mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-07 07:25:15 +00:00
Merge branch 'prcix9320' into prcxi9320
This commit is contained in:
q434343
GitHub
0
unilabos/devices/cameraSII/__init__.py
Normal file
0
unilabos/devices/cameraSII/__init__.py
Normal file
712
unilabos/devices/cameraSII/cameraDriver.py
Normal file
712
unilabos/devices/cameraSII/cameraDriver.py
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@@ -0,0 +1,712 @@
|
||||
#!/usr/bin/env python3
|
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import asyncio
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import json
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import subprocess
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import sys
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import threading
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from typing import Optional, Dict, Any
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import logging
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import requests
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import websockets
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logging.getLogger("zeep").setLevel(logging.WARNING)
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logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING)
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logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING)
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from onvif import ONVIFCamera # 新增：ONVIF PTZ 控制
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# ======================= 独立的 PTZController =======================
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class PTZController:
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def __init__(self, host: str, port: int, user: str, password: str):
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"""
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:param host: 摄像机 IP 或域名（和 RTSP 的一样即可）
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:param port: ONVIF 端口（多数为 80，看你的设备）
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||||
:param user: 摄像机用户名
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:param password: 摄像机密码
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"""
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self.host = host
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self.port = port
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self.user = user
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self.password = password
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self.cam: Optional[ONVIFCamera] = None
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self.media_service = None
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self.ptz_service = None
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self.profile = None
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def connect(self) -> bool:
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"""
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建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常）
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Note: 首先 pip install onvif-zeep
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"""
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try:
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self.cam = ONVIFCamera(self.host, self.port, self.user, self.password)
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self.media_service = self.cam.create_media_service()
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self.ptz_service = self.cam.create_ptz_service()
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profiles = self.media_service.GetProfiles()
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if not profiles:
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print("[PTZ] No media profiles found on camera.", file=sys.stderr)
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return False
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self.profile = profiles[0]
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return True
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except Exception as e:
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print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr)
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return False
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def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool:
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"""
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连续移动一段时间（秒），之后自动停止。
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此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。
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"""
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if not self.ptz_service or not self.profile:
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print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr)
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return False
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# 进入前先强行停一下，避免前一次残留动作
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self._force_stop()
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req = self.ptz_service.create_type("ContinuousMove")
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req.ProfileToken = self.profile.token
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req.Velocity = {
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"PanTilt": {"x": pan, "y": tilt},
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"Zoom": {"x": zoom},
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}
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try:
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print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr)
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self.ptz_service.ContinuousMove(req)
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except Exception as e:
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print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr)
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return False
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# 阻塞等待：这里决定“运动时间”
|
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import time
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wait_seconds = max(2 * duration, 0.0)
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time.sleep(wait_seconds)
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|
||||
# 运动完成后强制停止
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return self._force_stop()
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||||
|
||||
def stop(self) -> bool:
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"""
|
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阻塞调用 Stop（带重试），成功 True，失败 False。
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"""
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return self._force_stop()
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# ------- 对外动作接口（给 CameraController 调用） -------
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# 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False
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def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
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print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr)
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return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration)
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def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
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print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr)
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return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration)
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def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
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print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr)
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return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration)
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def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
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print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr)
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return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration)
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# ------- 占位的变倍接口（当前设备不支持） -------
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def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
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"""
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当前设备不支持变倍；保留方法只是避免上层调用时报错。
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"""
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print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
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return False
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def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
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"""
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当前设备不支持变倍；保留方法只是避免上层调用时报错。
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"""
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print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
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return False
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def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool:
|
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"""
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尝试多次调用 Stop，作为“强制停止”手段。
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:param retries: 重试次数
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:param delay: 每次重试间隔（秒）
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"""
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if not self.ptz_service or not self.profile:
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print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr)
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return False
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import time
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last_error = None
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for i in range(retries):
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try:
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print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr)
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self.ptz_service.Stop({"ProfileToken": self.profile.token})
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print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr)
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return True
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except Exception as e:
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last_error = e
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print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr)
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time.sleep(delay)
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print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr)
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return False
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# ======================= CameraController（加入 PTZ） =======================
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class CameraController:
|
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"""
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Uni-Lab-OS 摄像头驱动（driver 形式）
|
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启动 Uni-Lab-OS 后，立即开始推流
|
||||
|
||||
- WebSocket 信令：通过 signal_backend_url 连接到后端
|
||||
例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
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- 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url
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||||
当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。
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||||
"""
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||||
|
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def __init__(
|
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self,
|
||||
host_id: str = "demo-host",
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# （1）信令后端（WebSocket）
|
||||
signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
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||||
|
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# （2）媒体后端（RTMP + WebRTC API）
|
||||
rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
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webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
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webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
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camera_rtsp_url: str = "",
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||||
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# （3）PTZ 控制相关（ONVIF）
|
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ptz_host: str = "", # 一般就是摄像头 IP，比如 "192.168.31.164"
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ptz_port: int = 80, # ONVIF 端口，不一定是 80，按实际情况改
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||||
ptz_user: str = "", # admin
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||||
ptz_password: str = "", # admin123
|
||||
):
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||||
self.host_id = host_id
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||||
self.camera_rtsp_url = camera_rtsp_url
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||||
|
||||
# 拼接最终的 WebSocket URL：.../host/<host_id>
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{host_id}"
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||||
|
||||
# 媒体服务器配置
|
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self.rtmp_url = rtmp_url
|
||||
self.webrtc_api = webrtc_api
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||||
self.webrtc_stream_url = webrtc_stream_url
|
||||
|
||||
# PTZ 控制
|
||||
self.ptz_host = ptz_host
|
||||
self.ptz_port = ptz_port
|
||||
self.ptz_user = ptz_user
|
||||
self.ptz_password = ptz_password
|
||||
self._ptz: Optional[PTZController] = None
|
||||
self._init_ptz_if_possible()
|
||||
|
||||
# 运行时状态
|
||||
self._ws: Optional[object] = None
|
||||
self._ffmpeg_process: Optional[subprocess.Popen] = None
|
||||
self._running = False
|
||||
self._loop_task: Optional[asyncio.Future] = None
|
||||
|
||||
# 事件循环 & 线程
|
||||
self._loop: Optional[asyncio.AbstractEventLoop] = None
|
||||
self._loop_thread: Optional[threading.Thread] = None
|
||||
|
||||
try:
|
||||
self.start()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
|
||||
|
||||
# ------------------------ PTZ 初始化 ------------------------
|
||||
|
||||
# ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------
|
||||
|
||||
def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_up(speed=speed, duration=duration)
|
||||
|
||||
def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_down(speed=speed, duration=duration)
|
||||
|
||||
def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_left(speed=speed, duration=duration)
|
||||
|
||||
def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}")
|
||||
return self._ptz.move_right(speed=speed, duration=duration)
|
||||
|
||||
def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
"""
|
||||
当前设备不支持变倍；保留方法只是避免上层调用时报错。
|
||||
"""
|
||||
print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool:
|
||||
"""
|
||||
当前设备不支持变倍；保留方法只是避免上层调用时报错。
|
||||
"""
|
||||
print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr)
|
||||
return False
|
||||
|
||||
def ptz_stop(self):
|
||||
if self._ptz is None:
|
||||
print("[CameraController] PTZ not initialized.", file=sys.stderr)
|
||||
return
|
||||
self._ptz.stop()
|
||||
|
||||
def _init_ptz_if_possible(self):
|
||||
"""
|
||||
根据 ptz_host / user / password 初始化 PTZ；
|
||||
如果配置信息不全则不启用 PTZ（静默）。
|
||||
"""
|
||||
if not (self.ptz_host and self.ptz_user and self.ptz_password):
|
||||
return
|
||||
ctrl = PTZController(
|
||||
host=self.ptz_host,
|
||||
port=self.ptz_port,
|
||||
user=self.ptz_user,
|
||||
password=self.ptz_password,
|
||||
)
|
||||
if ctrl.connect():
|
||||
self._ptz = ctrl
|
||||
else:
|
||||
self._ptz = None
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# 对外暴露的方法：供 Uni-Lab-OS 调用
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
def start(self, config: Optional[Dict[str, Any]] = None):
|
||||
"""
|
||||
启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流，
|
||||
"""
|
||||
|
||||
if self._running:
|
||||
return {"status": "already_running", "host_id": self.host_id}
|
||||
|
||||
# 应用 config 覆盖（如果有）
|
||||
if config:
|
||||
self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url)
|
||||
cfg_host_id = config.get("host_id")
|
||||
if cfg_host_id:
|
||||
self.host_id = cfg_host_id
|
||||
|
||||
signal_backend_url = config.get("signal_backend_url")
|
||||
if signal_backend_url:
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
|
||||
|
||||
self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
|
||||
self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
|
||||
self.webrtc_stream_url = config.get(
|
||||
"webrtc_stream_url", self.webrtc_stream_url
|
||||
)
|
||||
|
||||
# PTZ 相关配置也允许通过 config 注入
|
||||
self.ptz_host = config.get("ptz_host", self.ptz_host)
|
||||
self.ptz_port = int(config.get("ptz_port", self.ptz_port))
|
||||
self.ptz_user = config.get("ptz_user", self.ptz_user)
|
||||
self.ptz_password = config.get("ptz_password", self.ptz_password)
|
||||
self._init_ptz_if_possible()
|
||||
|
||||
self._running = True
|
||||
|
||||
# === start 时启动 FFmpeg 推流 ===
|
||||
self._start_ffmpeg()
|
||||
|
||||
# 创建新的事件循环和线程（用于 WebSocket 信令）
|
||||
self._loop = asyncio.new_event_loop()
|
||||
|
||||
def loop_runner(loop: asyncio.AbstractEventLoop):
|
||||
asyncio.set_event_loop(loop)
|
||||
try:
|
||||
loop.run_forever()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] event loop error: {e}", file=sys.stderr)
|
||||
|
||||
self._loop_thread = threading.Thread(
|
||||
target=loop_runner, args=(self._loop,), daemon=True
|
||||
)
|
||||
self._loop_thread.start()
|
||||
|
||||
self._loop_task = asyncio.run_coroutine_threadsafe(
|
||||
self._run_main_loop(), self._loop
|
||||
)
|
||||
|
||||
return {
|
||||
"status": "started",
|
||||
"host_id": self.host_id,
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
"webrtc_api": self.webrtc_api,
|
||||
"webrtc_stream_url": self.webrtc_stream_url,
|
||||
}
|
||||
|
||||
def stop(self) -> Dict[str, Any]:
|
||||
"""
|
||||
停止推流 & 断开 WebSocket，并关闭事件循环线程。
|
||||
"""
|
||||
self._running = False
|
||||
|
||||
self._stop_ffmpeg()
|
||||
|
||||
if self._ws and self._loop is not None:
|
||||
async def close_ws():
|
||||
try:
|
||||
await self._ws.close()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when closing WebSocket: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
|
||||
|
||||
if self._loop_task is not None:
|
||||
if not self._loop_task.done():
|
||||
self._loop_task.cancel()
|
||||
try:
|
||||
self._loop_task.result()
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] main loop task error in stop(): {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
finally:
|
||||
self._loop_task = None
|
||||
|
||||
if self._loop is not None:
|
||||
try:
|
||||
self._loop.call_soon_threadsafe(self._loop.stop)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when stopping event loop: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
if self._loop_thread is not None:
|
||||
try:
|
||||
self._loop_thread.join(timeout=5)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when joining loop thread: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
finally:
|
||||
self._loop_thread = None
|
||||
|
||||
self._ws = None
|
||||
self._loop = None
|
||||
|
||||
return {"status": "stopped", "host_id": self.host_id}
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
查询当前状态，方便在 Uni-Lab-OS 中做监控。
|
||||
"""
|
||||
ws_closed = None
|
||||
if self._ws is not None:
|
||||
ws_closed = getattr(self._ws, "closed", None)
|
||||
|
||||
if ws_closed is None:
|
||||
websocket_connected = self._ws is not None
|
||||
else:
|
||||
websocket_connected = (self._ws is not None) and (not ws_closed)
|
||||
|
||||
return {
|
||||
"host_id": self.host_id,
|
||||
"running": self._running,
|
||||
"websocket_connected": websocket_connected,
|
||||
"ffmpeg_running": bool(
|
||||
self._ffmpeg_process and self._ffmpeg_process.poll() is None
|
||||
),
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
}
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
async def _run_main_loop(self):
|
||||
try:
|
||||
while self._running:
|
||||
try:
|
||||
async with websockets.connect(self.signal_backend_url) as ws:
|
||||
self._ws = ws
|
||||
await self._recv_loop()
|
||||
except asyncio.CancelledError:
|
||||
raise
|
||||
except Exception as e:
|
||||
if self._running:
|
||||
print(
|
||||
f"[CameraController] WebSocket connection error: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
await asyncio.sleep(3)
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
|
||||
async def _recv_loop(self):
|
||||
assert self._ws is not None
|
||||
ws = self._ws
|
||||
|
||||
async for message in ws:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
except json.JSONDecodeError:
|
||||
print(
|
||||
f"[CameraController] received non-JSON message: {message}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
continue
|
||||
|
||||
try:
|
||||
await self._handle_message(data)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error while handling message {data}: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
async def _handle_message(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理来自信令后端的消息：
|
||||
- command: start_stream / stop_stream / ptz_xxx
|
||||
- type: offer (WebRTC)
|
||||
"""
|
||||
cmd = data.get("command")
|
||||
|
||||
# ---------- 推流控制 ----------
|
||||
if cmd == "start_stream":
|
||||
try:
|
||||
self._start_ffmpeg()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when starting FFmpeg on start_stream: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return
|
||||
|
||||
if cmd == "stop_stream":
|
||||
try:
|
||||
