diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 51d668ba..966de336 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -1,11 +1,15 @@ + import csv +import inspect import json import os import threading import time +import types from datetime import datetime from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource +from functools import wraps +from pylabrobot.resources import Deck, Resource as PLRResource from unilabos_msgs.msg import Resource from unilabos.device_comms.modbus_plc.client import ModbusTcpClient from unilabos.devices.workstation.workstation_base import WorkstationBase @@ -15,12 +19,99 @@ from unilabos.devices.workstation.coin_cell_assembly.button_battery_station impo from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck +from unilabos.resources.graphio import convert_resources_to_type +from unilabos.utils.log import logger + + +def _ensure_modbus_slave_kw_alias(modbus_client): + if modbus_client is None: + return + + method_names = [ + "read_coils", + "write_coils", + "write_coil", + "read_discrete_inputs", + "read_holding_registers", + "write_register", + "write_registers", + ] + + def _wrap(func): + signature = inspect.signature(func) + has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values()) + accepts_unit = has_var_kwargs or "unit" in signature.parameters + accepts_slave = has_var_kwargs or "slave" in signature.parameters + + @wraps(func) + def _wrapped(self, *args, **kwargs): + if "slave" in kwargs and not accepts_slave: + slave_value = kwargs.pop("slave") + if accepts_unit and "unit" not in kwargs: + kwargs["unit"] = slave_value + if "unit" in kwargs and not accepts_unit: + unit_value = kwargs.pop("unit") + if accepts_slave and "slave" not in kwargs: + kwargs["slave"] = unit_value + return func(self, *args, **kwargs) + + _wrapped._has_slave_alias = True + return _wrapped + + for name in method_names: + if not hasattr(modbus_client, name): + continue + bound_method = getattr(modbus_client, name) + func = getattr(bound_method, "__func__", None) + if func is None: + continue + if getattr(func, "_has_slave_alias", False): + continue + wrapped = _wrap(func) + setattr(modbus_client, name, types.MethodType(wrapped, modbus_client)) + + +def _coerce_station_resource_input(station_resource: Any) -> Optional[Deck]: + if station_resource is None: + return None + + if isinstance(station_resource, Deck): + return station_resource + + if isinstance(station_resource, PLRResource): + return station_resource if isinstance(station_resource, Deck) else None + + candidates = None + if isinstance(station_resource, dict): + if "nodes" in station_resource and isinstance(station_resource["nodes"], list): + candidates = station_resource["nodes"] + else: + candidates = [station_resource] + elif isinstance(station_resource, list): + candidates = station_resource + + if candidates is None: + return None + + try: + converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck) + if isinstance(converted, Deck): + return converted + if isinstance(converted, list): + for item in converted: + if isinstance(item, Deck): + return item + except Exception as exc: + logger.warning(f"station_resource 转换 Deck 失败: {exc}") + return None + #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, + station_resource: Optional[Any] = None, deck: Deck=None, address: str = "172.21.32.20", port: str = "502", @@ -28,6 +119,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase): *args, **kwargs, ): + if station_resource is None and "station_resource" in kwargs: + station_resource = kwargs.pop("station_resource") + else: + kwargs.pop("station_resource", None) + + normalized_station_resource = _coerce_station_resource_input(station_resource) + + if deck is None and isinstance(normalized_station_resource, Deck): + deck = normalized_station_resource + super().__init__( #桌子 deck=deck, @@ -35,10 +136,34 @@ class CoinCellAssemblyWorkstation(WorkstationBase): **kwargs, ) self.debug_mode = debug_mode - self.deck = deck + + self.station_resource = normalized_station_resource if isinstance(normalized_station_resource, Deck) else None + + if self.deck is None: + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900) + self.station_resource = self.deck + # 创建料盘1并添加极片 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + self.deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + # 创建料盘2 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + self.deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + # 创建电池料盘 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + self.deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + else: + if self.station_resource is None: + self.station_resource = self.deck + elif self.deck is not self.station_resource: + self.deck = self.station_resource + """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) print("modbus_client", modbus_client) + _ensure_modbus_slave_kw_alias(modbus_client.client) if not debug_mode: modbus_client.client.connect() count = 100 @@ -62,8 +187,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.csv_export_file = None self.coin_num_N = 0 #已组装电池数量 #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - #self._ros_node.update_resource(self.deck) #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ @@ -907,7 +1030,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": [self.station_resource] }) - time.sleep(4) + # for i in range(40): + # print(f"fun_wuliao_test 运行结束{i}") + # time.sleep(1) + # time.sleep(40) # 数据读取与输出 def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 @@ -1145,8 +1271,11 @@ if __name__ == "__main__": #liaopan2.children[1].assign_child_resource(jipian1, location=None) ##print(jipian2.parent) - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") + # 使用 Coin_Cell 对象的 deck 属性 + deck = Coin_Cell.deck + + liaopan1 = Coin_Cell.deck.get_resource("liaopan1") + liaopan2 = Coin_Cell.deck.get_resource("liaopan2") for i in range(16): #找到liaopan1上每一个jipian jipian_linshi = liaopan1.children[i].children[0] @@ -1172,7 +1301,7 @@ if __name__ == "__main__": BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" from unilabos.app.web.client import http_client - resources = convert_resources_from_type([deck], [Resource]) + resources = convert_resources_from_type([Coin_Cell.deck], [Resource]) json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) #print(resources) @@ -1180,4 +1309,6 @@ if __name__ == "__main__": http_client.resource_add(resources) + + \ No newline at end of file