
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||
self.hardware_interface._logger.error(
|
||||
f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
|
||||
)
|
||||
raise BioyondException(
|
||||
"batch_create_result中未找到order_codes或为空。\n"
|
||||
"可能的原因:\n"
|
||||
"1. batch_create任务执行失败（检查任务是否报错）\n"
|
||||
"2. 物料配置问题（如'物料样品板分配失败'）\n"
|
||||
"3. Bioyond系统状态异常\n"
|
||||
f"请检查batch_create任务的执行结果"
|
||||
)
|
||||
if not order_ids:
|
||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||
|
||||
@@ -1114,6 +1582,8 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功获取任务 {order_code} 的实验报告"
|
||||
)
|
||||
# 简化报告，去除冗余信息
|
||||
report = self._simplify_report(report)
|
||||
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
@@ -1288,7 +1758,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
||||
)
|
||||
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
results = []
|
||||
successful_count = 0
|
||||
failed_count = 0
|
||||
File diff suppressed because it is too large
Load Diff
@@ -6,6 +6,7 @@ Bioyond Workstation Implementation
|
||||
"""
|
||||
import time
|
||||
import traceback
|
||||
import threading
|
||||
from datetime import datetime
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
import json
|
||||
@@ -23,12 +24,94 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
|
||||
)
|
||||
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class ConnectionMonitor:
|
||||
"""Bioyond连接监控器"""
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
self._last_status = "unknown"
|
||||
|
||||
def start(self):
|
||||
if self._running:
|
||||
return
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
|
||||
self._thread.start()
|
||||
logger.info("Bioyond连接监控器已启动")
|
||||
|
||||
def stop(self):
|
||||
self._running = False
|
||||
if self._thread:
|
||||
self._thread.join(timeout=2)
|
||||
logger.info("Bioyond连接监控器已停止")
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 使用 lightweight API 检查连接
|
||||
# query_matial_type_list 是比较快的查询
|
||||
start_time = time.time()
|
||||
result = self.workstation.hardware_interface.material_type_list()
|
||||
|
||||
status = "online" if result else "offline"
|
||||
msg = "Connection established" if status == "online" else "Failed to get material type list"
|
||||
|
||||
if status != self._last_status:
|
||||
logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
|
||||
self._publish_event(status, msg)
|
||||
self._last_status = status
|
||||
|
||||
# 发布心跳 (可选，或者只在状态变更时发布)
|
||||
# self._publish_event(status, msg)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"Bioyond连接检查异常: {e}")
|
||||
if self._last_status != "error":
|
||||
self._publish_event("error", str(e))
|
||||
self._last_status = "error"
|
||||
|
||||
time.sleep(self.check_interval)
|
||||
|
||||
def _publish_event(self, status, message):
|
||||
try:
|
||||
if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
|
||||
event_data = {
|
||||
"status": status,
|
||||
"message": message,
|
||||
"timestamp": datetime.now().isoformat()
|
||||
}
|
||||
|
||||
# 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
|
||||
# 这里假设通用事件发布机制，使用 String 类型的 topic
|
||||
# 话题: /<namespace>/events/device_status
|
||||
ns = self.workstation._ros_node.namespace
|
||||
topic = f"{ns}/events/device_status"
|
||||
|
||||
# 使用 ROS2DeviceNode 的发布功能
|
||||
# 如果没有预定义的 publisher，需要动态创建
|
||||
# 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
|
||||
# 这里我们先尝试用 String json 发布
|
||||
|
||||
# 在 ROS2DeviceNode 中通常需要先 create_publisher
|
||||
# 为了简单起见，我们检查是否已有 publisher，没有则创建
|
||||
if not hasattr(self.workstation, "_device_status_pub"):
|
||||
self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
|
||||
String, topic, 10
|
||||
)
|
||||
|
||||
self.workstation._device_status_pub.publish(
|
||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"发布设备状态事件失败: {e}")
|
||||
|
||||
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
"""Bioyond资源同步器
|
||||
|
||||
@@ -174,9 +257,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
else:
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：获取仓库配置
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
@@ -238,14 +320,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
# 第2步：转换为 Bioyond 格式
|
||||
logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
|
||||
|
||||
# 导入物料默认参数配置
|
||||
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||
# 从配置中获取物料默认参数
|
||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
||||
|
||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
||||
merged_params = material_default_params.copy()
|
||||
for type_id, params in material_type_params.items():
|
||||
merged_params[f"type:{type_id}"] = params
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
[resource],
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||
material_params=merged_params
|
||||
)[0]
|
||||
|
||||
logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
|
||||
@@ -468,13 +556,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
return material_bioyond_id
|
||||
|
||||
# 转换为 Bioyond 格式
|
||||
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||
# 从配置中获取物料默认参数
|
||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
||||
|
||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
||||
merged_params = material_default_params.copy()
|
||||
for type_id, params in material_type_params.items():
|
||||
merged_params[f"type:{type_id}"] = params
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
[resource],
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||
material_params=merged_params
|
||||
)[0]
|
||||
|
||||
# ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
|
||||
@@ -528,8 +623,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[物料入库] 目标库位: {update_site}")
|
||||
|
||||
# 获取仓库配置和目标库位 UUID
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
parent_name = None
|
||||
target_location_uuid = None
|
||||
@@ -584,6 +678,44 @@ class BioyondWorkstation(WorkstationBase):
|
||||
集成Bioyond物料管理的工作站实现
|
||||
"""
|
||||