self._stop_ffmpeg()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when stopping FFmpeg on stop_stream: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return
|
||||
|
||||
# # ---------- PTZ 控制 ----------
|
||||
# # 例如信令可以发：
|
||||
# # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5}
|
||||
# if cmd == "ptz_move":
|
||||
# if self._ptz is None:
|
||||
# # 没有初始化 PTZ，静默忽略或打印一条
|
||||
# print("[CameraController] PTZ not initialized.", file=sys.stderr)
|
||||
# return
|
||||
|
||||
# direction = data.get("direction", "")
|
||||
# speed = float(data.get("speed", 0.5))
|
||||
# duration = float(data.get("duration", 0.5))
|
||||
|
||||
# try:
|
||||
# if direction == "up":
|
||||
# self._ptz.move_up(speed=speed, duration=duration)
|
||||
# elif direction == "down":
|
||||
# self._ptz.move_down(speed=speed, duration=duration)
|
||||
# elif direction == "left":
|
||||
# self._ptz.move_left(speed=speed, duration=duration)
|
||||
# elif direction == "right":
|
||||
# self._ptz.move_right(speed=speed, duration=duration)
|
||||
# elif direction == "zoom_in":
|
||||
# self._ptz.zoom_in(speed=speed, duration=duration)
|
||||
# elif direction == "zoom_out":
|
||||
# self._ptz.zoom_out(speed=speed, duration=duration)
|
||||
# elif direction == "stop":
|
||||
# self._ptz.stop()
|
||||
# else:
|
||||
# # 未知方向，忽略
|
||||
# pass
|
||||
# except Exception as e:
|
||||
# print(
|
||||
# f"[CameraController] error when handling PTZ move: {e}",
|
||||
# file=sys.stderr,
|
||||
# )
|
||||
# return
|
||||
|
||||
# ---------- WebRTC Offer ----------
|
||||
if data.get("type") == "offer":
|
||||
offer_sdp = data.get("sdp", "")
|
||||
camera_id = data.get("cameraId", "camera-01")
|
||||
try:
|
||||
answer_sdp = await self._handle_webrtc_offer(offer_sdp)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when handling WebRTC offer: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return
|
||||
|
||||
if self._ws:
|
||||
answer_payload = {
|
||||
"type": "answer",
|
||||
"sdp": answer_sdp,
|
||||
"cameraId": camera_id,
|
||||
"hostId": self.host_id,
|
||||
}
|
||||
try:
|
||||
await self._ws.send(json.dumps(answer_payload))
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when sending WebRTC answer: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
# ------------------------ FFmpeg 相关 ------------------------
|
||||
|
||||
def _start_ffmpeg(self):
|
||||
if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
|
||||
return
|
||||
|
||||
cmd = [
|
||||
"ffmpeg",
|
||||
"-rtsp_transport", "tcp",
|
||||
"-i", self.camera_rtsp_url,
|
||||
|
||||
"-c:v", "libx264",
|
||||
"-preset", "ultrafast",
|
||||
"-tune", "zerolatency",
|
||||
"-profile:v", "baseline",
|
||||
"-b:v", "1M",
|
||||
"-maxrate", "1M",
|
||||
"-bufsize", "2M",
|
||||
"-g", "10",
|
||||
"-keyint_min", "10",
|
||||
"-sc_threshold", "0",
|
||||
"-pix_fmt", "yuv420p",
|
||||
"-x264-params", "bframes=0",
|
||||
|
||||
"-c:a", "aac",
|
||||
"-ar", "44100",
|
||||
"-ac", "1",
|
||||
"-b:a", "64k",
|
||||
|
||||
"-f", "flv",
|
||||
self.rtmp_url,
|
||||
]
|
||||
|
||||
try:
|
||||
self._ffmpeg_process = subprocess.Popen(
|
||||
cmd,
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=subprocess.STDOUT,
|
||||
shell=False,
|
||||
)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
|
||||
self._ffmpeg_process = None
|
||||
raise
|
||||
|
||||
def _stop_ffmpeg(self):
|
||||
proc = self._ffmpeg_process
|
||||
|
||||
if proc and proc.poll() is None:
|
||||
try:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except subprocess.TimeoutExpired:
|
||||
try:
|
||||
proc.kill()
|
||||
try:
|
||||
proc.wait(timeout=2)
|
||||
except subprocess.TimeoutExpired:
|
||||
print(
|
||||
f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})",
|
||||
file=sys.stderr,
|
||||
)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] failed to kill FFmpeg process: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] error when stopping FFmpeg: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
|
||||
self._ffmpeg_process = None
|
||||
|
||||
# ------------------------ WebRTC Offer 相关 ------------------------
|
||||
|
||||
async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
|
||||
payload = {
|
||||
"api": self.webrtc_api,
|
||||
"streamurl": self.webrtc_stream_url,
|
||||
"sdp": offer_sdp,
|
||||
}
|
||||
|
||||
headers = {"Content-Type": "application/json"}
|
||||
|
||||
def _do_request():
|
||||
return requests.post(
|
||||
self.webrtc_api,
|
||||
json=payload,
|
||||
headers=headers,
|
||||
timeout=10,
|
||||
)
|
||||
|
||||
try:
|
||||
loop = asyncio.get_running_loop()
|
||||
resp = await loop.run_in_executor(None, _do_request)
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] failed to send offer to media server: {e}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
raise
|
||||
|
||||
try:
|
||||
resp.raise_for_status()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] media server HTTP error: {e}, "
|
||||
f"status={resp.status_code}, body={resp.text[:200]}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
raise
|
||||
|
||||
try:
|
||||
data = resp.json()
|
||||
except Exception as e:
|
||||
print(
|
||||
f"[CameraController] failed to parse media server JSON: {e}, "
|
||||
f"raw={resp.text[:200]}",
|
||||
file=sys.stderr,
|
||||
)
|
||||
raise
|
||||
|
||||
answer_sdp = data.get("sdp", "")
|
||||
if not answer_sdp:
|
||||
msg = f"empty SDP from media server: {data}"
|
||||
print(f"[CameraController] {msg}", file=sys.stderr)
|
||||
raise RuntimeError(msg)
|
||||
|
||||
return answer_sdp
|
||||
401
unilabos/devices/cameraSII/cameraUSB.py
Normal file
401
unilabos/devices/cameraSII/cameraUSB.py
Normal file
@@ -0,0 +1,401 @@
|
||||
#!/usr/bin/env python3
|
||||
import asyncio
|
||||
import json
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
from typing import Optional, Dict, Any
|
||||
|
||||
import requests
|
||||
import websockets
|
||||
|
||||
|
||||
class CameraController:
|
||||
"""
|
||||
Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
|
||||
|
||||
- WebSocket 信令：signal_backend_url 连接到后端
|
||||
例如: wss://sciol.ac.cn/api/realtime/signal/host/<host_id>
|
||||
- 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api
|
||||
- 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0）
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
host_id: str = "demo-host",
|
||||
signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
video_device: str = "/dev/video0",
|
||||
width: int = 1280,
|
||||
height: int = 720,
|
||||
fps: int = 30,
|
||||
video_bitrate: str = "1500k",
|
||||
audio_device: Optional[str] = None, # 比如 "hw:1,0"，没有音频就保持 None
|
||||
audio_bitrate: str = "64k",
|
||||
):
|
||||
self.host_id = host_id
|
||||
|
||||
# 拼接最终 WebSocket URL：.../host/<host_id>
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{host_id}"
|
||||
|
||||
# 媒体服务器配置
|
||||
self.rtmp_url = rtmp_url
|
||||
self.webrtc_api = webrtc_api
|
||||
self.webrtc_stream_url = webrtc_stream_url
|
||||
|
||||
# 本地采集配置
|
||||
self.video_device = video_device
|
||||
self.width = int(width)
|
||||
self.height = int(height)
|
||||
self.fps = int(fps)
|
||||
self.video_bitrate = video_bitrate
|
||||
self.audio_device = audio_device
|
||||
self.audio_bitrate = audio_bitrate
|
||||
|
||||
# 运行时状态
|
||||
self._ws: Optional[object] = None
|
||||
self._ffmpeg_process: Optional[subprocess.Popen] = None
|
||||
self._running = False
|
||||
self._loop_task: Optional[asyncio.Future] = None
|
||||
|
||||
# 事件循环 & 线程
|
||||
self._loop: Optional[asyncio.AbstractEventLoop] = None
|
||||
self._loop_thread: Optional[threading.Thread] = None
|
||||
|
||||
try:
|
||||
self.start()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr)
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# 对外方法
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
def start(self, config: Optional[Dict[str, Any]] = None):
|
||||
if self._running:
|
||||
return {"status": "already_running", "host_id": self.host_id}
|
||||
|
||||
# 应用 config 覆盖（如果有）
|
||||
if config:
|
||||
cfg_host_id = config.get("host_id")
|
||||
if cfg_host_id:
|
||||
self.host_id = cfg_host_id
|
||||
|
||||
signal_backend_url = config.get("signal_backend_url")
|
||||
if signal_backend_url:
|
||||
signal_backend_url = signal_backend_url.rstrip("/")
|
||||
if not signal_backend_url.endswith("/host"):
|
||||
signal_backend_url = signal_backend_url + "/host"
|
||||
self.signal_backend_url = f"{signal_backend_url}/{self.host_id}"
|
||||
|
||||
self.rtmp_url = config.get("rtmp_url", self.rtmp_url)
|
||||
self.webrtc_api = config.get("webrtc_api", self.webrtc_api)
|
||||
self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url)
|
||||
|
||||
self.video_device = config.get("video_device", self.video_device)
|
||||
self.width = int(config.get("width", self.width))
|
||||
self.height = int(config.get("height", self.height))
|
||||
self.fps = int(config.get("fps", self.fps))
|
||||
self.video_bitrate = config.get("video_bitrate", self.video_bitrate)
|
||||
self.audio_device = config.get("audio_device", self.audio_device)
|
||||
self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate)
|
||||
|
||||
self._running = True
|
||||
|
||||
print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr)
|
||||
self._start_ffmpeg()
|
||||
|
||||
self._loop = asyncio.new_event_loop()
|
||||
|
||||
def loop_runner(loop: asyncio.AbstractEventLoop):
|
||||
asyncio.set_event_loop(loop)
|
||||
try:
|
||||
loop.run_forever()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] event loop error: {e}", file=sys.stderr)
|
||||
|
||||
self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True)
|
||||
self._loop_thread.start()
|
||||
|
||||
self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop)
|
||||
|
||||
return {
|
||||
"status": "started",
|
||||
"host_id": self.host_id,
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
"webrtc_api": self.webrtc_api,
|
||||
"webrtc_stream_url": self.webrtc_stream_url,
|
||||
"video_device": self.video_device,
|
||||
"width": self.width,
|
||||
"height": self.height,
|
||||
"fps": self.fps,
|
||||
"video_bitrate": self.video_bitrate,
|
||||
"audio_device": self.audio_device,
|
||||
}
|
||||
|
||||
def stop(self) -> Dict[str, Any]:
|
||||
self._running = False
|
||||
|
||||
# 先取消主任务（让 ws connect/sleep 尽快退出）
|
||||
if self._loop_task is not None and not self._loop_task.done():
|
||||
self._loop_task.cancel()
|
||||
|
||||
# 停止推流
|
||||
self._stop_ffmpeg()
|
||||
|
||||
# 关闭 WebSocket（在 loop 中执行）
|
||||
if self._ws and self._loop is not None:
|
||||
|
||||
async def close_ws():
|
||||
try:
|
||||
await self._ws.close()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr)
|
||||
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(close_ws(), self._loop)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# 停止事件循环
|
||||
if self._loop is not None:
|
||||
try:
|
||||
self._loop.call_soon_threadsafe(self._loop.stop)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error stopping loop: {e}", file=sys.stderr)
|
||||
|
||||
# 等待线程退出
|
||||
if self._loop_thread is not None:
|
||||
try:
|
||||
self._loop_thread.join(timeout=5)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr)
|
||||
|
||||
self._ws = None
|
||||
self._loop_task = None
|
||||
self._loop = None
|
||||
self._loop_thread = None
|
||||
|
||||
return {"status": "stopped", "host_id": self.host_id}
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
ws_closed = None
|
||||
if self._ws is not None:
|
||||
ws_closed = getattr(self._ws, "closed", None)
|
||||
|
||||
if ws_closed is None:
|
||||
websocket_connected = self._ws is not None
|
||||
else:
|
||||
websocket_connected = (self._ws is not None) and (not ws_closed)
|
||||
|
||||
return {
|
||||
"host_id": self.host_id,
|
||||
"running": self._running,
|
||||
"websocket_connected": websocket_connected,
|
||||
"ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None),
|
||||
"signal_backend_url": self.signal_backend_url,
|
||||
"rtmp_url": self.rtmp_url,
|
||||
"video_device": self.video_device,
|
||||
"width": self.width,
|
||||
"height": self.height,
|
||||
"fps": self.fps,
|
||||
"video_bitrate": self.video_bitrate,
|
||||
}
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# WebSocket / 信令
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
async def _run_main_loop(self):
|
||||
print("[CameraController] main loop started", file=sys.stderr)
|
||||
try:
|
||||
while self._running:
|
||||
try:
|
||||
async with websockets.connect(self.signal_backend_url) as ws:
|
||||
self._ws = ws
|
||||
print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr)
|
||||
await self._recv_loop()
|
||||
except asyncio.CancelledError:
|
||||
raise
|
||||
except Exception as e:
|
||||
if self._running:
|
||||
print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr)
|
||||
await asyncio.sleep(3)
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
finally:
|
||||
print("[CameraController] main loop exited", file=sys.stderr)
|
||||
|
||||
async def _recv_loop(self):
|
||||
assert self._ws is not None
|
||||
ws = self._ws
|
||||
|
||||
async for message in ws:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
except json.JSONDecodeError:
|
||||
print(f"[CameraController] non-JSON message: {message}", file=sys.stderr)
|
||||
continue
|
||||
|
||||
try:
|
||||
await self._handle_message(data)
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr)
|
||||
|
||||
async def _handle_message(self, data: Dict[str, Any]):
|
||||
cmd = data.get("command")
|
||||
|
||||
if cmd == "start_stream":
|
||||
self._start_ffmpeg()
|
||||
return
|
||||
|
||||
if cmd == "stop_stream":
|
||||
self._stop_ffmpeg()
|
||||
return
|
||||
|
||||
if data.get("type") == "offer":
|
||||
offer_sdp = data.get("sdp", "")
|
||||
camera_id = data.get("cameraId", "camera-01")
|
||||
|
||||
answer_sdp = await self._handle_webrtc_offer(offer_sdp)
|
||||
|
||||
if self._ws:
|
||||
answer_payload = {
|
||||
"type": "answer",
|
||||
"sdp": answer_sdp,
|
||||
"cameraId": camera_id,
|
||||
"hostId": self.host_id,
|
||||
}
|
||||
await self._ws.send(json.dumps(answer_payload))
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# FFmpeg 推流（V4L2 USB 摄像头）
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
def _start_ffmpeg(self):
|
||||
if self._ffmpeg_process and self._ffmpeg_process.poll() is None:
|
||||
return
|
||||
|
||||
# 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps
|
||||
video_size = f"{self.width}x{self.height}"
|
||||
|
||||
cmd = [
|
||||
"ffmpeg",
|
||||
"-hide_banner",
|
||||
"-loglevel",
|
||||
"warning",
|
||||
|
||||
# video input
|
||||
"-f", "v4l2",
|
||||
"-framerate", str(self.fps),
|
||||
"-video_size", video_size,
|
||||
"-i", self.video_device,
|
||||
]
|
||||
|
||||
# optional audio input
|
||||
if self.audio_device:
|
||||
cmd += [
|
||||
"-f", "alsa",
|
||||
"-i", self.audio_device,
|
||||
"-c:a", "aac",
|
||||
"-b:a", self.audio_bitrate,
|
||||
"-ar", "44100",
|
||||
"-ac", "1",
|
||||
]
|
||||
else:
|
||||
cmd += ["-an"]
|
||||
|
||||
# video encode + rtmp out
|
||||
cmd += [
|
||||
"-c:v", "libx264",
|
||||
"-preset", "ultrafast",
|
||||
"-tune", "zerolatency",
|
||||
"-profile:v", "baseline",
|
||||
"-pix_fmt", "yuv420p",
|
||||
"-b:v", self.video_bitrate,
|
||||
"-maxrate", self.video_bitrate,
|
||||
"-bufsize", "2M",
|
||||
"-g", str(max(self.fps, 10)),
|
||||
"-keyint_min", str(max(self.fps, 10)),
|
||||
"-sc_threshold", "0",
|
||||
"-x264-params", "bframes=0",
|
||||
|
||||
"-f", "flv",
|
||||
self.rtmp_url,
|
||||
]
|
||||
|
||||
print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr)
|
||||
|
||||
try:
|
||||
# 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键）
|
||||
self._ffmpeg_process = subprocess.Popen(
|
||||
cmd,
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=sys.stderr,
|
||||
shell=False,
|
||||
)
|
||||
except Exception as e:
|
||||
self._ffmpeg_process = None
|
||||
print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr)
|
||||
|
||||
def _stop_ffmpeg(self):
|
||||
proc = self._ffmpeg_process
|
||||
if proc and proc.poll() is None:
|
||||
try:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except subprocess.TimeoutExpired:
|
||||
proc.kill()
|
||||
except Exception as e:
|
||||
print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr)
|
||||
self._ffmpeg_process = None
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# WebRTC offer -> SRS
|
||||
# ---------------------------------------------------------------------
|
||||
|
||||
async def _handle_webrtc_offer(self, offer_sdp: str) -> str:
|
||||
payload = {
|
||||
"api": self.webrtc_api,
|
||||
"streamurl": self.webrtc_stream_url,
|
||||
"sdp": offer_sdp,
|
||||
}
|
||||
headers = {"Content-Type": "application/json"}
|
||||
|
||||
def _do_post():
|
||||
return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10)
|
||||
|
||||
loop = asyncio.get_running_loop()
|
||||
resp = await loop.run_in_executor(None, _do_post)
|
||||
|
||||
resp.raise_for_status()
|
||||
data = resp.json()
|
||||
answer_sdp = data.get("sdp", "")
|
||||
if not answer_sdp:
|
||||
raise RuntimeError(f"empty SDP from media server: {data}")
|
||||
return answer_sdp
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 直接运行用于手动测试
|
||||
c = CameraController(
|
||||
host_id="demo-host",
|
||||
video_device="/dev/video0",
|
||||
width=1280,
|
||||
height=720,
|
||||
fps=30,
|
||||
video_bitrate="1500k",
|
||||
audio_device=None,
|
||||
)
|
||||
try:
|
||||
while True:
|
||||
asyncio.sleep(1)
|
||||
except KeyboardInterrupt:
|
||||
c.stop()
|
||||
51
unilabos/devices/cameraSII/cameraUSB_test.py
Normal file
51
unilabos/devices/cameraSII/cameraUSB_test.py
Normal file
@@ -0,0 +1,51 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
import json
|
||||
|
||||
from cameraUSB import CameraController
|
||||
|
||||
|
||||
def main():
|
||||
# 按你的实际情况改
|
||||
cfg = dict(
|
||||
host_id="demo-host",
|
||||
signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
video_device="/dev/video7",
|
||||
width=1280,
|
||||
height=720,
|
||||
fps=30,
|
||||
video_bitrate="1500k",
|
||||
audio_device=None,
|
||||
)
|
||||
|
||||
c = CameraController(**cfg)
|
||||
|
||||
# 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用：
|
||||
# c = CameraController(host_id=cfg["host_id"])
|
||||
# c.start(cfg)
|
||||
|
||||
run_seconds = 30 # 测试运行时长
|
||||
t0 = time.time()
|
||||
|
||||
try:
|
||||
while True:
|
||||
st = c.get_status()
|
||||
print(json.dumps(st, ensure_ascii=False, indent=2))
|
||||
|
||||
if time.time() - t0 >= run_seconds:
|
||||
break
|
||||
|
||||
time.sleep(2)
|
||||
except KeyboardInterrupt:
|
||||
print("Interrupted, stopping...")
|
||||
finally:
|
||||
print("Stopping controller...")
|
||||
c.stop()
|
||||
print("Done.")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
36
unilabos/devices/cameraSII/demo_camera_pic.py
Normal file
36
unilabos/devices/cameraSII/demo_camera_pic.py
Normal file
@@ -0,0 +1,36 @@
|
||||
import cv2
|
||||
|
||||
# 推荐把 @ 进行 URL 编码：@ -> %40
|
||||
RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1"
|
||||
OUTPUT_IMAGE = "rtsp_test_frame.jpg"
|
||||
|
||||
def main():
|
||||
print(f"尝试连接 RTSP 流: {RTSP_URL}")
|
||||
cap = cv2.VideoCapture(RTSP_URL)
|
||||
|
||||
if not cap.isOpened():
|
||||
print("错误：无法打开 RTSP 流，请检查：")
|
||||
print(" 1. IP/端口是否正确")
|
||||
print(" 2. 账号密码（尤其是 @ 是否已转成 %40）是否正确")
|
||||
print(" 3. 摄像头是否允许当前主机访问（同一网段、防火墙等）")
|
||||
return
|
||||
|
||||
print("连接成功，开始读取一帧...")
|
||||
ret, frame = cap.read()
|
||||
|
||||
if not ret or frame is None:
|
||||
print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）")
|
||||
cap.release()
|
||||
return
|
||||
|
||||
# 保存当前帧
|
||||
success = cv2.imwrite(OUTPUT_IMAGE, frame)
|
||||
cap.release()
|
||||
|
||||
if success:
|
||||
print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}")
|
||||
else:
|
||||
print("错误：写入图片失败，请检查磁盘权限/路径")
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
21
unilabos/devices/cameraSII/demo_camera_push.py
Normal file
21
unilabos/devices/cameraSII/demo_camera_push.py
Normal file
@@ -0,0 +1,21 @@
|
||||
# run_camera_push.py
|
||||
import time
|
||||
from cameraDriver import CameraController # 这里根据你的文件名调整
|
||||
|
||||
if __name__ == "__main__":
|
||||
controller = CameraController(
|
||||
host_id="demo-host",
|
||||
signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host",
|
||||
rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01",
|
||||
webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/",
|
||||
webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01",
|
||||
camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1",
|
||||
)
|
||||
|
||||
try:
|
||||
while True:
|
||||
status = controller.get_status()
|
||||
print(status)
|
||||
time.sleep(5)
|
||||
except KeyboardInterrupt:
|
||||
controller.stop()
|
||||
78
unilabos/devices/cameraSII/ptz_cameracontroller_test.py
Normal file
78
unilabos/devices/cameraSII/ptz_cameracontroller_test.py
Normal file
@@ -0,0 +1,78 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
"""
|
||||
使用 CameraController 来测试 PTZ：
|
||||
让摄像头按顺序向下、向上、向左、向右运动几次。
|
||||
"""
|
||||
|
||||
import time
|
||||
import sys
|
||||
|
||||
# 根据你的工程结构修改导入路径：
|
||||
# 假设 CameraController 定义在 cameraController.py 里
|
||||
from cameraDriver import CameraController
|
||||
|
||||
|
||||
def main():
|
||||
# === 根据你的实际情况填 IP、端口、账号密码 ===
|
||||
ptz_host = "192.168.31.164"
|
||||
ptz_port = 2020 # 注意要和你单独测试 PTZController 时保持一致
|
||||
ptz_user = "admin"
|
||||
ptz_password = "admin123"
|
||||
|
||||
# 1. 创建 CameraController 实例
|
||||
cam = CameraController(
|
||||
# 其他摄像机相关参数按你类的 __init__ 来补充
|
||||
ptz_host=ptz_host,
|
||||
ptz_port=ptz_port,
|
||||
ptz_user=ptz_user,
|
||||
ptz_password=ptz_password,
|
||||
)
|
||||
|
||||
# 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口）
|
||||
# 这里给一个最小的 config，重点是 PTZ 相关字段
|
||||
config = {
|
||||
"ptz_host": ptz_host,
|
||||
"ptz_port": ptz_port,
|
||||
"ptz_user": ptz_user,
|
||||
"ptz_password": ptz_password,
|
||||
}
|
||||
|
||||
try:
|
||||
cam.start(config)
|
||||
except Exception as e:
|
||||
print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr)
|
||||
return
|
||||
|
||||
# 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装）
|
||||
if getattr(cam, "_ptz", None) is None:
|
||||
print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr)
|
||||
return
|
||||
|
||||
# 3. 依次调用 CameraController 的 PTZ 方法
|
||||
# 这里假设你在 CameraController 中提供了这几个对外方法：
|
||||
# ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right
|
||||
# 如果你命名不一样，把下面调用名改成你的即可。
|
||||
|
||||
print("向下移动（通过 CameraController）...")
|
||||
cam.ptz_move_down(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向上移动（通过 CameraController）...")
|
||||
cam.ptz_move_up(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向左移动（通过 CameraController）...")
|
||||
cam.ptz_move_left(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向右移动（通过 CameraController）...")
