YB4branc_bylixinyu

new_cellconfig3c.json

@@ -47,21 +47,50 @@
     {
       "id": "BatteryStation",
       "name": "扣电工作站",
+      "parent": null,
       "children": [
         "coin_cell_deck"
       ],
-      "parent": null,
       "type": "device",
-      "class": "coincellassemblyworkstation_device",
+      "class":"coincellassemblyworkstation_device",
       "position": {
-        "x": 600,
-        "y": 400,
+        "x": -600,
+        "y": -400,
         "z": 0
       },
       "config": {
-        "debug_mode": false,
+        "deck": {
+          "data": {
+            "_resource_child_name": "YB_YH_Deck",
+            "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck"
+          }
+        },
         "protocol_type": []
       }
+    },
+    {
+      "id": "YB_YH_Deck",
+      "name": "YB_YH_Deck",
+      "children": [],
+      "parent": "BatteryStation",
+      "type": "deck",
+      "class": "CoincellDeck",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "CoincellDeck",
+        "setup": true,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        }
+      },
+      "data": {}
     }
   ],
   "links": []

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -109,44 +109,23 @@ def _coerce_deck_input(deck: Any) -> Optional[Deck]:
 #构建物料系统
 
 class CoinCellAssemblyWorkstation(WorkstationBase):
-    def __init__(
-        self,
-        deck: Deck=None,
-        address: str = "172.21.33.176",
-        port: str = "502",
-        debug_mode: bool = False,
+    def __init__(self, 
+        config: dict = None, 
+        deck=None, 
+            address: str = "172.21.33.176",
+            port: str = "502",
+            debug_mode: bool = False,
         *args,
-        **kwargs,
-    ):
-        if deck is None and "deck" in kwargs:
-            deck = kwargs.pop("deck")
-        else:
-            kwargs.pop("deck", None)
+        **kwargs):
 
-        normalized_deck = _coerce_deck_input(deck)
-
-        if deck is None and isinstance(normalized_deck, Deck):
-            deck = normalized_deck
-
-        super().__init__(
-            #桌子
-            deck=deck,
-            *args,
-            **kwargs,
-        )
+        if deck is None and config:
+            deck = config.get('deck')
+        else :
+            logger.info("没有传入依华deck，检查启动json文件")
+        super().__init__(deck=deck, *args, **kwargs,)
         self.debug_mode = debug_mode
 
-        # 如果没有传入 deck，则创建标准配置的 deck
-        if self.deck is None:
-            self.deck = CoincellDeck(size_x=3650, size_y=1550, size_z=2100, origin=Coordinate(-2000, 100, 0),setup=True)
-        else:
-            # 如果传入了 deck 但还没有 setup，可以选择是否 setup
-            if self.deck is not None and len(self.deck.children) == 0:
-                # deck 为空，执行 setup
-                self.deck.setup()
-            # 否则使用传入的 deck（可能已经配置好了）
-            self.deck = self.deck
-
+ 
         """ 连接初始化 """
         modbus_client = TCPClient(addr=address, port=port)
         logger.debug(f"创建 Modbus 客户端: {modbus_client}")
@@ -173,12 +152,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         self.csv_export_running = False
         self.csv_export_file = None
         self.coin_num_N = 0  #已组装电池数量
-        #创建一个物料台面，包含两个极片板
-        #self._ros_node.update_resource(self.deck)
-        
-        #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-        #    "resources": [self.deck]
-        #})
+
 
     
     def post_init(self, ros_node: ROS2WorkstationNode):

unilabos/registry/resources/bioyond/deck.yaml

@@ -34,3 +34,18 @@ BIOYOND_YB_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+CoincellDeck:
+  category:
+  - deck
+  class:
+    module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck
+    type: pylabrobot
+  description: CoincellDeck
+  handles: []
+  icon: yihua.webp
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+
+