|
||||
def _publish_task_status(
|
||||
self,
|
||||
task_id: str,
|
||||
task_type: str,
|
||||
status: str,
|
||||
result: dict = None,
|
||||
progress: float = 0.0,
|
||||
task_code: str = None
|
||||
):
|
||||
"""发布任务状态事件"""
|
||||
try:
|
||||
if not getattr(self, "_ros_node", None):
|
||||
return
|
||||
|
||||
event_data = {
|
||||
"task_id": task_id,
|
||||
"task_code": task_code,
|
||||
"task_type": task_type,
|
||||
"status": status,
|
||||
"progress": progress,
|
||||
"timestamp": datetime.now().isoformat()
|
||||
}
|
||||
if result:
|
||||
event_data["result"] = result
|
||||
|
||||
topic = f"{self._ros_node.namespace}/events/task_status"
|
||||
|
||||
if not hasattr(self, "_task_status_pub"):
|
||||
self._task_status_pub = self._ros_node.create_publisher(
|
||||
String, topic, 10
|
||||
)
|
||||
|
||||
self._task_status_pub.publish(
|
||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"发布任务状态事件失败: {e}")
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
bioyond_config: Optional[Dict[str, Any]] = None,
|
||||
@@ -605,10 +737,28 @@ class BioyondWorkstation(WorkstationBase):
|
||||
raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
|
||||
|
||||
# 初始化 warehouses 属性
|
||||
self.deck.warehouses = {}
|
||||
for resource in self.deck.children:
|
||||
if isinstance(resource, WareHouse):
|
||||
self.deck.warehouses[resource.name] = resource
|
||||
if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
|
||||
self.deck.warehouses = {}
|
||||
|
||||
# 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
|
||||
if not self.deck.warehouses:
|
||||
for resource in self.deck.children:
|
||||
# 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
|
||||
is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
|
||||
|
||||
# 如果配置中有定义，也可以认定为 warehouse
|
||||
if not is_warehouse and "warehouse_mapping" in bioyond_config:
|
||||
if resource.name in bioyond_config["warehouse_mapping"]:
|
||||
is_warehouse = True
|
||||
|
||||
if is_warehouse:
|
||||
self.deck.warehouses[resource.name] = resource
|
||||
# 确保 category 被正确设置，方便后续使用
|
||||
if getattr(resource, "category", "") != "warehouse":
|
||||
try:
|
||||
resource.category = "warehouse"
|
||||
except:
|
||||
pass
|
||||
|
||||
# 创建通信模块
|
||||
self._create_communication_module(bioyond_config)
|
||||
@@ -627,18 +777,22 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
||||
|
||||
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
|
||||
# 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
|
||||
# 从 bioyond_config 中的 http_service_config 获取
|
||||
http_service_cfg = bioyond_config.get("http_service_config", {})
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
|
||||
"port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
|
||||
"host": http_service_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_service_cfg.get("http_service_port", 8080)
|
||||
}
|
||||
self.http_service = None # 将在 post_init 中启动
|
||||
self.http_service = None # 将在 post_init 启动
|
||||
self.connection_monitor = None # 将在 post_init 启动
|
||||
|
||||
logger.info(f"Bioyond工作站初始化完成")
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：清理资源，停止 HTTP 服务"""
|
||||
try:
|
||||
if hasattr(self, 'connection_monitor') and self.connection_monitor:
|
||||
self.connection_monitor.stop()
|
||||
if hasattr(self, 'http_service') and self.http_service is not None:
|
||||
logger.info("正在停止 HTTP 报送服务...")
|
||||
self.http_service.stop()
|
||||
@@ -648,8 +802,19 @@ class BioyondWorkstation(WorkstationBase):
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
# 启动连接监控
|
||||
try:
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
except Exception as e:
|
||||
logger.error(f"启动连接监控失败: {e}")
|
||||
|
||||
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
|
||||
if hasattr(self, '_http_service_config'):
|
||||
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务")
|
||||
logger.info(" 子类（BioyondCellWorkstation）已自行管理 HTTP 服务")
|
||||
elif hasattr(self, '_http_service_config'):
|
||||
try:
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
@@ -688,19 +853,14 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 创建默认配置
|
||||
default_config = {
|
||||
**API_CONFIG,
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS,
|
||||
"material_type_mappings": MATERIAL_TYPE_MAPPINGS,
|
||||
"warehouse_mapping": WAREHOUSE_MAPPING
|
||||
}
|
||||
|
||||
# 如果传入了 config，合并配置（config 中的值会覆盖默认值）
|
||||
# 直接使用传入的配置，不再使用默认值
|
||||
# 所有配置必须从 JSON 文件中提供
|
||||
if config:
|
||||
self.bioyond_config = {**default_config, **config}
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
self.bioyond_config = default_config
|
||||
# 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
|
||||
self.bioyond_config = {}
|
||||
print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
|
||||
@@ -1014,7 +1174,15 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
workflow_id = self._get_workflow(actual_workflow_name)
|
||||
if workflow_id:
|
||||
self.workflow_sequence.append(workflow_id)
|
||||
# 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
|
||||
if isinstance(self.workflow_sequence, list):
|
||||
self.workflow_sequence.append(workflow_id)
|
||||
elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
|
||||
self._cached_workflow_sequence.append(workflow_id)
|
||||
else:
|
||||
print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
|
||||
return False
|
||||
|
||||
print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
|
||||
return True
|
||||
return False
|
||||
@@ -1215,6 +1383,22 @@ class BioyondWorkstation(WorkstationBase):
|
||||
# TODO: 根据实际业务需求处理步骤完成逻辑
|
||||
# 例如：更新数据库、触发后续流程等
|
||||
|
||||
# 发布任务状态事件 (running/progress update)
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_step",
|
||||
status="running",
|
||||
progress=0.5, # 步骤完成视为任务进行中
|
||||
result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
|
||||
)
|
||||
|
||||
# 更新物料信息
|
||||
# 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
|
||||
logger.info(f"[步骤完成报送] 触发物料同步...")