|
||||
cam.ptz_move_right(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("测试结束。")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
50
unilabos/devices/cameraSII/ptz_test.py
Normal file
50
unilabos/devices/cameraSII/ptz_test.py
Normal file
@@ -0,0 +1,50 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
|
||||
"""
|
||||
测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次
|
||||
"""
|
||||
|
||||
import time
|
||||
|
||||
from cameraDriver import PTZController
|
||||
|
||||
|
||||
def main():
|
||||
# 根据你的实际情况填 IP、端口、账号密码
|
||||
host = "192.168.31.164"
|
||||
port = 80
|
||||
user = "admin"
|
||||
password = "admin123"
|
||||
|
||||
ptz = PTZController(host=host, port=port, user=user, password=password)
|
||||
|
||||
# 1. 连接摄像头
|
||||
if not ptz.connect():
|
||||
print("连接 PTZ 失败，检查 IP/用户名/密码/端口。")
|
||||
return
|
||||
|
||||
# 2. 依次测试几个动作
|
||||
# 每个动作之间 sleep 一下方便观察
|
||||
|
||||
print("向下移动...")
|
||||
ptz.move_down(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向上移动...")
|
||||
ptz.move_up(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向左移动...")
|
||||
ptz.move_left(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("向右移动...")
|
||||
ptz.move_right(speed=0.5, duration=1.0)
|
||||
time.sleep(1)
|
||||
|
||||
print("测试结束。")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
0
unilabos/devices/laiyu_liquid_test/__init__.py
Normal file
0
unilabos/devices/laiyu_liquid_test/__init__.py
Normal file
0
unilabos/devices/liquid_handling/laiyu/__init__.py
Normal file
0
unilabos/devices/liquid_handling/laiyu/__init__.py
Normal file
@@ -1061,6 +1061,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
dis_vols = [float(dis_vols)]
|
||||
else:
|
||||
dis_vols = [float(v) for v in dis_vols]
|
||||
|
||||
# 统一混合次数为标量，防止数组/列表与 int 比较时报错
|
||||
if mix_times is not None and not isinstance(mix_times, (int, float)):
|
||||
try:
|
||||
mix_times = mix_times[0] if len(mix_times) > 0 else None
|
||||
except Exception:
|
||||
try:
|
||||
mix_times = next(iter(mix_times))
|
||||
except Exception:
|
||||
pass
|
||||
if mix_times is not None:
|
||||
mix_times = int(mix_times)
|
||||
|
||||
# 识别传输模式
|
||||
num_sources = len(sources)
|
||||
|
||||
954
unilabos/devices/liquid_handling/prcxi/base_material.json
Normal file
954
unilabos/devices/liquid_handling/prcxi/base_material.json
Normal file
@@ -0,0 +1,954 @@
|
||||
[
|
||||
{
|
||||
"uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
|
||||
"Code": "ZX-58-1250",
|
||||
"Name": "Tip头适配器 1250uL",
|
||||
"SummaryName": "Tip头适配器 1250uL",
|
||||
"SupplyType": 2,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 128,
|
||||
"WidthNum": 85,
|
||||
"HeightNum": 20,
|
||||
"DepthNum": 4,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 1,
|
||||
"HoleRow": 1,
|
||||
"HoleDiameter": 0,
|
||||
"Volume": 1250,
|
||||
"ImagePath": "/images/20220624015044.jpg",
|
||||
"QRCode": null,
|
||||
"Qty": 10,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 16:03:52.6583727",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2022-06-24 13:50:44.8123474",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": null,
|
||||
"YSpacing": null,
|
||||
"materialEnum": null,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "7c822592b360451fb59690e49ac6b181",
|
||||
"Code": "ZX-58-300",
|
||||
"Name": "ZHONGXI 适配器 300uL",
|
||||
"SummaryName": "ZHONGXI 适配器 300uL",
|
||||
"SupplyType": 2,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 127,
|
||||
"WidthNum": 85,
|
||||
"HeightNum": 81,
|
||||
"DepthNum": 4,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 1,
|
||||
"HoleRow": 1,
|
||||
"HoleDiameter": 0,
|
||||
"Volume": 300,
|
||||
"ImagePath": "/images/20220623102838.jpg",
|
||||
"QRCode": null,
|
||||
"Qty": 10,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 16:07:53.7453351",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2022-06-23 10:28:38.6190575",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": null,
|
||||
"YSpacing": null,
|
||||
"materialEnum": null,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
|
||||
"Code": "ZX-58-10",
|
||||
"Name": "吸头10ul 适配器",
|
||||
"SummaryName": "吸头10ul 适配器",
|
||||
"SupplyType": 2,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 128,
|
||||
"WidthNum": 85,
|
||||
"HeightNum": 72.3,
|
||||
"DepthNum": 0,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 0,
|
||||
"HoleColum": 1,
|
||||
"HoleRow": 1,
|
||||
"HoleDiameter": 127,
|
||||
"Volume": 1000,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 10,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 16:37:40.7073733",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-05-30 15:17:01.8231737",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 1,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 0,
|
||||
"YSpacing": 0,
|
||||
"materialEnum": 0,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "7960f49ddfe9448abadda89bd1556936",
|
||||
"Code": "ZX-001-1250",
|
||||
"Name": "1250μL Tip头",
|
||||
"SummaryName": "1250μL Tip头",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 118.09,
|
||||
"WidthNum": 80.7,
|
||||
"HeightNum": 107.67,
|
||||
"DepthNum": 100,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 7.95,
|
||||
"Volume": 1250,
|
||||
"ImagePath": "/images/20220623102536.jpg",
|
||||
"QRCode": null,
|
||||
"Qty": 96,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 20:53:27.8591195",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2022-06-23 10:25:36.2592442",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": null,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "45f2ed3ad925484d96463d675a0ebf66",
|
||||
"Code": "ZX-001-10",
|
||||
"Name": "10μL Tip头",
|
||||
"SummaryName": "10μL Tip头",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 120.98,
|
||||
"WidthNum": 82.12,
|
||||
"HeightNum": 67,
|
||||
"DepthNum": 39.1,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 5,
|
||||
"Volume": 10,
|
||||
"ImagePath": "/images/20221119041031.jpg",
|
||||
"QRCode": null,
|
||||
"Qty": -21,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 20:56:53.462015",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2022-11-19 16:10:31.126801",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 1,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": null,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "068b3815e36b4a72a59bae017011b29f",
|
||||
"Code": "ZX-001-10+",
|
||||
"Name": "10μL加长 Tip头",
|
||||
"SummaryName": "10μL加长 Tip头",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 122.11,
|
||||
"WidthNum": 80.05,
|
||||
"HeightNum": 58.23,
|
||||
"DepthNum": 45.1,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 60,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 7,
|
||||
"Volume": 10,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 42,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 20:57:57.331211",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-09-17 17:02:51.2070383",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": 1,
|
||||
"Margins_X": 7.97,
|
||||
"Margins_Y": 5
|
||||
},
|
||||
{
|
||||
"uuid": "80652665f6a54402b2408d50b40398df",
|
||||
"Code": "ZX-001-1000",
|
||||
"Name": "1000μL Tip头",
|
||||
"SummaryName": "1000μL Tip头",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 128.09,
|
||||
"WidthNum": 85.8,
|
||||
"HeightNum": 98,
|
||||
"DepthNum": 88,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 100,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 7.95,
|
||||
"Volume": 1000,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 47,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 20:59:20.5534915",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-05-30 14:49:53.639727",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": 1,
|
||||
"Margins_X": 14.5,
|
||||
"Margins_Y": 11.4
|
||||
},
|
||||
{
|
||||
"uuid": "076250742950465b9d6ea29a225dfb00",
|
||||
"Code": "ZX-001-300",
|
||||
"Name": "300μL Tip头",
|
||||
"SummaryName": "300μL Tip头",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 122.11,
|
||||
"WidthNum": 80.05,
|
||||
"HeightNum": 58.23,
|
||||
"DepthNum": 45.1,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 60,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 7,
|
||||
"Volume": 300,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 11,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 21:00:24.7266192",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-09-17 17:02:40.6676947",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": 1,
|
||||
"Margins_X": 7.97,
|
||||
"Margins_Y": 5
|
||||
},
|
||||
{
|
||||
"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
|
||||
"Code": "ZX-001-200",
|
||||
"Name": "200μL Tip头",
|
||||
"SummaryName": "200μL Tip头",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 120.98,
|
||||
"WidthNum": 82.12,
|
||||
"HeightNum": 66.9,
|
||||
"DepthNum": 52,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 30,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 5.5,
|
||||
"Volume": 200,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 19,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 21:01:17.626704",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-05-27 11:42:24.6021522",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": 0,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR板",
|
||||
"SummaryName": "0.2ml PCR板",
|
||||
"SupplyType": 1,
|
||||
"Factory": "中析",
|
||||
"LengthNum": 126,
|
||||
"WidthNum": 86,
|
||||
"HeightNum": 21.2,
|
||||
"DepthNum": 15.17,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 6,
|
||||
"Volume": 1000,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": -12,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 21:06:02.7746392",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2024-02-20 16:17:16.7921748",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 1,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": null,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "ca877b8b114a4310b429d1de4aae96ee",
|
||||
"Code": "ZX-019-2.2",
|
||||
"Name": "2.2ml 深孔板",
|
||||
"SummaryName": "2.2ml 深孔板",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 127.3,
|
||||
"WidthNum": 85.35,
|
||||
"HeightNum": 44,
|
||||
"DepthNum": 42,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": null,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 8.2,
|
||||
"Volume": 2200,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 34,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-30 21:07:16.4538022",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2023-08-12 13:11:26.3993472",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 1,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": null,
|
||||
"Margins_X": 0,
|
||||
"Margins_Y": 0
|
||||
},
|
||||
{
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
"Code": "ZX-58-10000",
|
||||
"Name": "储液槽",
|
||||
"SummaryName": "储液槽",
|
||||
"SupplyType": 1,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 125.02,
|
||||
"WidthNum": 82.97,
|
||||
"HeightNum": 31.2,
|
||||
"DepthNum": 24,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 0,
|
||||
"HoleColum": 1,
|
||||
"HoleRow": 1,
|
||||
"HoleDiameter": 99.33,
|
||||
"Volume": 1250,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": -172,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2021-12-31 18:37:56.7949909",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-09-17 17:22:22.8543991",
|
||||
"IsStright": 0,
|
||||
"IsGeneral": 0,
|
||||
"IsControl": 1,
|
||||
"ArmCode": null,
|
||||
"XSpacing": 9,
|
||||
"YSpacing": 9,
|
||||
"materialEnum": 0,
|
||||
"Margins_X": 8.5,
|
||||
"Margins_Y": 5.5
|
||||
},
|
||||
{
|
||||
"uuid": "4a043a07c65a4f9bb97745e1f129b165",
|
||||
"Code": "ZX-58-0001",
|
||||
"Name": "全裙边 PCR适配器",
|
||||
"SummaryName": "全裙边 PCR适配器",
|
||||
"SupplyType": 2,
|
||||
"Factory": "宁静致远",
|
||||
"LengthNum": 125.42,
|
||||
"WidthNum": 83.13,
|
||||
"HeightNum": 15.69,
|
||||
"DepthNum": 13.41,
|
||||
"StandardHeight": 0,
|
||||
"PipetteHeight": 0,
|
||||
"HoleColum": 12,
|
||||
"HoleRow": 8,
|
||||
"HoleDiameter": 5.1,
|
||||
"Volume": 1250,
|
||||
"ImagePath": "",
|
||||
"QRCode": null,
|
||||
"Qty": 100,
|
||||
"CreateName": null,
|
||||
"CreateTime": "2022-01-02 19:21:35.8664843",
|
||||
"UpdateName": null,
|
||||
"UpdateTime": "2025-09-17 17:14:36.1210193",
|
||||
"IsStright": 1,
|
||||
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"id": "55ecff40-453f-4a5f-9ed3-1267b0a03cae",
|
||||
"number": 1,
|
||||
"name": "T1",
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "7dcd9c87-6702-4659-b28a-f6565b27f8e3",
|
||||
"number": 2,
|
||||
"name": "T2",
|
||||
"row": 0,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "67e51bd6-6eee-46e4-931c-73d9e07397eb",
|
||||
"number": 3,
|
||||
"name": "T3",
|
||||
"row": 0,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "e1289406-4f5e-4966-a1e6-fb29be6cd4bd",
|
||||
"number": 4,
|
||||
"name": "T4",
|
||||
"row": 0,
|
||||
"col": 3,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "4ecb9ef7-cbd4-44bc-a6a9-fdbbefdc01d6",
|
||||
"number": 5,
|
||||
"name": "T5",
|
||||
"row": 1,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "c7bcaeeb-7ce7-479d-8dae-e82f4023a2b6",
|
||||
"number": 6,
|
||||
"name": "T6",
|
||||
"row": 1,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "e502d5ee-3197-4f60-8ac4-3bc005349dfd",
|
||||
"number": 7,
|
||||
"name": "T7",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "829c78b0-9e05-448f-9531-6d19c094c83f",
|
||||
"number": 8,
|
||||
"name": "T8",
|
||||
"row": 1,
|
||||
"col": 3,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "d0fd64d6-360d-4f5e-9451-21a332e247f5",
|
||||
"number": 9,
|
||||
"name": "T9",
|
||||
"row": 2,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "7f3da25d-0be0-4e07-885f-fbbbfa952f9f",
|
||||
"number": 10,
|
||||
"name": "T10",
|
||||
"row": 2,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "491d396d-7264-43d6-9ad4-60bffbe66c26",
|
||||
"number": 11,
|
||||
"name": "T11",
|
||||
"row": 2,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "a8853b6d-639d-46f9-a4bf-9153c0c22461",
|
||||
"number": 12,
|
||||
"name": "T12",
|
||||
"row": 2,
|
||||
"col": 3,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "9af15efc-29d2-4c44-8533-bbaf24913be6"
|
||||
},
|
||||
{
|
||||
"id": "b7beb8d0-0003-471d-bd8d-a9c0e09b07d5",
|
||||
"number": 1,
|
||||
"name": "T1",
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "306e3f96-a6d7-484a-83ef-722e3710d5c4",
|
||||
"number": 2,
|
||||
"name": "T2",
|
||||
"row": 0,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "4e7bb617-ac1a-4360-b379-7ac4197089c4",
|
||||
"number": 3,
|
||||
"name": "T3",
|
||||
"row": 0,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "af583180-c29d-418e-9061-9e030f77cf57",
|
||||
"number": 4,
|
||||
"name": "T4",
|
||||
"row": 0,
|
||||
"col": 3,
|
||||
"row_span": 2,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "24a85ce8-e9e3-44f5-9d08-25116173ba75",
|
||||
"number": 5,
|
||||
"name": "T5",
|
||||
"row": 1,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "7bf61a40-f65a-4d2f-bb19-d42bfd80e2e9",
|
||||
"number": 6,
|
||||
"name": "T6",
|
||||
"row": 1,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "a3177806-3c02-4c4f-86d6-604a38c2ba2a",
|
||||
"number": 7,
|
||||
"name": "T7",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546"
|
||||
},
|
||||
{
|
||||
"id": "8ccaad5a-8588-4ff3-b0d7-17e7fd5ac6cc",
|
||||
"number": 1,
|
||||
"name": "T1",
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "93ae7707-b6b8-4bc4-8700-c500c3d7b165",
|
||||
"number": 2,
|
||||
"name": "T2",
|
||||
"row": 0,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "3591a07b-4922-4882-996f-7bebee843be1",
|
||||
"number": 3,
|
||||
"name": "T3",
|
||||
"row": 0,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "669fdba9-b20c-4bd2-8352-8fe5682e3e0c",
|
||||
"number": 4,
|
||||
"name": "T4",
|
||||
"row": 1,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "8bf3333e-4a73-4e4c-959a-8ae44e1038a2",
|
||||
"number": 5,
|
||||
"name": "T5",
|
||||
"row": 1,
|
||||
"col": 1,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
},
|
||||
{
|
||||
"id": "2837bf69-273a-4cbb-a74c-0af1b362f609",
|
||||
"number": 6,
|
||||
"name": "T6",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "77673540-92c4-4404-b659-4257034a9c5e"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,74 @@
|
||||
[
|
||||
{
|
||||
"uuid": "9a3007baa748457b8d5162f5c5918553",
|
||||
"ArmCode": "SC10",
|
||||
"ArmName": "单道-10uL",
|
||||
"CmdCode": "SC10",
|
||||
"ChannelNum": 1,
|
||||
"Dosage": 10,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-13 14:04:02.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-13 14:04:12.000"
|
||||
},
|
||||
{
|
||||
"uuid": "8f57a4cc859d4c02bffbeeadcfb2b661",
|
||||
"ArmCode": "SC300",
|
||||
"ArmName": "单道-300uL",
|
||||
"CmdCode": "SC300",
|
||||
"ChannelNum": 1,
|
||||
"Dosage": 300,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-11 11:11:11.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-11 11:11:11.000"
|
||||
},
|
||||
{
|
||||
"uuid": "8fe0320823de49a99bfa5060ce1aaa28",
|
||||
"ArmCode": "SC1250",
|
||||
"ArmName": "单道-1250",
|
||||
"CmdCode": "SC1250",
|
||||
"ChannelNum": 1,
|
||||