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"step_id": data.get('stepId'),
|
||||
@@ -1249,6 +1433,17 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
# TODO: 根据实际业务需求处理通量完成逻辑
|
||||
|
||||
# 发布任务状态事件
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'),
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_sample",
|
||||
status="running",
|
||||
progress=0.7,
|
||||
result={"sample_id": data.get('sampleId'), "status": status_desc}
|
||||
)
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"sample_id": data.get('sampleId'),
|
||||
@@ -1288,6 +1483,32 @@ class BioyondWorkstation(WorkstationBase):
|
||||
# TODO: 根据实际业务需求处理任务完成逻辑
|
||||
# 例如：更新物料库存、生成报表等
|
||||
|
||||
# 映射状态到事件状态
|
||||
event_status = "completed"
|
||||
if str(data.get('status')) in ["-11", "-12"]:
|
||||
event_status = "error"
|
||||
elif str(data.get('status')) == "30":
|
||||
event_status = "completed"
|
||||
else:
|
||||
event_status = "running" # 其他状态视为运行中（或根据实际定义）
|
||||
|
||||
# 发布任务状态事件
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'),
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_order",
|
||||
status=event_status,
|
||||
progress=1.0 if event_status in ["completed", "error"] else 0.9,
|
||||
result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
|
||||
)
|
||||
|
||||
# 更新物料信息
|
||||
# 任务完成后，且状态为完成时，触发同步以更新最终物料状态
|
||||
if event_status == "completed":
|
||||
logger.info(f"[任务完成报送] 触发物料同步...")
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"order_code": data.get('orderCode'),
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
# Modbus CSV 地址映射说明
|
||||
|
||||
本文档说明 `coin_cell_assembly_a.csv` 文件如何将命名节点映射到实际的 Modbus 地址，以及如何在代码中使用它们。
|
||||
|
||||
## 1. CSV 文件结构
|
||||
|
||||
地址表文件位于同级目录下：`coin_cell_assembly_a.csv`
|
||||
|
||||
每一行定义了一个 Modbus 节点，包含以下关键列：
|
||||
|
||||
| 列名 | 说明 | 示例 |
|
||||
|------|------|------|
|
||||
| **Name** | **节点名称** (代码中引用的 Key) | `COIL_ALUMINUM_FOIL` |
|
||||
| **DataType** | 数据类型 (BOOL, INT16, FLOAT32, STRING) | `BOOL` |
|
||||
| **Comment** | 注释说明 | `使用铝箔垫` |
|
||||
| **Attribute** | 属性 (通常留空或用于额外标记) | |
|
||||
| **DeviceType** | Modbus 寄存器类型 (`coil`, `hold_register`) | `coil` |
|
||||
| **Address** | **Modbus 地址** (十进制) | `8340` |
|
||||
|
||||
### 示例行 (铝箔垫片)
|
||||
|
||||
```csv
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
|
||||
```
|
||||
|
||||
- **名称**: `COIL_ALUMINUM_FOIL`
|
||||
- **类型**: `coil` (线圈，读写单个位)
|
||||
- **地址**: `8340`
|
||||
|
||||
---
|
||||
|
||||
## 2. 加载与注册流程
|
||||
|
||||
在 `coin_cell_assembly.py` 的初始化代码中：
|
||||
|
||||
1. **加载 CSV**: `BaseClient.load_csv()` 读取 CSV 并解析每行定义。
|
||||
2. **注册节点**: `modbus_client.register_node_list()` 将解析后的节点注册到 Modbus 客户端实例中。
|
||||
|
||||
```python
|
||||
# 代码位置: coin_cell_assembly.py (L174-175)
|
||||
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)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 代码中的使用方式
|
||||
|
||||
注册后，通过 `self.client.use_node('节点名称')` 即可获取该节点对象并进行读写操作，无需关心具体地址。
|
||||
|
||||
### 控制铝箔垫片 (COIL_ALUMINUM_FOIL)
|
||||
|
||||
```python
|
||||
# 代码位置: qiming_coin_cell_code 函数 (L1048)
|
||||
self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
|
||||
```
|
||||
|
||||
- **写入 True**: 对应 Modbus 功能码 05 (Write Single Coil)，向地址 `8340` 写入 `1` (ON)。
|
||||
- **写入 False**: 向地址 `8340` 写入 `0` (OFF)。
|
||||
|
||||
> **注意**: 代码中使用了 `not lvbodian`，这意味着逻辑是反转的。如果 `lvbodian` 参数为 `True` (默认)，写入的是 `False` (不使用铝箔垫)。
|
||||
|
||||
---
|
||||
|
||||
## 4. 地址转换注意事项 (Modbus vs PLC)
|
||||
|
||||
CSV 中的 `Address` 列（如 `8340`）是 **Modbus 协议地址**。
|
||||
|
||||
如果使用 InoProShop (汇川 PLC 编程软件)，看到的可能是 **PLC 内部地址** (如 `%QX...` 或 `%MW...`)。这两者之间通常需要转换。
|
||||
|
||||
### 常见的转换规则 (示例)
|
||||
|
||||
- **Coil (线圈) %QX**:
|
||||
- `Modbus地址 = 字节地址 * 8 + 位偏移`
|
||||
- *例子*: `%QX834.0` -> `834 * 8 + 0` = `6672`
|
||||
- *注意*: 如果 CSV 中配置的是 `8340`，这可能是一个自定义映射，或者是基于不同规则（如直接对应 Word 地址的某种映射，或者可能就是地址写错了/使用了非标准映射）。
|
||||
|
||||
- **Register (寄存器) %MW**:
|
||||
- 通常直接对应，或者有偏移量 (如 Modbus 40001 = PLC MW0)。
|
||||
|
||||
### 验证方法
|
||||
由于 `test_unilab_interact.py` 中发现 `8450` (CSV风格) 不工作，而 `6760` (%QX845.0 计算值) 工作正常，**建议对 CSV 中的其他地址也进行核实**，特别是像 `8340` 这样以 0 结尾看起来像是 "字节地址+0" 的数值，可能实际上应该是 `%QX834.0` 对应的 `6672`。
|
||||
|
||||
如果发现设备控制无反应，请尝试按照标准的 Modbus 计算方式转换 PLC 地址。
|
||||
@@ -0,0 +1,352 @@
|
||||
# 2026-01-13 物料搜寻确认弹窗自动处理功能
|
||||
|
||||
## 概述
|
||||
|
||||
本次更新为设备初始化流程添加了**物料搜寻确认弹窗自动检测与处理功能**。在设备初始化过程中，PLC 会弹出物料搜寻确认对话框，现在系统可以根据用户参数自动点击"是"或"否"按钮，无需手动干预。
|
||||
|
||||
## 背景问题
|
||||
|
||||
### 原有流程
|
||||
1. 调用 `func_pack_device_init_auto_start_combined()` 初始化设备
|
||||
2. PLC 在初始化过程中弹出物料搜寻确认对话框
|
||||
3. **需要人工手动点击**"是"或"否"按钮
|
||||
4. PLC 继续完成初始化并启动
|
||||
|
||||
### 存在的问题
|
||||
- 需要人工干预，无法实现全自动化
|
||||
- 影响批量生产效率
|
||||
- 容易遗忘点击导致流程卡住
|
||||
|
||||
## 解决方案
|
||||
|
||||
### 新增 Modbus 地址配置
|
||||
|
||||
在 `coin_cell_assembly_b.csv` 第 69-71 行添加三个 coil：
|
||||
|
||||
| Name | DeviceType | Address | 说明 |
|
||||
|------|-----------|---------|------|
|
||||
| COIL_MATERIAL_SEARCH_DIALOG_APPEAR | coil | 6470 | 物料搜寻确认弹窗画面是否出现 |
|
||||
| COIL_MATERIAL_SEARCH_CONFIRM_YES | coil | 6480 | 初始化物料搜寻确认按钮"是" |
|
||||
| COIL_MATERIAL_SEARCH_CONFIRM_NO | coil | 6490 | 初始化物料搜寻确认按钮"否" |
|
||||
|
||||
**Modbus 地址转换：**
|
||||
- CSV 6470 → Modbus 5176 (弹窗出现)
|
||||
- CSV 6480 → Modbus 5184 (按钮"是")
|
||||
- CSV 6490 → Modbus 5192 (按钮"否")
|
||||
|
||||
## 代码修改详情
|
||||
|
||||
### 1. coin_cell_assembly.py
|
||||
|
||||
#### 1.1 新增辅助方法 `_handle_material_search_dialog()`
|
||||
|
||||
**位置：** 第 799-901 行
|
||||
|
||||
**功能：**
|
||||
- 监测物料搜寻确认弹窗是否出现（Coil 5176）
|
||||
- 根据 `enable_search` 参数自动点击对应按钮
|
||||
- 使用**脉冲模式**模拟真实按钮操作：`True` → 保持 0.5 秒 → `False`
|
||||
|
||||
**参数：**
|
||||
- `enable_search: bool` - True=点击"是"(启用物料搜寻), False=点击"否"(不启用)
|
||||
- `timeout: int = 30` - 等待弹窗出现的最大时间（秒）
|
||||
|
||||
**逻辑流程：**
|
||||
```python
|
||||
1. 监测 COIL_MATERIAL_SEARCH_DIALOG_APPEAR (每 0.5 秒检查一次)
|
||||
2. 检测到弹窗出现 (Coil = True)
|
||||
3. 选择按钮：
|
||||
- enable_search=True → COIL_MATERIAL_SEARCH_CONFIRM_YES
|
||||
- enable_search=False → COIL_MATERIAL_SEARCH_CONFIRM_NO
|
||||
4. 执行脉冲操作：
|
||||
- 写入 True (按下按钮)
|
||||
- 等待 0.5 秒
|
||||
- 写入 False (释放按钮)
|
||||
- 验证状态
|
||||
```
|
||||
|
||||
#### 1.2 修改 `func_pack_device_init_auto_start_combined()`
|
||||
|
||||
**位置：** 第 904-1115 行
|
||||
|
||||
**主要改动：**
|