"Dosage": 1250,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 10:10:10.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-12 11:11:11.000"
|
||||
},
|
||||
{
|
||||
"uuid": "88f22c5384e94dbbad60961d4d2b5e91",
|
||||
"ArmCode": "MC10",
|
||||
"ArmName": "八道-10uL",
|
||||
"CmdCode": "MC10",
|
||||
"ChannelNum": 8,
|
||||
"Dosage": 10,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 10:10:10.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-13 12:12:12.000"
|
||||
},
|
||||
{
|
||||
"uuid": "09206ff90e64466f90ce6a785a24bad8",
|
||||
"ArmCode": "MC300",
|
||||
"ArmName": "八道-300uL",
|
||||
"CmdCode": "MC300",
|
||||
"ChannelNum": 8,
|
||||
"Dosage": 300,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 12:12:12.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-12 10:10:10.000"
|
||||
},
|
||||
{
|
||||
"uuid": "5afcbd7d1d6749079d1c94f8c2e68f06",
|
||||
"ArmCode": "MC1250",
|
||||
"ArmName": "八道-1250uL",
|
||||
"CmdCode": "MC1250",
|
||||
"ChannelNum": 8,
|
||||
"Dosage": 1250,
|
||||
"CreateName": "admin",
|
||||
"CreateTime": "2021-11-12 12:12:10.000",
|
||||
"UpdateName": "admin",
|
||||
"UpdateTime": "2021-11-12 12:11:11.000"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,10 @@
|
||||
[
|
||||
{
|
||||
"uuid": "bd52d6566534441ea523265814dc06e8",
|
||||
"uuidMaterial": "01bdeb95a1314dc78b8f25667b08d531",
|
||||
"ChannelNum": 8,
|
||||
"HoleNo": 96,
|
||||
"HoleCenterXYZ": "300",
|
||||
"uuidLayoutMaster": "4f35adc958c540fcb40d6f9dd51e40fa"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,20 @@
|
||||
[
|
||||
{
|
||||
"uuid": "4f35adc958c540fcb40d6f9dd51e40fa",
|
||||
"BoardCode": 34,
|
||||
"BoardNum": 1,
|
||||
"BoardLength": 500,
|
||||
"BoardWidth": 400,
|
||||
"BoardColum": 4,
|
||||
"BoardRow": 3,
|
||||
"TotalColum": 4,
|
||||
"TotalRow": 3,
|
||||
"BoardCenterXY": "300",
|
||||
"HoleQty": 96,
|
||||
"Version": 1,
|
||||
"CreateTime": "2021-11-15",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2021-11-15",
|
||||
"UpdateName": "admin"
|
||||
}
|
||||
]
|
||||
180578
unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json
Normal file
180578
unilabos/devices/liquid_handling/prcxi/json_output/base_plan_detail.json
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,98 @@
|
||||
[
|
||||
{
|
||||
"id": "ef121889-2724-4b3d-a786-bbf0bd213c3d",
|
||||
"name": "9300_V02",
|
||||
"row": 2,
|
||||
"col": 3,
|
||||
"create_name": "",
|
||||
"create_time": "2023-08-12 16:02:20.994",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9300_V02",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "9af15efc-29d2-4c44-8533-bbaf24913be6",
|
||||
"name": "9310",
|
||||
"row": 3,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2023-08-12 16:23:07.472",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9310",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "6ed12532-eeae-4c16-a9ae-18f0b0cfc546",
|
||||
"name": "6版位",
|
||||
"row": 2,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2023-10-09 11:05:57.244",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "6版位",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "77673540-92c4-4404-b659-4257034a9c5e",
|
||||
"name": "9300_V03",
|
||||
"row": 2,
|
||||
"col": 3,
|
||||
"create_name": "",
|
||||
"create_time": "2024-01-20 08:49:09.620",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9300_V03",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "c08591fe-bc7e-42a8-bfa1-a27a4967058e",
|
||||
"name": "9320",
|
||||
"row": 4,
|
||||
"col": 7,
|
||||
"create_name": "",
|
||||
"create_time": "2025-03-10 13:44:17.994",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "9320",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "54092457-a8b8-4457-bccd-e8c251e83ebd",
|
||||
"name": "7.17演示",
|
||||
"row": 4,
|
||||
"col": 4,
|
||||
"create_name": "",
|
||||
"create_time": "2025-07-12 17:08:38.336",
|
||||
"update_name": null,
|
||||
"update_time": null,
|
||||
"remark": "7.17演示",
|
||||
"isUse": 0
|
||||
},
|
||||
{
|
||||
"id": "e3855307-d91f-4ddc-9caf-565c0fd8adfc",
|
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|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
|
||||
},
|
||||
{
|
||||
"id": "a38e94af-e91e-4e7a-b49d-8668001bb356",
|
||||
"number": 7,
|
||||
"name": "T7",
|
||||
"row": 1,
|
||||
"col": 2,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
|
||||
},
|
||||
{
|
||||
"id": "9e45da24-1346-4886-a303-932880a79954",
|
||||
"number": 8,
|
||||
"name": "T8",
|
||||
"row": 1,
|
||||
"col": 3,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
|
||||
},
|
||||
{
|
||||
"id": "1ac46e58-86ae-42d9-b230-d476b984507a",
|
||||
"number": 9,
|
||||
"name": "T9",
|
||||
"row": 2,
|
||||
"col": 0,
|
||||
"row_span": 1,
|
||||
"col_span": 1,
|
||||
"plate_position_id": "a25563ec-8a2a-4de8-9ca2-a59c1c71427a"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1 @@
|
||||
[]
|
||||
@@ -0,0 +1 @@
|
||||
[]
|
||||
@@ -0,0 +1,58 @@
|
||||
[
|
||||
{
|
||||
"uuid": "4034fa042e7f418db42ab80b0044a8cd",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "c28ae2cb",
|
||||
"Value": "MDHC-001-1000522001001612db9dc",
|
||||
"CreateTime": "2022-01-22 17:07:00.8651386"
|
||||
},
|
||||
{
|
||||
"uuid": "8fb6d7589fdd42df93c1e1989ff13a62",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "52980979",
|
||||
"Value": "MDHC-001-100052200100119bb6731",
|
||||
"CreateTime": "2022-01-22 20:19:20.9444209"
|
||||
},
|
||||
{
|
||||
"uuid": "efc4c92b40a94de6b0662c64486c18d1",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "79da8402",
|
||||
"Value": "MDHC-001-1000522001001e24ea780",
|
||||
"CreateTime": "2022-01-22 20:19:26.8107506"
|
||||
},
|
||||
{
|
||||
"uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f",
|
||||
"Code": "MDHC-001-10",
|
||||
"Key": "daa51755",
|
||||
"Value": "MDHC-001-100052200100185dd22e2",
|
||||
"CreateTime": "2022-01-22 20:19:36.1581374"
|
||||
},
|
||||
{
|
||||
"uuid": "d005a70801544e42ab9d216ad68dbf50",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "992bbdab",
|
||||
"Value": "MDHC-023-0.2005220010014871a385",
|
||||
"CreateTime": "2022-02-16 15:49:53.760377"
|
||||
},
|
||||
{
|
||||
"uuid": "222315afb8e04320b0fcff10e3ddb8ae",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "76d23270",
|
||||
"Value": "MDHC-023-0.200522001001e61547ee",
|
||||
"CreateTime": "2022-02-16 15:50:05.1932055"
|
||||
},
|
||||
{
|
||||
"uuid": "31e2a5d4f884419aa9ba96cef98b7385",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "ba2b8a46",
|
||||
"Value": "MDHC-023-0.2005220010013bfed6cf",
|
||||
"CreateTime": "2022-02-16 17:26:20.0024235"
|
||||
},
|
||||
{
|
||||
"uuid": "9ccb8e0c5ca64ef09b8aced680395335",
|
||||
"Code": "MDHC-023-0.2",
|
||||
"Key": "1d1276d0",
|
||||
"Value": "MDHC-023-0.2005220010015c039a9c",
|
||||
"CreateTime": "2022-02-16 17:26:31.8479966"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,22 @@
|
||||
[
|
||||
{
|
||||
"uuid": "f3932aeae93533f19c0519c4c14702aa",
|
||||
"RoleCode": "admin",
|
||||
"RoleName": "管理员",
|
||||
"RoleMenu": "all",
|
||||
"CreateTime": "2022-02-26 00:00:00.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:50:10.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "8c822592b360345fb59690e49ac6b181",
|
||||
"RoleCode": "user",
|
||||
"RoleName": "实验员",
|
||||
"RoleMenu": "nosetting",
|
||||
"CreateTime": "2022-02-26 14:54:16.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:54:19.000",
|
||||
"UpdateName": "admin"
|
||||
}
|
||||
]
|
||||
@@ -0,0 +1,54 @@
|
||||
[
|
||||
{
|
||||
"uuid": "f3932aeae93533f19c0519c4c14702dd",
|
||||
"UserName": "admin",
|
||||
"Password": "NuGlByx4NZBm7XcV9f89qA==",
|
||||
"RealName": "管理员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "f3932aeae93533f19c0519c4c14702aa",
|
||||
"IsDel": 0,
|
||||
"CreateTime": "2022-02-26 14:51:41.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:51:49.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "5c522592b366645fb55690e49ac6b166",
|
||||
"UserName": "user",
|
||||
"Password": "4QrcOUm6Wau+VuBX8g+IPg==",
|
||||
"RealName": "实验员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "8c822592b360345fb59690e49ac6b181",
|
||||
"IsDel": 0,
|
||||
"CreateTime": "2022-02-26 14:56:57.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2022-02-26 14:58:39.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb",
|
||||
"UserName": "Administrator",
|
||||
"Password": "3J17Il4KOR+wKPszf/0cHQ==",
|
||||
"RealName": "超级管理员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "f3932aeae93533f19c0519c4c14702aa",
|
||||
"IsDel": 0,
|
||||
"CreateTime": "2023-08-12 00:00:00.000",
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2023-08-12 00:00:00.000",
|
||||
"UpdateName": "admin"
|
||||
},
|
||||
{
|
||||
"uuid": "2",
|
||||
"UserName": "shortcut",
|
||||
"Password": "4QrcOUm6Wau+VuBX8g+IPg==",
|
||||
"RealName": "实验员",
|
||||
"IsEnable": 1,
|
||||
"uuidRole": "8c822592b360345fb59690e49ac6b181",
|
||||
"IsDel": 0,
|
||||
"CreateTime": null,
|
||||
"CreateName": "admin",
|
||||
"UpdateTime": "2023-10-23 00:00:00.000",
|
||||
"UpdateName": null
|
||||
}
|
||||
]
|
||||
@@ -70,50 +70,129 @@ class PRCXI9300Deck(Deck):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位
|
||||
|
||||
|
||||
class PRCXI9300Container(Plate, TipRack):
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
class PRCXI9300Plate(Plate):
|
||||
"""
|
||||
专用孔板类：
|
||||
1. 继承自 PLR 原生 Plate，保留所有物理特性。
|
||||
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str,
|
||||
ordering: collections.OrderedDict,
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
items = ordered_items if ordered_items is not None else ordering
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300TipRack(TipRack):
|
||||
""" 专用吸头盒类 """
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tip_rack",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
items = ordered_items if ordered_items is not None else ordering
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
|
||||
class PRCXI9300Trash(Trash):
|
||||
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, **kwargs):
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
if name != "trash":
|
||||
name = "trash"
|
||||
print("PRCXI9300Trash name must be 'trash', using 'trash' instead.")
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, **kwargs)
|
||||
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
# 初始化时注入 UUID
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""从给定的状态加载工作台信息。"""
|
||||
@@ -121,10 +200,152 @@ class PRCXI9300Trash(Trash):
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300TubeRack(TubeRack):
|
||||
"""
|
||||
专用管架类：用于 EP 管架、试管架等。
|
||||
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
# 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items
|
||||
items_to_pass = items if items is not None else ordered_items
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=ordered_items,
|
||||
model=model,
|
||||
**kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
"""
|
||||
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
|
||||
支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate_adapter",
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
# 参数给予默认值 (标准96孔板尺寸)
|
||||
adapter_hole_size_x: float = 127.76,
|
||||
adapter_hole_size_y: float = 85.48,
|
||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||
dx: Optional[float] = None,
|
||||
dy: Optional[float] = None,
|
||||
dz: float = 0.0, # 默认Z轴偏移
|
||||
**kwargs):
|
||||
|
||||
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
|
||||
if dx is None:
|
||||
dx = (size_x - adapter_hole_size_x) / 2
|
||||
if dy is None:
|
||||
dy = (size_y - adapter_hole_size_y) / 2
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
dx=dx,
|
||||
dy=dy,
|
||||
dz=dz,
|
||||
adapter_hole_size_x=adapter_hole_size_x,
|
||||
adapter_hole_size_y=adapter_hole_size_y,
|
||||
adapter_hole_size_z=adapter_hole_size_z,
|
||||
model=model,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
if k == "Material" and isinstance(v, dict):
|
||||
safe_material = {}
|
||||
for mk, mv in v.items():
|
||||
# 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典)
|
||||
if isinstance(mv, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_material[mk] = mv
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
@@ -978,7 +1199,30 @@ class PRCXI9300Api:
|
||||
|
||||
def _raw_request(self, payload: str) -> str:
|
||||
if self.debug:
|
||||
return " "
|
||||
# 调试/仿真模式下直接返回可解析的模拟 JSON，避免后续 json.loads 报错
|
||||
try:
|
||||
req = json.loads(payload)
|
||||
method = req.get("MethodName")
|
||||
except Exception:
|
||||
method = None
|
||||
|
||||
data: Any = True
|
||||
if method in {"AddSolution"}:
|
||||
data = str(uuid.uuid4())
|
||||
elif method in {"AddWorkTabletMatrix", "AddWorkTabletMatrix2"}:
|
||||
data = {"Success": True, "Message": "debug mock"}
|
||||
elif method in {"GetErrorCode"}:
|
||||
data = ""
|
||||
elif method in {"RemoveErrorCodet", "Reset", "Start", "LoadSolution", "Pause", "Resume", "Stop"}:
|
||||
data = True
|
||||
elif method in {"GetStepStateList", "GetStepStatus", "GetStepState"}:
|
||||
data = []
|
||||
elif method in {"GetLocation"}:
|
||||
data = {"X": 0, "Y": 0, "Z": 0}
|
||||
elif method in {"GetResetStatus"}:
|
||||
data = False
|
||||
|
||||
return json.dumps({"Success": True, "Msg": "debug mock", "Data": data})
|
||||
with contextlib.closing(socket.socket()) as sock:
|
||||
sock.settimeout(self.timeout)
|
||||
sock.connect((self.host, self.port))
|
||||
@@ -1702,31 +1946,31 @@ if __name__ == "__main__":
|
||||
from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
def get_well_container(name: str) -> PRCXI9300Plate:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(
|
||||
name=name, size_x=50, size_y=50, size_z=10, category="plate", ordering=well_containers["ordering"]
|
||||
plate = PRCXI9300Plate(
|
||||
name=name, size_x=50, size_y=50, size_z=10, category="plate", ordered_items=well_containers["ordering"]
|
||||
)
|
||||
plate_serialized = plate.serialize()
|
||||
plate_serialized["parent_name"] = deck.name
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
new_plate: PRCXI9300Plate = PRCXI9300Plate.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
|
||||
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300TipRack:
|
||||
tip_racks = opentrons_96_tiprack_10ul(name).serialize()
|
||||
tip_rack = PRCXI9300Container(
|
||||
tip_rack = PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="tip_rack",
|
||||
ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
)
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
new_tip_rack: PRCXI9300TipRack = PRCXI9300TipRack.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
|
||||
plate1 = get_tip_rack("RackT1")
|
||||
@@ -1773,8 +2017,8 @@ if __name__ == "__main__":
|
||||
}
|
||||
}
|
||||
)
|
||||
plate7 = PRCXI9300Container(
|
||||
name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
|
||||
plate7 = PRCXI9300Plate(
|
||||
name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordered_items=collections.OrderedDict()
|
||||
)
|
||||
plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}})
|
||||
plate8 = get_tip_rack("PlateT8")
|
||||
@@ -1848,13 +2092,13 @@ if __name__ == "__main__":
|
||||
deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothin3",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
@@ -1862,48 +2106,48 @@ if __name__ == "__main__":
|
||||
deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing7",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing8",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing11",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
deck.assign_child_resource(
|
||||
PRCXI9300Container(
|
||||
PRCXI9300Plate(
|
||||
name="container_for_nothing12",
|
||||
size_x=50,
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="plate",
|
||||
ordering=collections.OrderedDict(),
|
||||
ordered_items=collections.OrderedDict(),
|
||||
),
|
||||
location=Coordinate(0, 0, 0),
|
||||
)
|
||||
|
||||
841
unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
Normal file
841
unilabos/devices/liquid_handling/prcxi/prcxi_labware.py
Normal file
@@ -0,0 +1,841 @@
|
||||
from typing import Optional
|
||||
from pylabrobot.resources import Tube, Coordinate
|
||||
from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
|
||||
from pylabrobot.resources.tip import Tip, TipCreator
|
||||
from pylabrobot.resources.tip_rack import TipRack, TipSpot
|
||||
from pylabrobot.resources.utils import create_ordered_items_2d
|
||||
from pylabrobot.resources.height_volume_functions import (
|
||||
compute_height_from_volume_rectangle,
|
||||
compute_volume_from_height_rectangle,
|
||||
)
|
||||
|
||||
from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
|
||||
|
||||
def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
|
||||
"""
|
||||
PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
|
||||
"""
|
||||
return Tip(
|
||||
has_filter=False, # 默认无滤芯
|
||||
maximal_volume=volume,
|
||||
total_tip_length=length,
|
||||
fitting_depth=depth
|
||||
)
|
||||
|
||||
# =========================================================================
|
||||
# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID
|
||||
# =========================================================================
|
||||
def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板)
|
||||
原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.1,