||||
|
||||
1. **添加新参数**
|
||||
```python
|
||||
def func_pack_device_init_auto_start_combined(
|
||||
self,
|
||||
material_search_enable: bool = False # 新增参数
|
||||
) -> bool:
|
||||
```
|
||||
|
||||
2. **内联初始化逻辑并集成弹窗检测**
|
||||
- 不再调用 `self.func_pack_device_init()`
|
||||
- 将初始化逻辑直接实现在函数内
|
||||
- **在等待初始化完成的循环中实时检测弹窗**
|
||||
- 避免死锁：PLC 等待弹窗确认 ↔ 代码等待初始化完成
|
||||
|
||||
3. **关键代码片段**
|
||||
```python
|
||||
# 等待初始化完成，同时检测物料搜寻弹窗
|
||||
while (self._sys_init_status()) == False:
|
||||
# 检查超时
|
||||
if time.time() - start_wait > max_wait_time:
|
||||
raise RuntimeError(f"初始化超时")
|
||||
|
||||
# 如果还没处理弹窗，检测弹窗是否出现
|
||||
if not dialog_handled:
|
||||
dialog_state = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR').read(1)
|
||||
if dialog_actual: # 弹窗出现
|
||||
# 执行脉冲按钮点击
|
||||
button_node.write(True) # 按下
|
||||
time.sleep(0.5) # 保持
|
||||
button_node.write(False) # 释放
|
||||
dialog_handled = True
|
||||
|
||||
time.sleep(1)
|
||||
```
|
||||
|
||||
4. **步骤调整**
|
||||
- 步骤 0: 前置条件检查
|
||||
- 步骤 1: 设备初始化（**包含弹窗检测**）
|
||||
- 步骤 1.5: 已在步骤 1 中完成
|
||||
- 步骤 2: 切换自动模式
|
||||
- 步骤 3: 启动设备
|
||||
|
||||
### 2. coin_cell_workstation.yaml
|
||||
|
||||
**位置：** 第 292-312 行
|
||||
|
||||
**修改内容：**
|
||||
|
||||
```yaml
|
||||
auto-func_pack_device_init_auto_start_combined:
|
||||
goal_default:
|
||||
material_search_enable: false # 新增默认值
|
||||
|
||||
schema:
|
||||
description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
|
||||
|
||||
goal:
|
||||
properties:
|
||||
material_search_enable: # 新增参数配置
|
||||
default: false
|
||||
description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
|
||||
type: boolean
|
||||
```
|
||||
|
||||
### 3. 测试脚本（已创建，用户已删除）
|
||||
|
||||
#### 3.1 test_material_search_dialog.py
|
||||
- 从 CSV 动态加载 Modbus 地址
|
||||
- 支持 4 种测试模式：
|
||||
- `query` - 查询所有状态
|
||||
- `dialog <0|1>` - 设置弹窗出现/消失
|
||||
- `yes` - 脉冲点击"是"按钮
|
||||
- `no` - 脉冲点击"否"按钮
|
||||
- 兼容 pymodbus 3.x API
|
||||
|
||||
#### 3.2 更新其他测试脚本
|
||||
- `test_coin_cell_reset.py` - 更新为 pymodbus 3.x API
|
||||
- `test_unilab_interact.py` - 更新为 pymodbus 3.x API
|
||||
|
||||
## 使用方法
|
||||
|
||||
### 参数说明
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `material_search_enable` | boolean | `false` | 是否启用物料搜寻功能 |
|
||||
|
||||
### 调用示例
|
||||
|
||||
#### 1. 不启用物料搜寻（默认）
|
||||
```python
|
||||
# 默认参数，点击"否"按钮
|
||||
await device.func_pack_device_init_auto_start_combined()
|
||||
```
|
||||
|
||||
或在 YAML workflow 中：
|
||||
```yaml
|
||||
# 使用默认值 false，不启用物料搜寻
|
||||
- BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
|
||||
```
|
||||
|
||||
#### 2. 启用物料搜寻
|
||||
```python
|
||||
# 显式设置为 True，点击"是"按钮
|
||||
await device.func_pack_device_init_auto_start_combined(
|
||||
material_search_enable=True
|
||||
)
|
||||
```
|
||||
|
||||
或在 YAML workflow 中：
|
||||
```yaml
|
||||
- BatteryStation/auto-func_pack_device_init_auto_start_combined:
|
||||
goal:
|
||||
material_search_enable: true # 启用物料搜寻
|
||||
```
|
||||
|
||||
## 执行日志示例
|
||||
|
||||
```
|
||||
26-01-13 [21:32:44] [INFO] 开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动
|
||||
26-01-13 [21:32:44] [INFO] 【步骤 0/4】前置条件检查...
|
||||
26-01-13 [21:32:44] [INFO] ✓ REG_UNILAB_INTERACT 检查通过
|
||||
26-01-13 [21:32:44] [INFO] ✓ COIL_GB_L_IGNORE_CMD 检查通过
|
||||
26-01-13 [21:32:44] [INFO] 【步骤 1/4】设备初始化...
|
||||
26-01-13 [21:32:44] [INFO] 切换手动模式...
|
||||
26-01-13 [21:32:46] [INFO] 发送初始化命令...
|
||||
26-01-13 [21:32:47] [INFO] 等待初始化完成（同时监测物料搜寻弹窗）...
|
||||
26-01-13 [21:33:05] [INFO] ✓ 在初始化过程中检测到物料搜寻确认弹窗！
|
||||
26-01-13 [21:33:05] [INFO] 用户选择: 不启用物料搜寻（点击否）
|
||||
26-01-13 [21:33:05] [INFO] → 按下按钮 '否'
|
||||
26-01-13 [21:33:06] [INFO] → 释放按钮 '否'
|
||||
26-01-13 [21:33:07] [INFO] ✓ 成功处理物料搜寻确认弹窗（选择: 否）
|
||||
26-01-13 [21:33:08] [INFO] ✓ 初始化状态完成
|
||||
26-01-13 [21:33:12] [INFO] ✓ 设备初始化完成
|
||||
26-01-13 [21:33:12] [INFO] 【步骤 1.5/4】物料搜寻确认已在初始化过程中完成
|
||||
26-01-13 [21:33:12] [INFO] 【步骤 2/4】切换自动模式...
|
||||
26-01-13 [21:33:15] [INFO] ✓ 切换自动模式完成
|
||||
26-01-13 [21:33:15] [INFO] 【步骤 3/4】启动设备...
|
||||
26-01-13 [21:33:18] [INFO] ✓ 启动设备完成
|
||||
26-01-13 [21:33:18] [INFO] 组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动
|
||||
```
|
||||
|
||||
## 技术要点
|
||||
|
||||
### 1. 脉冲模式按钮操作
|
||||
模拟真实按钮按压过程：
|
||||
1. 写入 `True` (按下)
|
||||
2. 保持 0.5 秒
|
||||
3. 写入 `False` (释放)
|
||||
4. 验证状态
|
||||
|
||||
### 2. 避免死锁
|
||||
**问题：** PLC 在初始化过程中等待弹窗确认，而代码等待初始化完成
|
||||
**解决：** 在初始化等待循环中实时检测弹窗，一旦出现立即处理
|
||||
|
||||
### 3. 超时保护
|
||||
- 弹窗检测超时：30 秒（在 `_handle_material_search_dialog` 中）
|
||||
- 初始化超时：120 秒（在 `func_pack_device_init_auto_start_combined` 中）
|
||||
|
||||
### 4. PyModbus 3.x API 兼容
|
||||
所有 Modbus 操作使用 keyword arguments：
|
||||
```python
|
||||
# 读取
|
||||
client.read_coils(address=5176, count=1)
|
||||
|
||||
# 写入
|
||||
client.write_coil(address=5184, value=True)
|
||||
```
|
||||
|
||||
## 向后兼容性
|
||||
|
||||
### 保留的原有函数
|
||||
- `func_pack_device_init()` - 单独的初始化函数，不包含弹窗处理
|
||||
- 仍可在 YAML 中通过 `auto-func_pack_device_init` 调用
|
||||
- 用于不需要自动处理弹窗的场景
|
||||
|
||||
### 新增的功能
|
||||
- 在 `func_pack_device_init_auto_start_combined()` 中集成弹窗处理
|
||||
- 通过参数控制，默认行为与之前兼容（点击"否"）
|
||||
|
||||
## 验证测试
|
||||
|
||||
### 测试场景
|
||||
|
||||
#### 场景 1：默认参数（不启用物料搜寻）
|
||||
```bash
|
||||
# 调用时不传参数
|
||||
BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
|
||||
```
|
||||
**预期结果：**
|
||||
- ✅ 检测到弹窗
|
||||
- ✅ 自动点击"否"按钮
|
||||
- ✅ 初始化完成并启动成功
|
||||
|
||||
#### 场景 2：启用物料搜寻
|
||||
```bash
|
||||
# 设置 material_search_enable=true
|
||||
BatteryStation/auto-func_pack_device_init_auto_start_combined:
|
||||
goal:
|
||||
material_search_enable: true
|
||||
```
|
||||
**预期结果：**
|
||||
- ✅ 检测到弹窗
|
||||
- ✅ 自动点击"是"按钮
|
||||
- ✅ 初始化完成并启动成功
|
||||
|
||||
### 实际测试结果
|
||||
|
||||
**测试时间：** 2026-01-13 21:32:43
|
||||
**测试参数：** `material_search_enable: false`
|
||||
**测试结果：** ✅ 成功
|
||||
|
||||
**关键时间节点：**
|
||||
- 21:33:05 - 检测到弹窗
|
||||
- 21:33:05 - 按下"否"按钮
|
||||
- 21:33:06 - 释放"否"按钮
|
||||
- 21:33:07 - 弹窗处理完成
|
||||
- 21:33:08 - 初始化状态完成
|
||||
- 21:33:18 - 整个流程完成
|
||||
|
||||
**总耗时：** 约 35 秒（包含初始化全过程）
|
||||
|
||||
## 注意事项
|
||||
|
||||
1. **CSV 配置依赖**
|
||||
- 确保 `coin_cell_assembly_b.csv` 包含 69-71 行的 coil 配置
|
||||
- 地址转换逻辑：`modbus_addr = (csv_addr // 10) * 8 + (csv_addr % 10)`
|
||||
|
||||
2. **默认行为**
|
||||
- 默认 `material_search_enable=false`，即不启用物料搜寻
|
||||
- 如需启用，必须显式设置为 `true`
|
||||
|
||||
3. **日志级别**
|
||||
- 弹窗检测过程中的 `waiting for init_cmd` 使用 DEBUG 级别
|
||||
- 关键操作（检测到弹窗、按钮操作）使用 INFO 级别
|
||||
|
||||
4. **原有函数保留**
|
||||
- `func_pack_device_init()` 仍然可用，但不包含弹窗处理
|
||||
- 如果单独调用此函数，仍需手动处理弹窗
|
||||
|
||||
## 文件清单
|
||||
|
||||
### 修改的文件
|
||||
1. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`
|
||||
- 新增 `_handle_material_search_dialog()` 方法
|
||||
- 修改 `func_pack_device_init_auto_start_combined()` 函数
|
||||
|
||||
2. `d:\UniLabdev\Uni-Lab-OS\unilabos\registry\devices\coin_cell_workstation.yaml`
|
||||
- 更新 `auto-func_pack_device_init_auto_start_combined` 配置
|
||||
- 添加 `material_search_enable` 参数说明
|
||||
|
||||
3. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly_b.csv`
|
||||
- 第 69-71 行添加三个 coil 配置
|
||||
|
||||
### 创建的测试文件（已删除）
|
||||
1. `test_material_search_dialog.py` - 物料搜寻弹窗测试脚本
|
||||
2. `test_coin_cell_reset.py` - 复位功能测试（更新为 pymodbus 3.x）
|
||||
3. `test_unilab_interact.py` - Unilab 交互测试（更新为 pymodbus 3.x）
|
||||
|
||||
## 总结
|
||||
|
||||
本次更新成功实现了设备初始化过程中物料搜寻确认弹窗的自动化处理，主要优势：
|
||||
|
||||
✅ **全自动化** - 无需人工干预
|
||||
✅ **参数可配** - 灵活控制是否启用物料搜寻
|
||||
✅ **实时检测** - 在初始化等待循环中检测，避免死锁
|
||||
✅ **脉冲模式** - 模拟真实按钮操作
|
||||
✅ **向后兼容** - 保留原有函数，不影响现有流程
|
||||
✅ **完整日志** - 详细记录每一步操作
|
||||
✅ **超时保护** - 防止无限等待
|
||||
|
||||
该功能已通过实际测试验证，可投入生产使用。
|
||||
|
||||
---
|
||||
|
||||
**文档版本：** 1.0
|
||||
**创建日期：** 2026-01-13
|
||||
**作者：** Antigravity AI Assistant
|
||||
**最后更新：** 2026-01-13 21:36
|
||||
@@ -0,0 +1,645 @@
|
||||
"""
|
||||
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
|
||||
|
||||
from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
|
||||
from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
|
||||
from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
|
||||
|
||||
|
||||
|
||||
# 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,
|
||||
}
|
||||
|
||||
|
||||
#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]