|
||||
size_y=85.0,
|
||||
size_z=44.2,
|
||||
lid=None,
|
||||
model="PRCXI_BioER_96_wellplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "ca877b8b114a4310b429d1de4aae96ee",
|
||||
"Code": "ZX-019-2.2",
|
||||
"Name": "2.2ml 深孔板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
size_x=8.25,
|
||||
size_y=8.25,
|
||||
size_z=39.3, # 修改过
|
||||
dx=9.5,
|
||||
dy=7.5,
|
||||
dz=6,
|
||||
material_z_thickness=0.8,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
cross_section_type=CrossSectionType.RECTANGLE,
|
||||
bottom_type=WellBottomType.V, # 是否需要修改？
|
||||
max_volume=2200,
|
||||
),
|
||||
)
|
||||
def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-58-10000 (储液槽)
|
||||
原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb
|
||||
"""
|
||||
well_size_x = 127.76 - (14.38 - 9 / 2) * 2
|
||||
well_size_y = 85.48 - (11.24 - 9 / 2) * 2
|
||||
well_kwargs = {
|
||||
"size_x": well_size_x,
|
||||
"size_y": well_size_y,
|
||||
"size_z": 26.85,
|
||||
"bottom_type": WellBottomType.V,
|
||||
"compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
|
||||
liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
|
||||
liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"material_z_thickness": 31.4 - 26.85 - 3.55,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=31.4,
|
||||
lid=None,
|
||||
model="PRCXI_Nest_1_troughplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "04211a2dc93547fe9bf6121eac533650",
|
||||
"Code": "ZX-58-10000",
|
||||
"Name": "储液槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=1,
|
||||
num_items_y=1,
|
||||
dx=14.38 - 9 / 2,
|
||||
dy=11.24 - 9 / 2,
|
||||
dz=3.55,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
**well_kwargs, # 传入上面计算好的孔参数
|
||||
),
|
||||
)
|
||||
def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: q3 (384板)
|
||||
原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
# 直接抄录 PLR 标准品的物理尺寸
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=10.40,
|
||||
model="BioRad_384_wellplate_50uL_Vb",
|
||||
category="plate",
|
||||
# 2. 注入 Unilab 必须的 UUID 信息
|
||||
material_info={
|
||||
"uuid": "853dcfb6226f476e8b23c250217dc7da",
|
||||
"Code": "q3",
|
||||
"Name": "384板",
|
||||
"SupplyType": 1,
|
||||
},
|
||||
# 3. 定义孔的排列 (抄录标准参数)
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=24,
|
||||
num_items_y=16,
|
||||
dx=10.58, # A1 左边缘距离板子左边缘 需要进一步测量
|
||||
dy=7.44, # P1 下边缘距离板子下边缘 需要进一步测量
|
||||
dz=1.05,
|
||||
item_dx=4.5,
|
||||
item_dy=4.5,
|
||||
size_x=3.10,
|
||||
size_y=3.10,
|
||||
size_z=9.35,
|
||||
max_volume=50,
|
||||
material_z_thickness=1,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
)
|
||||
)
|
||||
def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: sdfrth654 (4道储液槽)
|
||||
原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb
|
||||
"""
|
||||
INNER_WELL_WIDTH = 26.1
|
||||
INNER_WELL_LENGTH = 71.2
|
||||
well_kwargs = {
|
||||
"size_x": 26,
|
||||
"size_y": 71.2,
|
||||
"size_z": 42.55,
|
||||
"bottom_type": WellBottomType.FLAT,
|
||||
"cross_section_type": CrossSectionType.RECTANGLE,
|
||||
"compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
|
||||
liquid_volume,
|
||||
INNER_WELL_LENGTH,
|
||||
INNER_WELL_WIDTH,
|
||||
),
|
||||
"compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
|
||||
liquid_height,
|
||||
INNER_WELL_LENGTH,
|
||||
INNER_WELL_WIDTH,
|
||||
),
|
||||
"material_z_thickness": 1,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=43.80,
|
||||
model="PRCXI_AGenBio_4_troughplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "01953864f6f140ccaa8ddffd4f3e46f5",
|
||||
"Code": "sdfrth654",
|
||||
"Name": "4道储液槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=4,
|
||||
num_items_y=1,
|
||||
dx=9.8,
|
||||
dy=7.2,
|
||||
dz=0.9,
|
||||
item_dx=INNER_WELL_WIDTH + 1, # 1 mm wall thickness
|
||||
item_dy=INNER_WELL_LENGTH,
|
||||
**well_kwargs,
|
||||
),
|
||||
)
|
||||
def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: 12道储液槽 (12道储液槽)
|
||||
原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb
|
||||
"""
|
||||
well_size_x = 8.2
|
||||
well_size_y = 71.2
|
||||
well_kwargs = {
|
||||
"size_x": well_size_x,
|
||||
"size_y": well_size_y,
|
||||
"size_z": 26.85,
|
||||
"bottom_type": WellBottomType.V,
|
||||
"compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(
|
||||
liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(
|
||||
liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y
|
||||
),
|
||||
"material_z_thickness": 31.4 - 26.85 - 3.55,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=31.4,
|
||||
lid=None,
|
||||
model="PRCXI_nest_12_troughplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "0f1639987b154e1fac78f4fb29a1f7c1",
|
||||
"Code": "12道储液槽",
|
||||
"Name": "12道储液槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=1,
|
||||
dx=14.38 - 8.2 / 2,
|
||||
dy=(85.48 - 71.2) / 2,
|
||||
dz=3.55,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
**well_kwargs,
|
||||
),
|
||||
)
|
||||
def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-78-096 (细菌培养皿)
|
||||
原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb
|
||||
"""
|
||||
well_kwargs = {
|
||||
"size_x": 6.96,
|
||||
"size_y": 6.96,
|
||||
"size_z": 10.04,
|
||||
"bottom_type": WellBottomType.FLAT,
|
||||
"material_z_thickness": 1.75,
|
||||
"cross_section_type": CrossSectionType.CIRCLE,
|
||||
"max_volume": 300,
|
||||
}
|
||||
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.61,
|
||||
size_y=85.24,
|
||||
size_z=14.30,
|
||||
lid=None,
|
||||
model="PRCXI_CellTreat_96_wellplate",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f",
|
||||
"Code": "ZX-78-096",
|
||||
"Name": "细菌培养皿",
|
||||
"materialEnum": 4,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.83,
|
||||
dy=7.67,
|
||||
dz=4.05,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
**well_kwargs,
|
||||
),
|
||||
)
|
||||
# =========================================================================
|
||||
# 自定义/需测量品 (Custom Measurement)
|
||||
# =========================================================================
|
||||
def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack:
|
||||
"""
|
||||
对应 JSON Code: ZX-001-10+
|
||||
"""
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=122.11,
|
||||
size_y=85.48, #修改
|
||||
size_z=58.23,
|
||||
model="PRCXI_10ul_eTips",
|
||||
material_info={
|
||||
"uuid": "068b3815e36b4a72a59bae017011b29f",
|
||||
"Code": "ZX-001-10+",
|
||||
"Name": "10μL加长 Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=7.97, #需要修改
|
||||
dy=5.0, #需修改
|
||||
dz=2.0, #需修改
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1)
|
||||
)
|
||||
)
|
||||
def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack:
|
||||
"""
|
||||
对应 JSON Code: ZX-001-300
|
||||
吸头盒通常比较特殊，需要定义 Tip 对象
|
||||
"""
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=122.11,
|
||||
size_y=85.48, #修改
|
||||
size_z=58.23,
|
||||
model="PRCXI_300ul_Tips",
|
||||
material_info={
|
||||
"uuid": "076250742950465b9d6ea29a225dfb00",
|
||||
"Code": "ZX-001-300",
|
||||
"Name": "300μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=7.97, #需要修改
|
||||
dy=5.0, #需修改
|
||||
dz=2.0, #需修改
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0)
|
||||
)
|
||||
)
|
||||
def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=119.5,
|
||||
size_y=80.0,
|
||||
size_z=26.0,
|
||||
model="PRCXI_PCR_Plate_200uL_nonskirted",
|
||||
plate_type="non-skirted",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR 板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=7,
|
||||
dy=5,
|
||||
dz=0.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=6,
|
||||
size_y=6,
|
||||
size_z=15.17,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
),
|
||||
)
|
||||
def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=126,
|
||||
size_y=86,
|
||||
size_z=21.2,
|
||||
model="PRCXI_PCR_Plate_200uL_semiskirted",
|
||||
plate_type="semi-skirted",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR 板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=11,
|
||||
dy=8,
|
||||
dz=0.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=6,
|
||||
size_y=6,
|
||||
size_z=15.17,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
),
|
||||
)
|
||||
def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=86,
|
||||
size_z=16.1,
|
||||
model="PRCXI_PCR_Plate_200uL_skirted",
|
||||
plate_type="skirted",
|
||||
category="plate",
|
||||
material_info={
|
||||
"uuid": "73bb9b10bc394978b70e027bf45ce2d3",
|
||||
"Code": "ZX-023-0.2",
|
||||
"Name": "0.2ml PCR 板",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=11,
|
||||
dy=8.49,
|
||||
dz=0.8,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=6,
|
||||
size_y=6,
|
||||
size_z=15.1,
|
||||
bottom_type=WellBottomType.V,
|
||||
cross_section_type=CrossSectionType.CIRCLE,
|
||||
),
|
||||
)
|
||||
def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash:
|
||||
"""
|
||||
对应 JSON Code: q1 (废弃槽)
|
||||
"""
|
||||
return PRCXI9300Trash(
|
||||
name="trash",
|
||||
size_x=126.59,
|
||||
size_y=84.87,
|
||||
size_z=89.5, # 修改
|
||||
category="trash",
|
||||
model="PRCXI_trash",
|
||||
material_info={
|
||||
"uuid": "730067cf07ae43849ddf4034299030e9",
|
||||
"Code": "q1",
|
||||
"Name": "废弃槽",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
}
|
||||
)
|
||||
def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate:
|
||||
"""
|
||||
对应 JSON Code: q2 (96深孔板)
|
||||
"""
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127.3,
|
||||
size_y=85.35,
|
||||
size_z=45.0, #修改
|
||||
model="PRCXI_96_DeepWell",
|
||||
material_info={
|
||||
"uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid
|
||||
"Code": "q2",
|
||||
"Name": "96深孔板",
|
||||
"materialEnum": 0
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.9,
|
||||
dy=8.25,
|
||||
dz=2.0,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=8.2,
|
||||
size_y=8.2,
|
||||
size_z=42.0,
|
||||
max_volume=2200
|
||||
)
|
||||
)
|
||||
def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack:
|
||||
"""
|
||||
对应 JSON Code: 1 (ep适配器)
|
||||
这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管
|
||||
"""
|
||||
ep_tube_prototype = Tube(
|
||||
name="EP_Tube_1.5mL",
|
||||
size_x=10.6,
|
||||
size_y=10.6,
|
||||
size_z=40.0, # 管子本身的高度，通常比架子孔略高或持平
|
||||
max_volume=1500,
|
||||
model="EP_Tube_1.5mL"
|
||||
)
|
||||
|
||||
# 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy
|
||||
dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6
|
||||
dx_calc = 3.54
|
||||
return PRCXI9300TubeRack(
|
||||
name=name,
|
||||
size_x=128.04,
|
||||
size_y=85.8,
|
||||
size_z=42.66,
|
||||
model="PRCXI_EP_Adapter",
|
||||
category="tube_rack",
|
||||
material_info={
|
||||
"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7",
|
||||
"Code": "1",
|
||||
"Name": "ep适配器",
|
||||
"materialEnum": 0,
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Tube,
|
||||
num_items_x=6,
|
||||
num_items_y=4,
|
||||
dx=dx_calc,
|
||||
dy=dy_calc,
|
||||
dz=42.66 - 38.08, # 架高 - 孔深
|
||||
item_dx=21.0,
|
||||
item_dy=18.0,
|
||||
size_x=10.6,
|
||||
size_y=10.6,
|
||||
size_z=40.0,
|
||||
max_volume=1500
|
||||
)
|
||||
)
|
||||
# =========================================================================
|
||||
# 无实物，需要测量
|
||||
# =========================================================================
|
||||
def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-1250 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=128,
|
||||
size_y=85,
|
||||
size_z=20,
|
||||
material_info={
|
||||
"uuid": "3b6f33ffbf734014bcc20e3c63e124d4",
|
||||
"Code": "ZX-58-1250",
|
||||
"Name": "Tip头适配器 1250uL",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-300 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=127,
|
||||
size_y=85,
|
||||
size_z=81,
|
||||
material_info={
|
||||
"uuid": "7c822592b360451fb59690e49ac6b181",
|
||||
"Code": "ZX-58-300",
|
||||
"Name": "ZHONGXI 适配器 300uL",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-10 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=128,
|
||||
size_y=85,
|
||||
size_z=72.3,
|
||||
material_info={
|
||||
"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c",
|
||||
"Code": "ZX-58-10",
|
||||
"Name": "吸头10ul 适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-1250 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=118.09,
|
||||
size_y=80.7,
|
||||
size_z=107.67,
|
||||
model="PRCXI_1250uL_Tips",
|
||||
material_info={
|
||||
"uuid": "7960f49ddfe9448abadda89bd1556936",
|
||||
"Code": "ZX-001-1250",
|
||||
"Name": "1250μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=9.545 - 7.95/2,
|
||||
dy=8.85 - 7.95/2,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8)
|
||||
)
|
||||
)
|
||||
def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-10 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=120.98,
|
||||
size_y=82.12,
|
||||
size_z=67,
|
||||
model="PRCXI_10uL_Tips",
|
||||
material_info={
|
||||
"uuid": "45f2ed3ad925484d96463d675a0ebf66",
|
||||
"Code": "ZX-001-10",
|
||||
"Name": "10μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.99 - 5/2,
|
||||
dy=9.56 - 5/2,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5)
|
||||
)
|
||||
)
|
||||
def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-1000 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=128.09,
|
||||
size_y=85.8,
|
||||
size_z=98,
|
||||
model="PRCXI_1000uL_Tips",
|
||||
material_info={
|
||||
"uuid": "80652665f6a54402b2408d50b40398df",
|
||||
"Code": "ZX-001-1000",
|
||||
"Name": "1000μL Tip头",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=14.5 - 7.95/2,
|
||||
dy=7.425,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_y=7.0,
|
||||
size_z=0,
|
||||
make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8)
|
||||
)
|
||||
)
|
||||
def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack:
|
||||
""" Code: ZX-001-200 """
|
||||
return PRCXI9300TipRack(
|
||||
name=name,
|
||||
size_x=120.98,
|
||||
size_y=82.12,
|
||||
size_z=66.9,
|
||||
model="PRCXI_200uL_Tips",
|
||||
material_info={
|
||||
"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7",
|
||||
"Code": "ZX-001-200",
|
||||
"Name": "200μL Tip头",
|
||||
"SupplyType": 1},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=10.99 - 5.5/2,
|
||||
dy=9.56 - 5.5/2,
|
||||
dz=2.0,
|
||||
item_dx=9,
|
||||
item_dy=9,
|
||||
size_x=7.0,
|
||||
size_z=0,
|
||||
size_y=7.0,
|
||||
make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5)
|
||||
)
|
||||
)
|
||||
def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
"""
|
||||
对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器)
|
||||
"""
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=21.69,
|
||||
model="PRCXI_PCR_Adapter",
|
||||
material_info={
|
||||
"uuid": "4a043a07c65a4f9bb97745e1f129b165",
|
||||
"Code": "ZX-58-0001",
|
||||
"Name": "全裙边 PCR适配器",
|
||||
"materialEnum": 3,
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-ADP-001 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=133,
|
||||
size_y=91.8,
|
||||
size_z=70,
|
||||
material_info={
|
||||
"uuid": "6bdfdd7069df453896b0806df50f2f4d",
|
||||
"Code": "ZX-ADP-001",
|
||||
"Name": "储液槽 适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-002-300 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=136.4,
|
||||
size_y=93.8,
|
||||
size_z=96,
|
||||
material_info={
|
||||
"uuid": "9a439bed8f3344549643d6b3bc5a5eb4",
|
||||
"Code": "ZX-002-300",
|
||||
"Name": "300ul深孔板适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-002-10 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=136.5,
|
||||
size_y=93.8,
|
||||
size_z=121.5,
|
||||
material_info={
|
||||
"uuid": "4dc8d6ecfd0449549683b8ef815a861b",
|
||||
"Code": "ZX-002-10",
|
||||
"Name": "10ul专用深孔板适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: Fhh478 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=120,
|
||||
size_y=90,
|
||||
size_z=86,
|
||||
material_info={
|
||||
"uuid": "adfabfffa8f24af5abfbba67b8d0f973",
|
||||
"Code": "Fhh478",
|
||||
"Name": "适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate:
|
||||
""" Code: 22 (48孔深孔板) """
|
||||
print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.")
|
||||
return PRCXI9300Plate(
|
||||
name=name,
|
||||
size_x=127,
|
||||
size_y=85,
|
||||
size_z=44,
|
||||
model="PRCXI_48_DeepWell",
|
||||
material_info={
|
||||
"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b",
|
||||
"Code": "22",
|
||||
"Name": "48孔深孔板",
|
||||
"SupplyType": 1
|
||||
},
|
||||
ordered_items=create_ordered_items_2d(
|
||||
Well,
|
||||
num_items_x=6,
|
||||
num_items_y=8,
|
||||
dx=10,
|
||||
dy=10,
|
||||
dz=1,
|
||||
item_dx=18.5,
|
||||
item_dy=9,
|
||||
size_x=8,
|
||||
size_y=8,
|
||||
size_z=40
|
||||
)
|
||||
)
|
||||
def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter:
|
||||
""" Code: ZX-58-30 """
|
||||
return PRCXI9300PlateAdapter(
|
||||
name=name,
|
||||
size_x=132,
|
||||
size_y=93.5,
|
||||
size_z=30,
|
||||
material_info={
|
||||
"uuid": "a0757a90d8e44e81a68f306a608694f2",
|
||||
"Code": "ZX-58-30",
|
||||
"Name": "30mm适配器",
|
||||
"SupplyType": 2
|
||||
}
|
||||
)
|
||||
@@ -1,31 +0,0 @@
|
||||
{
|
||||
"Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"},
|
||||
"ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"},
|
||||
"吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"},
|
||||