|
||||
|
||||
|
||||
def TipBox64(
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""64孔枪头盒类"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
# 创建12x8=96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=12,
|
||||
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,
|
||||
)
|
||||
idx_available = list(range(0, 32)) + list(range(64, 96))
|
||||
tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
|
||||
tip_rack = TipRack(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
# ordered_items=tip_spots_available,
|
||||
ordered_items=tip_spots,
|
||||
category=category,
|
||||
model=model,
|
||||
with_tips=False,
|
||||
)
|
||||
tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32) # 前32和后32个有枪头，中间32个无枪头
|
||||
return tip_rack
|
||||
|
||||
|
||||
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,
|
||||
material_z_thickness=0,
|
||||
max_volume=float("inf"),
|
||||
category="trash",
|
||||
model=None,
|
||||
compute_volume_from_height=None,
|
||||
compute_height_from_volume=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 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 = 1450.0, # 1m
|
||||
size_y: float = 1450.0, # 1m
|
||||
size_z: float = 100.0, # 0.9m
|
||||
origin: Coordinate = Coordinate(-2200, 0, 0),
|
||||
category: str = "coin_cell_deck",
|
||||
setup: bool = False, # 是否自动执行 setup
|
||||
):
|
||||
"""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) - 1m
|
||||
size_y: 宽度 (mm) - 1m
|
||||
size_z: 高度 (mm) - 0.9m
|
||||
origin: 原点坐标
|
||||
category: 类别
|
||||
setup: 是否自动执行 setup 配置标准布局
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1450.0,
|
||||
size_y=1450.0,
|
||||
size_z=100.0,
|
||||
origin=origin,
|
||||
)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
"""设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
|
||||
# ====================================== 子弹夹 ============================================
|
||||
|
||||
# 正极片（4个洞位，2x2布局）
|
||||
zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
|
||||
self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
|
||||
|
||||
# 正极壳、平垫片（6个洞位，2x2+2布局）
|
||||
zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
|
||||
self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
|
||||
|
||||
# 负极壳、弹垫片（6个洞位，2x2+2布局）
|
||||
fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
|
||||
self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
|
||||
|
||||
# 成品弹夹（6个洞位，3x2布局）
|
||||
chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
|
||||
self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
|
||||
|
||||
# ====================================== 物料板 ============================================
|
||||
# 创建物料板（料盘carrier）- 4x4布局
|
||||
# 负极料盘
|
||||
fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
|
||||
# for i in range(16):
|
||||
# fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
# fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
|
||||
|
||||
# 隔膜料盘
|
||||
gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
|
||||
# for i in range(16):
|
||||
# gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
# gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
|
||||
|
||||
# ====================================== 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
|
||||
# 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
|
||||
|
||||
# bottle_rack_3x4 = BottleRack(
|
||||
# name="bottle_rack_3x4",
|
||||
# size_x=210.0,
|
||||
# size_y=140.0,
|
||||
# size_z=100.0,
|
||||
# num_items_x=2,
|
||||
# num_items_y=4,
|
||||
# position_spacing=35.0,
|
||||
# orientation="vertical",
|
||||
# )
|
||||
# self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
|
||||
|
||||
# 电解液缓存位 - 6x2布局
|
||||
bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
|
||||
self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
|
||||
# 电解液回收位6x2
|
||||
bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
|
||||
self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
|
||||
|
||||
tip_box = TipBox64(name="tip_box_64")
|
||||
self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
|
||||
|
||||
waste_tip_box = WasteTipBox(name="waste_tip_box")
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
|
||||
|
||||
|
||||
def YH_Deck(name=""):
|
||||
cd = CoincellDeck(name=name)
|
||||
cd.setup()
|
||||
return cd
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
deck = create_coin_cell_deck()
|
||||
print(deck)
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,133 @@
|
||||
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
|
||||
REG_UNILAB_INTERACT,BOOL,,,,coil,8450,
|
||||
,,,,,coil,8320,
|
||||
COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,,,coil,8360,
|
||||
,BOOL,,,,coil,8300,
|
||||
,BOOL,,,,coil,8310,
|
||||
COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320,
|
||||
COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420,
|
||||
,BOOL,,,,coil,8350,
|
||||
COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370,
|
||||
,BOOL,,,,coil,8380,
|
||||
,BOOL,,,,coil,8390,
|
||||
,BOOL,,,,coil,8400,
|
||||
,BOOL,,,,coil,8410,
|
||||
REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001,
|
||||
COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430,
|
||||
COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470,
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460,
|
||||
COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470,
|
||||
COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480,
|
||||
COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490,
|
||||
COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常
|
||||
COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停
|
||||
COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停
|
||||
COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡
|
||||
COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料
|
||||
COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料
|
||||
COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料
|
||||
COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料
|
||||
COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料
|
||||
COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料
|
||||
COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料
|
||||
COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料
|
||||
COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料
|
||||
COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料
|
||||
COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常
|
||||
COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常
|
||||
COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常
|
||||
COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常
|
||||
COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常
|
||||
COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常
|
||||
COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常
|
||||
COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常
|
||||
COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常
|
||||
COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常
|
||||
COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常
|
||||
COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常
|
||||
COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常
|
||||
COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常
|
||||
COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常
|
||||
COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常
|
||||
COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警
|
||||
COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常
|
||||
COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误
|
||||
COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制
|
||||
COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大
|
||||
COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败
|
||||
COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败
|
||||
COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败
|
||||
COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败
|
||||
COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败
|
||||
COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常
|
||||
COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常
|
||||
COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常
|
||||
COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常
|
||||
COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常
|
||||
COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常
|
||||
COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常
|
||||
COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常
|
||||
COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常
|
||||
COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常
|
||||
COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常
|
||||
COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常
|
||||
COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常
|
||||
COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常
|
||||
COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常
|
||||
COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常
|
||||
COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常
|
||||
COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常
|
||||
COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常
|
||||
COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常
|
||||
COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常
|
||||
COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常
|
||||
|
File diff suppressed because it is too large
Load Diff
@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
# 验证必需字段
|
||||
if 'brand' in request_data:
|
||||
if request_data['brand'] == "bioyond": # 奔曜
|
||||
error_msg = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_msg}")
|
||||
material_data = request_data["text"]
|
||||
logger.info(f"收到奔曜物料变更报送: {material_data}")
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已收到: {error_msg}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
|
||||
message=f"物料变更报送已收到: {material_data}",
|
||||
acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
|
||||
data=None
|
||||
)
|
||||
else:
|
||||
|
||||
Reference in New Issue
Block a user