"1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"},
|
||||
"10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"},
|
||||
"10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"},
|
||||
"1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"},
|
||||
"300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"},
|
||||
"200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"},
|
||||
"0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"},
|
||||
"2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"},
|
||||
"储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"},
|
||||
"全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"},
|
||||
"储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"},
|
||||
"300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"},
|
||||
"10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"},
|
||||
"爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"},
|
||||
"适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"},
|
||||
"废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"},
|
||||
"96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"},
|
||||
"384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"},
|
||||
"4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"},
|
||||
"48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"},
|
||||
"12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"},
|
||||
"HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"},
|
||||
"ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"},
|
||||
"30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"},
|
||||
"细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"},
|
||||
"96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
import collections
|
||||
import json
|
||||
from pathlib import Path
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
|
||||
|
||||
prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
|
||||
with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
|
||||
prcxi_materials = json.loads(f.read())
|
||||
|
||||
|
||||
def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container: # 必须传入一个name参数，是plr的规范要求
|
||||
# tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
|
||||
tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
|
||||
tip_rack.load_state({
|
||||
"Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
|
||||
})
|
||||
return tip_rack
|
||||
|
||||
|
||||
@@ -1,44 +0,0 @@
|
||||
import collections
|
||||
|
||||
from pylabrobot.resources import opentrons_96_tiprack_10ul
|
||||
from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
|
||||
|
||||
|
||||
def get_well_container(name: str) -> PRCXI9300Container:
|
||||
well_containers = corning_96_wellplate_360ul_flat(name).serialize()
|
||||
plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
|
||||
ordering=collections.OrderedDict())
|
||||
plate_serialized = plate.serialize()
|
||||
well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str) -> PRCXI9300Container:
|
||||
tip_racks = opentrons_96_tiprack_10ul("name").serialize()
|
||||
tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
|
||||
ordering=collections.OrderedDict())
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
|
||||
new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
|
||||
return new_tip_rack
|
||||
|
||||
def prcxi_96_wellplate_360ul_flat(name: str):
|
||||
return get_well_container(name)
|
||||
|
||||
def prcxi_opentrons_96_tiprack_10ul(name: str):
|
||||
return get_tip_rack(name)
|
||||
|
||||
def prcxi_trash(name: str = None):
|
||||
return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
|
||||
|
||||
if __name__ == "__main__":
|
||||
# Example usage
|
||||
test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
|
||||
test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
|
||||
tash = prcxi_trash("trash")
|
||||
print(test_plate)
|
||||
print(test_rack)
|
||||
print(tash)
|
||||
# Output will be a dictionary representation of the PRCXI9300Container with well details
|
||||
@@ -0,0 +1,560 @@
|
||||
# 新威电池测试系统 - OSS 上传功能说明
|
||||
|
||||
## 功能概述
|
||||
|
||||
本次更新为新威电池测试系统添加了**阿里云 OSS 文件上传功能**，采用统一的 API 方式，允许将测试数据备份文件上传到云端存储。
|
||||
|
||||
## 版本更新说明
|
||||
|
||||
### ⚠️ 重大变更（2025-12-17）
|
||||
|
||||
本次更新将 OSS 上传方式从 **`oss2` 库** 改为 **统一 API 方式**，实现与团队其他系统的统一。
|
||||
|
||||
**主要变化**：
|
||||
- ✅ 用 `requests` 库
|
||||
- ✅ 通过统一 API 获取预签名 URL 进行上传
|
||||
- ✅ 简化环境变量配置（仅需要 JWT Token）
|
||||
- ✅ 返回文件访问 URL
|
||||
|
||||
## 主要改动
|
||||
|
||||
### 1. OSS 上传工具函数重构（第30-200行）
|
||||
|
||||
#### 新增函数
|
||||
|
||||
- **`get_upload_token(base_url, auth_token, scene, filename)`**
|
||||
从统一 API 获取文件上传的预签名 URL
|
||||
|
||||
- **`upload_file_with_presigned_url(upload_info, file_path)`**
|
||||
使用预签名 URL 上传文件到 OSS
|
||||
|
||||
#### 更新的函数
|
||||
|
||||
- **`upload_file_to_oss(local_file_path, oss_object_name)`**
|
||||
上传单个文件到阿里云 OSS（使用统一 API 方式）
|
||||
- 返回值变更：成功时返回文件访问 URL，失败时返回 `False`
|
||||
|
||||
- **`upload_files_to_oss(file_paths, oss_prefix)`**
|
||||
批量上传文件列表
|
||||
- `oss_prefix` 参数保留但暂不使用（接口兼容性）
|
||||
|
||||
- **`upload_directory_to_oss(local_dir, oss_prefix)`**
|
||||
上传整个目录
|
||||
- 简化实现，直接使用文件名上传
|
||||
|
||||
### 2. 环境变量配置简化
|
||||
|
||||
#### 新方式（推荐）
|
||||
```bash
|
||||
# ✅ 必需
|
||||
UNI_LAB_AUTH_TOKEN # API Key 格式: "Api xxxxxx"
|
||||
|
||||
# ✅ 可选（有默认值）
|
||||
UNI_LAB_BASE_URL (默认: https://uni-lab.test.bohrium.com)
|
||||
UNI_LAB_UPLOAD_SCENE (默认: job，其他值会被改成 default)
|
||||
```
|
||||
|
||||
### 3. 初始化方法（保持不变）
|
||||
|
||||
`__init__` 方法中的 OSS 相关配置参数：
|
||||
|
||||
```python
|
||||
# OSS 上传配置
|
||||
self.oss_upload_enabled = False # 默认不启用 OSS 上传
|
||||
self.oss_prefix = "neware_backup" # OSS 对象路径前缀
|
||||
self._last_backup_dir = None # 记录最近一次的 backup_dir
|
||||
```
|
||||
|
||||
**默认行为**：OSS 上传功能默认关闭（`oss_upload_enabled=False`），不影响现有系统。
|
||||
|
||||
### 4. upload_backup_to_oss 方法（保持不变）
|
||||
|
||||
```python
|
||||
def upload_backup_to_oss(
|
||||
self,
|
||||
backup_dir: str = None,
|
||||
file_pattern: str = "*",
|
||||
oss_prefix: str = None
|
||||
) -> dict
|
||||
```
|
||||
|
||||
## 使用说明
|
||||
|
||||
### 前置条件
|
||||
|
||||
#### 1. 安装依赖
|
||||
|
||||
```bash
|
||||
# requests 库（通常已安装）
|
||||
pip install requests
|
||||
```
|
||||
|
||||
#### 2. 配置环境变量
|
||||
|
||||
根据您使用的终端类型配置环境变量：
|
||||
|
||||
##### PowerShell（推荐）
|
||||
|
||||
```powershell
|
||||
# 必需：设置认证 Token（API Key 格式）
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
|
||||
|
||||
# 可选：自定义服务器地址（默认为 test 环境）
|
||||
$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
|
||||
|
||||
# 可选：自定义上传场景（默认为 job）
|
||||
$env:UNI_LAB_UPLOAD_SCENE = "job"
|
||||
|
||||
# 验证是否设置成功
|
||||
echo $env:UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
##### CMD / 命令提示符
|
||||
|
||||
```cmd
|
||||
REM 必需：设置认证 Token（API Key 格式）
|
||||
set UNI_LAB_AUTH_TOKEN=Api xxxx
|
||||
|
||||
REM 可选：自定义配置
|
||||
set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
|
||||
set UNI_LAB_UPLOAD_SCENE=job
|
||||
|
||||
REM 验证是否设置成功
|
||||
echo %UNI_LAB_AUTH_TOKEN%
|
||||
```
|
||||
|
||||
##### Linux/Mac
|
||||
|
||||
```bash
|
||||
# 必需：设置认证 Token（API Key 格式）
|
||||
export UNI_LAB_AUTH_TOKEN="Api xxxx"
|
||||
|
||||
# 可选：自定义配置
|
||||
export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
|
||||
export UNI_LAB_UPLOAD_SCENE="job"
|
||||
|
||||
# 验证是否设置成功
|
||||
echo $UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
#### 3. 获取认证 Token
|
||||
|
||||
> **重要**：从 Uni-Lab 主页 → 账号安全 中获取 API Key。
|
||||
|
||||
**获取步骤**：
|
||||
1. 登录 Uni-Lab 系统
|
||||
2. 进入主页 → 账号安全
|
||||
3. 复制 API Key
|
||||
|
||||
Token 格式示例：
|
||||
```
|
||||
Api 48ccxx336fba44f39e1e37db93xxxxx
|
||||
```
|
||||
|
||||
> **提示**：
|
||||
> - 如果 Token 已经包含 `Api ` 前缀，直接使用
|
||||
> - 如果没有前缀，代码会自动添加 `Api ` 前缀
|
||||
> - 旧版 `Bearer` JWT Token 格式仍然兼容
|
||||
|
||||
#### 4. 持久化配置（可选）
|
||||
|
||||
**临时配置**：上述命令设置的环境变量只在当前终端会话中有效。
|
||||
|
||||
**持久化方式 1：PowerShell 配置文件**
|
||||
```powershell
|
||||
# 编辑 PowerShell 配置文件
|
||||
notepad $PROFILE
|
||||
|
||||
# 在打开的文件中添加：
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api 你的API_Key"
|
||||
```
|
||||
|
||||
**持久化方式 2：Windows 系统环境变量**
|
||||
- 右键"此电脑" → "属性" → "高级系统设置" → "环境变量"
|
||||
- 添加用户变量或系统变量：
|
||||
- 变量名：`UNI_LAB_AUTH_TOKEN`
|
||||
- 变量值：`Api 你的API_Key`
|
||||
|
||||
### 使用流程
|
||||
|
||||
#### 步骤 1：启用 OSS 上传功能
|
||||
|
||||
**推荐方式：在 `device.json` 中配置**
|
||||
|
||||
编辑设备配置文件 `unilabos/devices/neware_battery_test_system/device.json`，在 `config` 中添加：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"oss_upload_enabled": true,
|
||||
"oss_prefix": "neware_backup/2025-12"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**参数说明**：
|
||||
- `oss_upload_enabled`: 设置为 `true` 启用 OSS 上传
|
||||
- `oss_prefix`: OSS 文件路径前缀，建议按日期或项目组织（暂时未使用，保留接口兼容性）
|
||||
|
||||
**其他方式：通过初始化参数**
|
||||
|
||||
```python
|
||||
device = NewareBatteryTestSystem(
|
||||
ip="127.0.0.1",
|
||||
port=502,
|
||||
oss_upload_enabled=True, # 启用 OSS 上传
|
||||
oss_prefix="neware_backup/2025-12" # 可选：自定义路径前缀
|
||||
)
|
||||
```
|
||||
|
||||
**配置完成后，重启 ROS 节点使配置生效。**
|
||||
|
||||
#### 步骤 2：提交测试任务
|
||||
|
||||
使用 `submit_from_csv` 提交测试任务：
|
||||
|
||||
```python
|
||||
result = device.submit_from_csv(
|
||||
csv_path="test_data.csv",
|
||||
output_dir="D:/neware_output"
|
||||
)
|
||||
```
|
||||
|
||||
此时会创建以下目录结构：
|
||||
```
|
||||
D:/neware_output/
|
||||
├── xml_dir/ # XML 配置文件
|
||||
└── backup_dir/ # 测试数据备份（由新威设备生成）
|
||||
```
|
||||
|
||||
#### 步骤 3：等待测试完成
|
||||
|
||||
等待新威设备完成测试，备份文件会生成到 `backup_dir` 中。
|
||||
|
||||
#### 步骤 4：上传备份文件到 OSS
|
||||
|
||||
**方法 A：使用默认设置（推荐）**
|
||||
```python
|
||||
# 自动使用最近一次的 backup_dir，上传所有文件
|
||||
result = device.upload_backup_to_oss()
|
||||
```
|
||||
|
||||
**方法 B：指定备份目录**
|
||||
```python
|
||||
# 手动指定备份目录
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir"
|
||||
)
|
||||
```
|
||||
|
||||
**方法 C：筛选特定文件**
|
||||
```python
|
||||
# 仅上传 CSV 文件
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir",
|
||||
file_pattern="*.csv"
|
||||
)
|
||||
|
||||
# 仅上传特定电池编号的文件
|
||||
result = device.upload_backup_to_oss(
|
||||
file_pattern="Battery_A001_*.nda"
|
||||
)
|
||||
```
|
||||
|
||||
### 返回结果示例
|
||||
|
||||
**成功上传所有文件**：
|
||||
```python
|
||||
{
|
||||
"return_info": "全部上传成功: 15/15 个文件",
|
||||
"success": True,
|
||||
"uploaded_count": 15,
|
||||
"total_count": 15,
|
||||
"failed_files": [],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... 其他 13 个文件
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**部分上传成功**：
|
||||
```python
|
||||
{
|
||||
"return_info": "部分上传成功: 12/15 个文件，失败 3 个",
|
||||
"success": True,
|
||||
"uploaded_count": 12,
|
||||
"total_count": 15,
|
||||
"failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... 其他 10 个成功上传的文件
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **说明**：`uploaded_files` 字段包含所有成功上传文件的详细信息：
|
||||
> - `filename`: 文件名（不含路径）
|
||||
> - `url`: 文件在 OSS 上的完整访问 URL
|
||||
|
||||
## 错误处理
|
||||
|
||||
### OSS 上传未启用
|
||||
|
||||
如果 `oss_upload_enabled=False`，调用 `upload_backup_to_oss` 会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: ...",
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": []
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：设置 `device.oss_upload_enabled = True`
|
||||
|
||||
### 环境变量未配置
|
||||
|
||||
如果缺少 `UNI_LAB_AUTH_TOKEN`，会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS 环境变量配置错误: 请设置环境变量: UNI_LAB_AUTH_TOKEN",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：按照前置条件配置环境变量
|
||||
|
||||
### 备份目录不存在
|
||||
|
||||
如果指定的备份目录不存在，会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "备份目录不存在: D:/neware_output/backup_dir",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：检查目录路径是否正确，或等待测试生成备份文件
|
||||
|
||||
### API 认证失败
|
||||
|
||||
如果 Token 无效或过期，会返回：
|
||||
```python
|
||||
{
|
||||
"return_info": "获取凭证失败: 认证失败",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**解决方法**：检查 Token 是否正确，或联系开发团队获取新 Token
|
||||
|
||||
## 技术细节
|
||||
|
||||
### OSS 上传流程（新方式）
|
||||
|
||||
```mermaid
|
||||
flowchart TD
|
||||
A[开始上传] --> B[验证配置和环境变量]
|
||||
B --> C[扫描备份目录]
|
||||
C --> D[筛选符合 pattern 的文件]
|
||||
D --> E[遍历每个文件]
|
||||
E --> F[调用 API 获取预签名 URL]
|
||||
F --> G{获取成功?}
|
||||
G -->|是| H[使用预签名 URL 上传文件]
|
||||
G -->|否| I[记录失败]
|
||||
H --> J{上传成功?}
|
||||
J -->|是| K[记录成功 + 文件 URL]
|
||||
J -->|否| I
|
||||
I --> L{还有文件?}
|
||||
K --> L
|
||||
L -->|是| E
|
||||
L -->|否| M[返回统计结果]
|
||||
```
|
||||
|
||||
### 上传 API 流程
|
||||
|
||||
1. **获取预签名 URL**
|
||||
- 请求：`GET /api/v1/applications/token?scene={scene}&filename={filename}`
|
||||
- 认证：`Authorization: Bearer {token}`
|
||||
- 响应：`{code: 0, data: {url: "预签名URL", path: "文件路径"}}`
|
||||
|
||||
2. **上传文件**
|
||||
- 请求：`PUT {预签名URL}`
|
||||
- 内容：文件二进制数据
|
||||
- 响应：HTTP 200 表示成功
|
||||
|
||||
3. **生成访问 URL**
|
||||
- 格式：`https://{OSS_PUBLIC_HOST}/{path}`
|
||||
- 示例：`https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
|
||||
|
||||
### 日志记录
|
||||
|
||||
所有上传操作都会通过 ROS 日志系统记录：
|
||||
- `INFO` 级别：上传进度和成功信息
|
||||
- `WARNING` 级别：空目录、未启用等警告
|
||||
- `ERROR` 级别：上传失败、配置错误
|
||||
|
||||
## 注意事项
|
||||
|
||||
1. **上传时机**：`backup_dir` 中的文件是在新威设备执行测试过程中实时生成的，请确保测试已完成再上传。
|
||||
|
||||
2. **文件命名**：上传到 OSS 的文件会保留原始文件名，路径由统一 API 分配。
|
||||
|
||||
3. **网络要求**：上传需要稳定的网络连接到阿里云 OSS 服务。
|
||||
|
||||
4. **Token 有效期**：JWT Token 有过期时间，过期后需要重新获取。
|
||||
|
||||
5. **成本考虑**：OSS 存储和流量会产生费用，请根据需要合理设置文件筛选规则。
|
||||
|
||||
6. **并发上传**：当前实现为串行上传，大量文件上传可能需要较长时间。
|
||||
|
||||
7. **文件大小限制**：请注意单个文件大小是否有上传限制（由统一 API 控制）。
|
||||
|
||||
## 兼容性
|
||||
|
||||
- ✅ **向后兼容**：默认 `oss_upload_enabled=False`，不影响现有系统
|
||||
- ✅ **可选功能**：仅在需要时启用
|
||||
- ✅ **独立操作**：上传失败不会影响测试任务的提交和执行
|
||||
- ⚠️ **环境变量变更**：需要更新环境变量配置（从 OSS AK/SK 改为 JWT Token）
|
||||
|
||||
## 迁移指南
|
||||
|
||||
如果您之前使用 `oss2` 库方式，请按以下步骤迁移：
|
||||
|
||||
### 1. 卸载旧依赖（可选）
|
||||
```bash
|
||||
pip uninstall oss2
|
||||
```
|
||||
|
||||
### 2. 删除旧环境变量
|
||||
```powershell
|
||||
# PowerShell
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_ID
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_SECRET
|
||||
Remove-Item Env:\OSS_BUCKET_NAME
|
||||
Remove-Item Env:\OSS_ENDPOINT
|
||||
```
|
||||
|
||||
### 3. 设置新环境变量
|
||||
```powershell
|
||||
# PowerShell
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Bearer 你的token..."
|
||||
```
|
||||
|
||||
### 4. 测试上传功能
|
||||
```python
|
||||
# 验证上传是否正常工作
|
||||
result = device.upload_backup_to_oss(backup_dir="测试目录")
|
||||
print(result)
|
||||
```
|
||||
|
||||
## 常见问题
|
||||
|
||||
**Q: 为什么要从 `oss2` 改为统一 API？**
|
||||
A: 为了与团队其他系统保持一致，简化配置，并统一认证方式。
|
||||
|
||||
**Q: Token 在哪里获取？**
|
||||
A: 请联系开发团队获取有效的 JWT Token。
|
||||
|
||||
**Q: Token 过期了怎么办？**
|
||||
A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。
|
||||
|
||||
**Q: 可以自定义上传路径吗？**
|
||||
A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。
|
||||
|
||||
**Q: 为什么不在 `submit_from_csv` 中自动上传？**
|
||||
A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。
|
||||
|
||||
**Q: 上传后如何访问文件？**
|
||||
A: 上传成功后会返回文件访问 URL，格式为 `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
|
||||
|
||||
**Q: 如何删除已上传的文件？**
|
||||
A: 需要通过 OSS 控制台或 API 操作，本功能仅负责上传。
|
||||
|
||||
## 验证上传结果
|
||||
|
||||
### 方法1：通过阿里云控制台查看
|
||||
|
||||
1. 登录 [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
|
||||
2. 点击左侧 **Bucket列表**
|
||||
3. 选择 `uni-lab-test` Bucket
|
||||
4. 点击 **文件管理**
|
||||
5. 查看上传的文件列表
|
||||
|
||||
### 方法2：使用返回的文件 URL
|
||||
|
||||
上传成功后，`upload_file_to_oss()` 会返回文件访问 URL：
|
||||
```python
|
||||
url = upload_file_to_oss("local_file.csv")
|
||||
print(f"文件访问 URL: {url}")
|
||||
# 输出示例：https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
|
||||
```
|
||||
|
||||
> **注意**：OSS 文件默认为私有访问，直接访问 URL 可能需要签名认证。
|
||||
|
||||
### 方法3：使用 ossutil 命令行工具
|
||||
|
||||
安装 [ossutil](https://help.aliyun.com/document_detail/120075.html) 后：
|
||||
|
||||
```bash
|
||||
# 列出文件
|
||||
ossutil ls oss://uni-lab-test/job/
|
||||
|
||||
# 下载文件到本地
|
||||
ossutil cp oss://uni-lab-test/job/20251217/文件名 ./本地路径
|
||||
|
||||
# 生成签名URL（有效期1小时）
|
||||
ossutil sign oss://uni-lab-test/job/20251217/文件名 --timeout 3600
|
||||
```
|
||||
|
||||
## 更新日志
|
||||
|
||||
- **2025-12-17**: v2.0（重大更新）
|
||||
- ⚠️ 从 `oss2` 库改为统一 API 方式
|
||||
- 简化环境变量配置（仅需 JWT Token）
|
||||
- 新增 `get_upload_token()` 和 `upload_file_with_presigned_url()` 函数
|
||||
- `upload_file_to_oss()` 返回值改为文件访问 URL
|
||||
- 更新文档和迁移指南
|
||||
|
||||
- **2025-12-15**: v1.1
|
||||
- 添加初始化参数 `oss_upload_enabled` 和 `oss_prefix`
|
||||
- 支持在 `device.json` 中配置 OSS 上传
|
||||
- 更新使用说明，添加验证方法
|
||||
|
||||
- **2025-12-13**: v1.0 初始版本
|
||||
- 添加 OSS 上传工具函数（基于 `oss2` 库）
|
||||
- 创建 `upload_backup_to_oss` 动作方法
|
||||
- 支持文件筛选和自定义 OSS 路径
|
||||
|
||||
## 参考资料
|
||||
|
||||
- [Uni-Lab 统一文件上传 API 文档](https://uni-lab.test.bohrium.com/api/docs)（如有）
|
||||
- [阿里云 OSS 控制台](https://oss.console.aliyun.com/)
|
||||
- [ossutil 工具文档](https://help.aliyun.com/document_detail/120075.html)
|
||||
@@ -0,0 +1,574 @@
|
||||
# Neware Battery Test System - OSS Upload Feature
|
||||
|
||||
## Overview
|
||||
|
||||
This update adds **Aliyun OSS file upload functionality** to the Neware Battery Test System using a unified API approach, allowing test data backup files to be uploaded to cloud storage.
|
||||
|
||||
## Version Updates
|
||||
|
||||
### ⚠️ Breaking Changes (2025-12-17)
|
||||
|
||||
This update changes the OSS upload method from **`oss2` library** to **unified API approach** to align with other team systems.
|
||||
|
||||
**Main Changes**:
|
||||
- ✅ Use `requests` library
|
||||
- ✅ Upload via presigned URLs obtained through unified API
|
||||
- ✅ Simplified environment variable configuration (only API Key required)
|
||||
- ✅ Returns file access URLs
|
||||
|
||||
## Main Changes
|
||||
|
||||
### 1. OSS Upload Functions Refactored (Lines 30-200)
|
||||
|
||||
#### New Functions
|
||||
|
||||
- **`get_upload_token(base_url, auth_token, scene, filename)`**
|
||||
Obtain presigned URL for file upload from unified API
|
||||
|
||||
- **`upload_file_with_presigned_url(upload_info, file_path)`**
|
||||
Upload file to OSS using presigned URL
|
||||
|
||||
#### Updated Functions
|
||||
|
||||
- **`upload_file_to_oss(local_file_path, oss_object_name)`**
|
||||
Upload single file to Aliyun OSS (using unified API approach)
|
||||
- Return value changed: returns file access URL on success, `False` on failure
|
||||
|
||||
- **`upload_files_to_oss(file_paths, oss_prefix)`**
|
||||
Batch upload file list
|
||||
- `oss_prefix` parameter retained but not used (interface compatibility)
|
||||
|
||||
- **`upload_directory_to_oss(local_dir, oss_prefix)`**
|
||||
Upload entire directory
|
||||
- Simplified implementation, uploads using filenames directly
|
||||
|
||||
### 2. Simplified Environment Variable Configuration
|
||||
|
||||
#### Old Method (Deprecated)
|
||||
```bash
|
||||
# ❌ No longer used
|
||||
OSS_ACCESS_KEY_ID
|
||||
OSS_ACCESS_KEY_SECRET
|
||||
OSS_BUCKET_NAME
|
||||
OSS_ENDPOINT
|
||||
```
|
||||
|
||||
#### New Method (Recommended)
|
||||
```bash
|
||||
# ✅ Required
|
||||
UNI_LAB_AUTH_TOKEN # API Key format: "Api xxxxxx"
|
||||
|
||||
# ✅ Optional (with defaults)
|
||||
UNI_LAB_BASE_URL (default: https://uni-lab.test.bohrium.com)
|
||||
UNI_LAB_UPLOAD_SCENE (default: job, other values will be changed to default)
|
||||
```
|
||||
|
||||
### 3. Initialization Method (Unchanged)
|
||||
|
||||
OSS-related configuration parameters in `__init__` method:
|
||||
|
||||
```python
|
||||
# OSS upload configuration
|
||||
self.oss_upload_enabled = False # OSS upload disabled by default
|
||||
self.oss_prefix = "neware_backup" # OSS object path prefix
|
||||
self._last_backup_dir = None # Record last backup_dir
|
||||
```
|
||||
|
||||
**Default Behavior**: OSS upload is disabled by default (`oss_upload_enabled=False`), does not affect existing systems.
|
||||
|
||||
### 4. upload_backup_to_oss Method (Unchanged)
|
||||
|
||||
```python
|
||||
def upload_backup_to_oss(
|
||||
self,
|
||||
backup_dir: str = None,
|
||||
file_pattern: str = "*",
|
||||
oss_prefix: str = None
|
||||
) -> dict
|
||||
```
|
||||
|
||||
## Usage Guide
|
||||
|
||||
### Prerequisites
|
||||
|
||||
#### 1. Install Dependencies
|
||||
|
||||
```bash
|
||||
# requests library (usually pre-installed)
|
||||
pip install requests
|
||||
```
|
||||
|
||||
> **Note**: No longer need to install `oss2` library
|
||||
|
||||
#### 2. Configure Environment Variables
|
||||
|
||||
Configure environment variables based on your terminal type:
|
||||
|
||||
##### PowerShell (Recommended)
|
||||
|
||||
```powershell
|
||||
# Required: Set authentication Token (API Key format)
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api xxxx"
|
||||
|
||||
# Optional: Custom server URL (defaults to test environment)
|
||||
$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com"
|
||||
|
||||
# Optional: Custom upload scene (defaults to job)
|
||||
$env:UNI_LAB_UPLOAD_SCENE = "job"
|
||||
|
||||
# Verify if set successfully
|
||||
echo $env:UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
##### CMD / Command Prompt
|
||||
|
||||
```cmd
|
||||
REM Required: Set authentication Token (API Key format)
|
||||
set UNI_LAB_AUTH_TOKEN=Api xxxx
|
||||
|
||||
REM Optional: Custom configuration
|
||||
set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com
|
||||
set UNI_LAB_UPLOAD_SCENE=job
|
||||
|
||||
REM Verify if set successfully
|
||||
echo %UNI_LAB_AUTH_TOKEN%
|
||||
```
|
||||
|
||||
##### Linux/Mac
|
||||
|
||||
```bash
|
||||
# Required: Set authentication Token (API Key format)
|
||||
export UNI_LAB_AUTH_TOKEN="Api xxxx"
|
||||
|
||||
# Optional: Custom configuration
|
||||
export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com"
|
||||
export UNI_LAB_UPLOAD_SCENE="job"
|
||||
|
||||
# Verify if set successfully
|
||||
echo $UNI_LAB_AUTH_TOKEN
|
||||
```
|
||||
|
||||
#### 3. Obtain Authentication Token
|
||||
|
||||
> **Important**: Obtain API Key from Uni-Lab Homepage → Account Security.
|
||||
|
||||
**Steps to Obtain**:
|
||||
1. Login to Uni-Lab system
|
||||
2. Go to Homepage → Account Security
|
||||
3. Copy your API Key
|
||||
|
||||
Token format example:
|
||||
```
|
||||
Api 48ccxx336fba44f39e1e37db93xxxxx
|
||||
```
|
||||
|
||||
> **Tips**:
|
||||
> - If Token already includes `Api ` prefix, use directly
|
||||
> - If no prefix, code will automatically add `Api ` prefix
|
||||
> - Old `Bearer` JWT Token format is still compatible
|
||||
|
||||
#### 4. Persistent Configuration (Optional)
|
||||
|
||||
**Temporary Configuration**: Environment variables set with the above commands are only valid for the current terminal session.
|
||||
|
||||
**Persistence Method 1: PowerShell Profile**
|
||||
```powershell
|
||||
# Edit PowerShell profile
|
||||
notepad $PROFILE
|
||||
|
||||
# Add to the opened file:
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
|
||||
```
|
||||
|
||||
**Persistence Method 2: Windows System Environment Variables**
|
||||
- Right-click "This PC" → "Properties" → "Advanced system settings" → "Environment Variables"
|
||||
- Add user or system variable:
|
||||
- Variable name: `UNI_LAB_AUTH_TOKEN`
|
||||
- Variable value: `Api your_API_Key`
|
||||
|
||||
### Usage Workflow
|
||||
|
||||
#### Step 1: Enable OSS Upload Feature
|
||||
|
||||
**Recommended: Configure in `device.json`**
|
||||
|
||||
Edit device configuration file `unilabos/devices/neware_battery_test_system/device.json`, add to `config`:
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"oss_upload_enabled": true,
|
||||
"oss_prefix": "neware_backup/2025-12"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**Parameter Description**:
|
||||
- `oss_upload_enabled`: Set to `true` to enable OSS upload
|
||||
- `oss_prefix`: OSS file path prefix, recommended to organize by date or project (currently unused, retained for interface compatibility)
|
||||
|
||||
**Alternative: Via Initialization Parameters**
|
||||
|
||||
```python
|
||||
device = NewareBatteryTestSystem(
|
||||
ip="127.0.0.1",
|
||||
port=502,
|
||||
oss_upload_enabled=True, # Enable OSS upload
|
||||
oss_prefix="neware_backup/2025-12" # Optional: custom path prefix
|
||||
)
|
||||
```
|
||||
|
||||
**After configuration, restart the ROS node for changes to take effect.**
|
||||
|
||||
#### Step 2: Submit Test Tasks
|
||||
|
||||
Use `submit_from_csv` to submit test tasks:
|
||||
|
||||
```python
|
||||
result = device.submit_from_csv(
|
||||
csv_path="test_data.csv",
|
||||
output_dir="D:/neware_output"
|
||||
)
|
||||
```
|
||||
|
||||
This creates the following directory structure:
|
||||
```
|
||||
D:/neware_output/
|
||||
├── xml_dir/ # XML configuration files
|
||||
└── backup_dir/ # Test data backup (generated by Neware device)
|
||||
```
|
||||
|
||||
#### Step 3: Wait for Test Completion
|
||||
|
||||
Wait for the Neware device to complete testing. Backup files will be generated in the `backup_dir`.
|
||||
|
||||
#### Step 4: Upload Backup Files to OSS
|
||||
|
||||
**Method A: Use Default Settings (Recommended)**
|
||||
```python
|
||||
# Automatically uses the last backup_dir, uploads all files
|
||||
result = device.upload_backup_to_oss()
|
||||
```
|
||||
|
||||
**Method B: Specify Backup Directory**
|
||||
```python
|
||||
# Manually specify backup directory
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir"
|
||||
)
|
||||
```
|
||||
|
||||
**Method C: Filter Specific Files**
|
||||
```python
|
||||
# Upload only CSV files
|
||||
result = device.upload_backup_to_oss(
|
||||
backup_dir="D:/neware_output/backup_dir",
|
||||
file_pattern="*.csv"
|
||||
)
|
||||
|
||||
# Upload files for specific battery IDs
|
||||
result = device.upload_backup_to_oss(
|
||||
file_pattern="Battery_A001_*.nda"
|
||||
)
|
||||
```
|
||||
|
||||
### Return Result Examples
|
||||
|
||||
**All Files Uploaded Successfully**:
|
||||
```python
|
||||
{
|
||||
"return_info": "All uploads successful: 15/15 files",
|
||||
"success": True,
|
||||
"uploaded_count": 15,
|
||||
"total_count": 15,
|
||||
"failed_files": [],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... other 13 files
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**Partial Upload Success**:
|
||||
```python
|
||||
{
|
||||
"return_info": "Partial upload success: 12/15 files, 3 failed",
|
||||
"success": True,
|
||||
"uploaded_count": 12,
|
||||
"total_count": 15,
|
||||
"failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"],
|
||||
"uploaded_files": [
|
||||
{
|
||||
"filename": "Battery_A001.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax"
|
||||
},
|
||||
{
|
||||
"filename": "Battery_A002.ndax",
|
||||
"url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax"
|
||||
}
|
||||
# ... other 10 successfully uploaded files
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **Note**: The `uploaded_files` field contains detailed information for all successfully uploaded files:
|
||||
> - `filename`: Filename (without path)
|
||||
> - `url`: Complete OSS access URL for the file
|
||||
|
||||
## Error Handling
|
||||
|
||||
### OSS Upload Not Enabled
|
||||
|
||||
If `oss_upload_enabled=False`, calling `upload_backup_to_oss` returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS upload not enabled (oss_upload_enabled=False), skipping upload. Backup directory: ...",
|
||||
"success": False,
|
||||
"uploaded_count": 0,
|
||||
"total_count": 0,
|
||||
"failed_files": []
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Set `device.oss_upload_enabled = True`
|
||||
|
||||
### Environment Variables Not Configured
|
||||
|
||||
If `UNI_LAB_AUTH_TOKEN` is missing, returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "OSS environment variable configuration error: Please set environment variable: UNI_LAB_AUTH_TOKEN",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Configure environment variables as per prerequisites
|
||||
|
||||
### Backup Directory Does Not Exist
|
||||
|
||||
If specified backup directory doesn't exist, returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "Backup directory does not exist: D:/neware_output/backup_dir",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Check if directory path is correct, or wait for test to generate backup files
|
||||
|
||||
### API Authentication Failed
|
||||
|
||||
If Token is invalid or expired, returns:
|
||||
```python
|
||||
{
|
||||
"return_info": "Failed to get credentials: Authentication failed",
|
||||
"success": False,
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
**Solution**: Check if Token is correct, or contact development team for new Token
|
||||
|
||||
## Technical Details
|
||||
|
||||
### OSS Upload Process (New Method)
|
||||
|
||||
```mermaid
|
||||
flowchart TD
|
||||
A[Start Upload] --> B[Verify Configuration and Environment Variables]
|
||||
B --> C[Scan Backup Directory]
|
||||
C --> D[Filter Files Matching Pattern]
|
||||
D --> E[Iterate Each File]
|
||||
E --> F[Call API to Get Presigned URL]
|
||||
F --> G{Success?}
|
||||
G -->|Yes| H[Upload File Using Presigned URL]
|
||||
G -->|No| I[Record Failure]
|
||||
H --> J{Upload Success?}
|
||||
J -->|Yes| K[Record Success + File URL]
|
||||
J -->|No| I
|
||||
I --> L{More Files?}
|
||||
K --> L
|
||||
L -->|Yes| E
|
||||
L -->|No| M[Return Statistics]
|
||||
```
|
||||
|
||||
### Upload API Flow
|
||||
|
||||
1. **Get Presigned URL**
|
||||
- Request: `GET /api/v1/lab/storage/token?scene={scene}&filename={filename}&path={path}`
|
||||
- Authentication: `Authorization: Api {api_key}` or `Authorization: Bearer {token}`
|
||||
- Response: `{code: 0, data: {url: "presigned_url", path: "file_path"}}`
|
||||
|
||||
2. **Upload File**
|
||||
- Request: `PUT {presigned_url}`
|
||||
- Content: File binary data
|
||||
- Response: HTTP 200 indicates success
|
||||
|
||||
3. **Generate Access URL**
|
||||
- Format: `https://{OSS_PUBLIC_HOST}/{path}`
|
||||
- Example: `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv`
|
||||
|
||||
### Logging
|
||||
|
||||
All upload operations are logged through ROS logging system:
|
||||
- `INFO` level: Upload progress and success information
|
||||
- `WARNING` level: Empty directory, not enabled warnings
|
||||
- `ERROR` level: Upload failures, configuration errors
|
||||
|
||||
## Important Notes
|
||||
|
||||
1. **Upload Timing**: Files in `backup_dir` are generated in real-time during test execution. Ensure testing is complete before uploading.
|
||||
|
||||
2. **File Naming**: Files uploaded to OSS retain original filenames. Paths are assigned by unified API.
|
||||
|
||||
3. **Network Requirements**: Upload requires stable network connection to Aliyun OSS service.
|
||||
|
||||
4. **Token Expiration**: JWT Tokens have expiration time. Need to obtain new token after expiration.
|
||||
|
||||
5. **Cost Considerations**: OSS storage and traffic incur costs. Set file filtering rules appropriately.
|
||||
|
||||
6. **Concurrent Upload**: Current implementation uses serial upload. Large number of files may take considerable time.
|
||||
|
||||
7. **File Size Limits**: Note single file size upload limits (controlled by unified API).
|
||||
|
||||
## Compatibility
|
||||
|
||||
- ✅ **Backward Compatible**: Default `oss_upload_enabled=False`, does not affect existing systems
|
||||
- ✅ **Optional Feature**: Enable only when needed
|
||||
- ✅ **Independent Operation**: Upload failures do not affect test task submission and execution
|
||||
- ⚠️ **Environment Variable Changes**: Need to update environment variable configuration (from OSS AK/SK to API Key)
|
||||
|
||||
## Migration Guide
|
||||
|
||||
If you previously used the `oss2` library method, follow these steps to migrate:
|
||||
|
||||
### 1. Uninstall Old Dependencies (Optional)
|
||||
```bash
|
||||
pip uninstall oss2
|
||||
```
|
||||
|
||||
### 2. Remove Old Environment Variables
|
||||
```powershell
|
||||
# PowerShell
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_ID
|
||||
Remove-Item Env:\OSS_ACCESS_KEY_SECRET
|
||||
Remove-Item Env:\OSS_BUCKET_NAME
|
||||
Remove-Item Env:\OSS_ENDPOINT
|
||||
```
|
||||
|
||||
### 3. Set New Environment Variables
|
||||
```powershell
|
||||
# PowerShell
|
||||
$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key"
|
||||
```
|
||||
|
||||
### 4. Test Upload Functionality
|
||||
```python
|
||||
# Verify upload works correctly
|
||||
result = device.upload_backup_to_oss(backup_dir="test_directory")
|
||||
print(result)
|
||||
```
|
||||
|
||||
## FAQ
|
||||
|
||||
**Q: Why change from `oss2` to unified API?**
|
||||
A: To maintain consistency with other team systems, simplify configuration, and unify authentication methods.
|
||||
|
||||
**Q: Where to get the Token?**
|
||||
A: Obtain API Key from Uni-Lab Homepage → Account Security.
|
||||
|
||||
**Q: What if Token expires?**
|
||||
A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable.
|
||||
|
||||
**Q: Can I customize upload paths?**
|
||||
A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility).
|
||||
|
||||
**Q: Why not auto-upload in `submit_from_csv`?**
|
||||
A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility.
|
||||
|
||||
**Q: How to access files after upload?**
|
||||
A: Upload success returns file access URL in format `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}`
|
||||
|
||||
**Q: How to delete uploaded files?**
|
||||
A: Need to operate through OSS console or API. This feature only handles uploads.
|
||||
|
||||
## Verifying Upload Results
|
||||
|
||||
### Method 1: Via Aliyun Console
|
||||
|
||||
1. Login to [Aliyun OSS Console](https://oss.console.aliyun.com/)
|
||||
2. Click **Bucket List** on the left
|
||||
3. Select the `uni-lab-test` Bucket
|
||||
4. Click **File Management**
|
||||
5. View uploaded file list
|
||||
|
||||
### Method 2: Using Returned File URL
|
||||
|
||||
After successful upload, `upload_file_to_oss()` returns file access URL:
|
||||
```python
|
||||
url = upload_file_to_oss("local_file.csv")
|
||||
print(f"File access URL: {url}")
|
||||
# Example output: https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv
|
||||
```
|
||||
|
||||
> **Note**: OSS files are private by default, direct URL access may require signature authentication.
|
||||
|
||||
### Method 3: Using ossutil CLI Tool
|
||||
|
||||
After installing [ossutil](https://help.aliyun.com/document_detail/120075.html):
|
||||
|
||||
```bash
|
||||
# List files
|
||||
ossutil ls oss://uni-lab-test/job/
|
||||
|
||||
# Download file to local
|
||||
ossutil cp oss://uni-lab-test/job/20251217/filename ./local_path
|
||||
|
||||
# Generate signed URL (valid for 1 hour)
|
||||
ossutil sign oss://uni-lab-test/job/20251217/filename --timeout 3600
|
||||
```
|
||||
|
||||
## Changelog
|
||||
|
||||
- **2025-12-17**: v2.0 (Major Update)
|
||||
- ⚠️ Changed from `oss2` library to unified API approach
|
||||
- Simplified environment variable configuration (only API Key required)
|
||||
- Added `get_upload_token()` and `upload_file_with_presigned_url()` functions
|
||||
- `upload_file_to_oss()` return value changed to file access URL
|
||||
- Updated documentation and migration guide
|
||||
- Token format: Support both `Api Key` and `Bearer JWT`
|
||||
- API endpoint: `/api/v1/lab/storage/token`
|
||||
- Scene parameter: Fixed to `job` (other values changed to `default`)
|
||||
|
||||
- **2025-12-15**: v1.1
|
||||
- Added initialization parameters `oss_upload_enabled` and `oss_prefix`
|
||||
- Support OSS upload configuration in `device.json`
|
||||
- Updated usage guide, added verification methods
|
||||
|
||||
- **2025-12-13**: v1.0 Initial Version
|
||||
- Added OSS upload utility functions (based on `oss2` library)
|
||||
- Created `upload_backup_to_oss` action method
|
||||
- Support file filtering and custom OSS paths
|
||||
|
||||
## References
|
||||
|
||||
- [Uni-Lab Unified File Upload API Documentation](https://uni-lab.test.bohrium.com/api/docs) (if available)
|
||||
- [Aliyun OSS Console](https://oss.console.aliyun.com/)
|
||||
- [ossutil Tool Documentation](https://help.aliyun.com/document_detail/120075.html)
|
||||
35
unilabos/devices/neware_battery_test_system/device.json
Normal file
35
unilabos/devices/neware_battery_test_system/device.json
Normal file
@@ -0,0 +1,35 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"name": "Neware Battery Test System",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "neware_battery_test_system",
|
||||
"position": {
|
||||
"x": 620.0,
|
||||
"y": 200.0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"devtype": "27",
|
||||
"timeout": 20,
|
||||
"size_x": 500.0,
|
||||
"size_y": 500.0,
|
||||
"size_z": 2000.0,
|
||||
"oss_upload_enabled": true,
|
||||
"oss_prefix": "neware_backup/2025-12"
|
||||
},
|
||||
"data": {
|
||||
"功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
|
||||
"监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
|
||||
"提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
|
||||
},
|
||||
"children": []
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,282 +1,649 @@
|
||||
import sys
|
||||
import threading
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import re
|
||||
import time
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
Contains drivers for:
|
||||
1. SyringePump: Runze Fluid SY-03B (ASCII)
|
||||
2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant)
|
||||
3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU)
|
||||
"""
|
||||
|
||||
class ChinweDevice:
|
||||
import socket
|
||||
import serial
|
||||
import time
|
||||
import threading
|
||||
import struct
|
||||
import re
|
||||
import traceback
|
||||
import queue
|
||||
from typing import Optional, Dict, List, Any
|
||||
|
||||
try:
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
except ImportError:
|
||||
import logging
|
||||
class UniversalDriver:
|
||||
def __init__(self):
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
|
||||
def execute_command_from_outer(self, command: str):
|
||||
pass
|
||||
|
||||
# ==============================================================================
|
||||
# 1. Transport Layer (通信层)
|
||||
# ==============================================================================
|
||||
|
||||
class TransportManager:
|
||||
"""
|
||||
ChinWe设备控制类
|
||||
提供串口通信、电机控制、传感器数据读取等功能
|
||||
统一通信管理类。
|
||||
自动识别 串口 (Serial) 或 网络 (TCP) 连接。
|
||||
"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
|
||||
"""
|
||||
初始化ChinWe设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则自动检测
|
||||
baudrate: 波特率，默认115200
|
||||
"""
|
||||
self.debug = debug
|
||||
def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.serial_port: Optional[serial.Serial] = None
|
||||
self._voltage: float = 0.0
|
||||
self._ec_value: float = 0.0
|
||||
self._ec_adc_value: int = 0
|
||||
self.timeout = timeout
|
||||
self.logger = logger
|
||||
self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
|
||||
|
||||
self.is_tcp = False
|
||||
self.serial = None
|
||||
self.socket = None
|
||||
|
||||
# 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP
|
||||
if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')):
|
||||
self.is_tcp = True
|
||||
self._connect_tcp()
|
||||
else:
|
||||
self._connect_serial()
|
||||
|
||||
def _log(self, msg):
|
||||
if self.logger:
|
||||
pass
|
||||
# self.logger.debug(f"[Transport] {msg}")
|
||||
|
||||
def _connect_tcp(self):
|
||||
try:
|
||||
if ':' in self.port:
|
||||
host, p = self.port.split(':')
|
||||
self.tcp_host = host
|
||||
self.tcp_port = int(p)
|
||||
else:
|
||||
self.tcp_host = self.port
|
||||
self.tcp_port = 8899 # 默认端口
|
||||
|
||||
# if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...")
|
||||
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.socket.settimeout(self.timeout)
|
||||
self.socket.connect((self.tcp_host, self.tcp_port))
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"TCP connection failed: {e}")
|
||||
|
||||
def _connect_serial(self):
|
||||
try:
|
||||
# if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...")
|
||||
self.serial = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=self.timeout
|
||||
)
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"Serial open failed: {e}")
|
||||
|
||||
def close(self):
|
||||
"""关闭连接"""
|
||||
if self.is_tcp and self.socket:
|
||||
try: self.socket.close()
|
||||
except: pass
|
||||
elif not self.is_tcp and self.serial and self.serial.is_open:
|
||||
self.serial.close()
|
||||
|
||||
def clear_buffer(self):
|
||||
"""清空缓冲区 (Thread-safe)"""
|
||||
with self.lock:
|
||||
if self.is_tcp:
|
||||
self.socket.setblocking(False)
|
||||
try:
|
||||
while True:
|
||||
if not self.socket.recv(1024): break
|
||||
except: pass
|
||||
finally: self.socket.settimeout(self.timeout)
|
||||
else:
|
||||
self.serial.reset_input_buffer()
|
||||
|
||||
def write(self, data: bytes):
|
||||
"""发送原始字节"""
|
||||
with self.lock:
|
||||
if self.is_tcp:
|
||||
self.socket.sendall(data)
|
||||
else:
|
||||
self.serial.write(data)
|
||||
|
||||
def read(self, size: int) -> bytes:
|
||||
"""读取指定长度字节"""
|
||||
if self.is_tcp:
|
||||
data = b''
|
||||
start = time.time()
|
||||
while len(data) < size:
|
||||
if time.time() - start > self.timeout: break
|
||||
try:
|
||||
chunk = self.socket.recv(size - len(data))
|
||||
if not chunk: break
|
||||
data += chunk
|
||||
except socket.timeout: break
|
||||
return data
|
||||
else:
|
||||
return self.serial.read(size)
|
||||
|
||||
def send_ascii_command(self, command: str) -> str:
|
||||
"""
|
||||
发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。
|
||||
"""
|
||||
with self.lock:
|
||||
data = command.encode('ascii') if isinstance(command, str) else command
|
||||
self.clear_buffer()
|
||||
self.write(data)
|
||||
|
||||
# Read until \r
|
||||
if self.is_tcp:
|
||||
resp = b''
|
||||
start = time.time()
|
||||
while True:
|
||||
if time.time() - start > self.timeout: break
|
||||
try:
|
||||
char = self.socket.recv(1)
|
||||
if not char: break
|
||||
resp += char
|
||||
if char == b'\r': break
|
||||
except: break
|
||||
return resp.decode('ascii', errors='ignore').strip()
|
||||
else:
|
||||
return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip()
|
||||
|
||||
# ==============================================================================
|
||||
# 2. Syringe Pump Driver (注射泵)
|
||||
# ==============================================================================
|
||||
|
||||
class SyringePump:
|
||||
"""SY-03B 注射泵驱动 (ASCII协议)"""
|
||||
|
||||
CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R"
|
||||
CMD_SWITCH_VALVE = "I{port}R"
|
||||
CMD_ASPIRATE = "P{vol}R"
|
||||
CMD_DISPENSE = "D{vol}R"
|
||||
CMD_DISPENSE_ALL = "A0R"
|
||||
CMD_STOP = "TR"
|
||||
CMD_QUERY_STATUS = "Q"
|
||||
CMD_QUERY_PLUNGER = "?0"
|
||||
|
||||
def __init__(self, device_id: int, transport: TransportManager):
|
||||
if not 1 <= device_id <= 15:
|
||||
pass # Allow all IDs for now
|
||||
self.id = str(device_id)
|
||||
self.transport = transport
|
||||
|
||||
def _send(self, template: str, **kwargs) -> str:
|
||||
cmd = f"/{self.id}" + template.format(**kwargs) + "\r"
|
||||
return self.transport.send_ascii_command(cmd)
|
||||
|
||||
def is_busy(self) -> bool:
|
||||
"""查询繁忙状态"""
|
||||
resp = self._send(self.CMD_QUERY_STATUS)
|
||||
# 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40)
|
||||
if len(resp) >= 3:
|
||||
status_byte = ord(resp[2])
|
||||
# Bit 5: 1=Ready, 0=Busy
|
||||
return (status_byte & 0x20) == 0
|
||||
return False
|
||||
|
||||
def wait_until_idle(self, timeout=30):
|
||||
"""阻塞等待直到空闲"""
|
||||
start = time.time()
|
||||
while time.time() - start < timeout:
|
||||
if not self.is_busy(): return
|
||||
time.sleep(0.5)
|
||||
# raise TimeoutError(f"Pump {self.id} wait idle timeout")
|
||||
pass
|
||||
|
||||
def initialize(self, drain_port=0, output_port=0, speed=10):
|
||||
"""初始化"""
|
||||
self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port)
|
||||
|
||||
def switch_valve(self, port: int):
|
||||
"""切换阀门 (1-8)"""
|
||||
self._send(self.CMD_SWITCH_VALVE, port=port)
|
||||
|
||||
def aspirate(self, steps: int):
|
||||
"""吸液 (相对步数)"""
|
||||
self._send(self.CMD_ASPIRATE, vol=steps)
|
||||
|
||||
def dispense(self, steps: int):
|
||||
"""排液 (相对步数)"""
|
||||
self._send(self.CMD_DISPENSE, vol=steps)
|
||||
|
||||
def stop(self):
|
||||
"""停止"""
|
||||
self._send(self.CMD_STOP)
|
||||
|
||||
def get_position(self) -> int:
|
||||
"""获取柱塞位置 (步数)"""
|
||||
resp = self._send(self.CMD_QUERY_PLUNGER)
|
||||
m = re.search(r'\d+', resp)
|
||||
return int(m.group()) if m else -1
|
||||
|
||||
# ==============================================================================
|
||||
# 3. Stepper Motor Driver (步进电机)
|
||||
# ==============================================================================
|
||||
|
||||
class EmmMotor:
|
||||
"""Emm V5.0 闭环步进电机驱动"""
|
||||
|
||||
def __init__(self, device_id: int, transport: TransportManager):
|
||||
self.id = device_id
|
||||
self.transport = transport
|
||||
|
||||
def _send(self, func_code: int, payload: list) -> bytes:
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# 格式: [ID] [Func] [Data...] [Check=0x6B]
|
||||
body = [self.id, func_code] + payload
|
||||
body.append(0x6B) # Checksum
|
||||
self.transport.write(bytes(body))
|
||||
|
||||
# 根据指令不同，读取不同长度响应
|
||||
read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
|
||||
return self.transport.read(read_len)
|
||||
|
||||
def enable(self, on=True):
|
||||
"""使能 (True=锁轴, False=松轴)"""
|
||||
state = 1 if on else 0
|
||||
self._send(0xF3, [0xAB, state, 0])
|
||||
|
||||
def run_speed(self, speed_rpm: int, direction=0, acc=10):
|
||||
"""速度模式运行"""
|
||||
sp = struct.pack('>H', int(speed_rpm))
|
||||
self._send(0xF6, [direction, sp[0], sp[1], acc, 0])
|
||||
|
||||
def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False):
|
||||
"""位置模式运行"""
|
||||
sp = struct.pack('>H', int(speed_rpm))
|
||||
pl = struct.pack('>I', int(pulses))
|
||||
is_abs = 1 if absolute else 0
|
||||
self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0])
|
||||
|
||||
def stop(self):
|
||||
"""停止"""
|
||||
self._send(0xFE, [0x98, 0])
|
||||
|
||||
def set_zero(self):
|
||||
"""清零位置"""
|
||||
self._send(0x0A, [])
|
||||
|
||||
def get_position(self) -> int:
|
||||
"""获取当前脉冲位置"""
|
||||
resp = self._send(0x32, [])
|
||||
if len(resp) >= 8:
|
||||
sign = resp[2]
|
||||
val = struct.unpack('>I', resp[3:7])[0]
|
||||
return -val if sign == 1 else val
|
||||
return 0
|
||||
|
||||
# ==============================================================================
|
||||
# 4. Liquid Sensor Driver (液位传感器)
|
||||
# ==============================================================================
|
||||
|
||||
class XKCSensor:
|
||||
"""XKC RS485 液位传感器 (Modbus RTU)"""
|
||||
|
||||
def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300):
|
||||
self.id = device_id
|
||||
self.transport = transport
|
||||
self.threshold = threshold
|
||||
|
||||
def _crc(self, data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
|
||||
else: crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def read_level(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
读取液位。
|
||||
返回: {'level': bool, 'rssi': int}
|
||||
"""
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# Modbus Read Registers: 01 03 00 01 00 02 CRC
|
||||
payload = struct.pack('>HH', 0x0001, 0x0002)
|
||||
msg = struct.pack('BB', self.id, 0x03) + payload
|
||||
msg += self._crc(msg)
|
||||
self.transport.write(msg)
|
||||
|
||||
# Read header
|
||||
h = self.transport.read(3) # Addr, Func, Len
|
||||
if len(h) < 3: return None
|
||||
length = h[2]
|
||||
|
||||
# Read body + CRC
|
||||
body = self.transport.read(length + 2)
|
||||
if len(body) < length + 2:
|
||||
# Firmware bug fix specific to some modules
|
||||
if len(body) == 4 and length == 4:
|
||||
pass
|
||||
else:
|
||||
return None
|
||||
|
||||
data = body[:-2]
|
||||
if len(data) == 2:
|
||||
rssi = data[1]
|
||||
elif len(data) >= 4:
|
||||
rssi = (data[2] << 8) | data[3]
|
||||
else:
|
||||
return None
|
||||
|
||||
return {
|
||||
'level': rssi > self.threshold,
|
||||
'rssi': rssi
|
||||
}
|
||||
|
||||
# ==============================================================================
|
||||
# 5. Main Device Class (ChinweDevice)
|
||||
# ==============================================================================
|
||||
|
||||
class ChinweDevice(UniversalDriver):
|
||||
"""
|
||||
ChinWe 工作站主驱动
|
||||
继承自 UniversalDriver，管理所有子设备（泵、电机、传感器）
|
||||
"""
|
||||
|
||||
def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600,
|
||||
pump_ids: List[int] = None, motor_ids: List[int] = None,
|
||||
sensor_id: int = 6, sensor_threshold: int = 300,
|
||||
timeout: float = 10.0):
|
||||
"""
|
||||
初始化 ChinWe 工作站
|
||||
:param port: 串口号 或 IP:Port
|
||||
:param baudrate: 串口波特率
|
||||
:param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3])
|
||||
:param motor_ids: 步进电机 ID列表 (默认 [4, 5])
|
||||
:param sensor_id: 液位传感器 ID (默认 6)
|
||||
:param sensor_threshold: 传感器液位判定阈值
|
||||
:param timeout: 通信超时时间 (默认 10秒)
|
||||
"""
|
||||
super().__init__()
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.mgr = None
|
||||
self._is_connected = False
|
||||
self.connect()
|
||||
|
||||
|
||||
# 默认配置
|
||||
if pump_ids is None: pump_ids = [1, 2, 3]
|
||||
if motor_ids is None: motor_ids = [4, 5]
|
||||
|
||||
# 配置信息
|
||||
self.pump_ids = pump_ids
|
||||
self.motor_ids = motor_ids
|
||||
self.sensor_id = sensor_id
|
||||
self.sensor_threshold = sensor_threshold
|
||||
|
||||
# 子设备实例容器
|
||||
self.pumps: Dict[int, SyringePump] = {}
|
||||
self.motors: Dict[int, EmmMotor] = {}
|
||||
self.sensor: Optional[XKCSensor] = None
|
||||
|
||||
# 轮询线程控制
|
||||
self._stop_event = threading.Event()
|
||||
self._poll_thread = None
|
||||
|
||||
# 实时状态缓存
|
||||
self.status_cache = {
|
||||
"sensor_rssi": 0,
|
||||
"sensor_level": False,
|
||||
"connected": False
|
||||
}
|
||||
|
||||
# 自动连接
|
||||
if self.port:
|
||||
self.connect()
|
||||
|
||||
def connect(self) -> bool:
|
||||
if self._is_connected: return True
|
||||
try:
|
||||
self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...")
|
||||
self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger)
|
||||
|
||||
# 初始化所有泵
|
||||
for pid in self.pump_ids:
|
||||
self.pumps[pid] = SyringePump(pid, self.mgr)
|
||||
|
||||
# 初始化所有电机
|
||||
for mid in self.motor_ids:
|
||||
self.motors[mid] = EmmMotor(mid, self.mgr)
|
||||
|
||||
# 初始化传感器
|
||||
self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold)
|
||||
|
||||
self._is_connected = True
|
||||
self.status_cache["connected"] = True
|
||||
|
||||
# 启动轮询线程
|
||||
self._start_polling()
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"Connection failed: {e}")
|
||||
self._is_connected = False
|
||||
self.status_cache["connected"] = False
|
||||
return False
|
||||
|
||||
def disconnect(self):
|
||||
self._stop_event.set()
|
||||
if self._poll_thread:
|
||||
self._poll_thread.join(timeout=2.0)
|
||||
|
||||
if self.mgr:
|
||||
self.mgr.close()
|
||||
|
||||
self._is_connected = False
|
||||
self.status_cache["connected"] = False
|
||||
self.logger.info("Disconnected.")
|
||||
|
||||
def _start_polling(self):
|
||||
"""启动传感器轮询线程"""
|
||||
if self._poll_thread and self._poll_thread.is_alive():
|
||||
return
|
||||
|
||||
self._stop_event.clear()
|
||||
self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll")
|
||||
self._poll_thread.start()
|
||||
|
||||
def _polling_loop(self):
|
||||
"""轮询主循环"""
|
||||
self.logger.info("Sensor polling started.")
|
||||
error_count = 0
|
||||
while not self._stop_event.is_set():
|
||||
if not self._is_connected or not self.sensor:
|
||||
time.sleep(1)
|
||||
continue
|
||||
|
||||
try:
|
||||
# 获取传感器数据
|
||||
data = self.sensor.read_level()
|
||||
if data:
|
||||
self.status_cache["sensor_rssi"] = data['rssi']
|
||||
self.status_cache["sensor_level"] = data['level']
|
||||
error_count = 0
|
||||
else:
|
||||
error_count += 1
|
||||
|
||||
# 降低轮询频率防止总线拥塞
|
||||
time.sleep(0.2)
|
||||
|
||||
except Exception as e:
|
||||
error_count += 1
|
||||
if error_count > 10: # 连续错误记录日志
|
||||
# self.logger.error(f"Polling error: {e}")
|
||||
error_count = 0
|
||||
time.sleep(1)
|
||||
|
||||
# --- 对外暴露属性 (Properties) ---
|
||||
|
||||
@property
|
||||
def sensor_level(self) -> bool:
|
||||
return self.status_cache["sensor_level"]
|
||||
|
||||
@property
|
||||
def sensor_rssi(self) -> int:
|
||||
return self.status_cache["sensor_rssi"]
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""获取连接状态"""
|
||||
return self._is_connected and self.serial_port and self.serial_port.is_open
|
||||
|
||||
@property
|
||||
def voltage(self) -> float:
|
||||
"""获取电源电压值"""
|
||||
return self._voltage
|
||||
|
||||
@property
|
||||
def ec_value(self) -> float:
|
||||
"""获取电导率值 (ms/cm)"""
|
||||
return self._ec_value
|
||||
return self._is_connected
|
||||
|
||||
@property
|
||||
def ec_adc_value(self) -> int:
|
||||
"""获取EC ADC原始值"""
|
||||
return self._ec_adc_value
|
||||
|
||||
# --- 对外功能指令 (Actions) ---
|
||||
|
||||
@property
|
||||
def device_status(self) -> Dict[str, any]:
|
||||
"""
|
||||
获取设备状态信息
|
||||
|
||||
Returns:
|
||||
包含设备状态的字典
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"port": self.port,
|
||||
"baudrate": self.baudrate,
|
||||
"voltage": self.voltage,
|
||||
"ec_value": self.ec_value,
|
||||
"ec_adc_value": self.ec_adc_value
|
||||
}
|
||||
|
||||
def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
|
||||
"""
|
||||
连接到串口设备
|
||||
|
||||
Args:
|
||||
port: 串口名称，如果为None则使用初始化时的port或自动检测
|
||||
baudrate: 波特率，如果为None则使用初始化时的baudrate
|
||||
|
||||
Returns:
|
||||
连接是否成功
|
||||
"""
|
||||
if self.is_connected:
|
||||
def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10):
|
||||
"""指定泵初始化"""
|
||||
pump_id = int(pump_id)
|
||||
if pump_id in self.pumps:
|
||||
self.pumps[pump_id].initialize(drain_port, output_port, speed)
|
||||
self.pumps[pump_id].wait_until_idle()
|
||||
return True
|
||||
|
||||
target_port = port or self.port
|
||||
target_baudrate = baudrate or self.baudrate
|
||||
|
||||
try:
|
||||
self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
|
||||
self._is_connected = True
|
||||
self.port = target_port
|
||||
self.baudrate = target_baudrate
|
||||
connect_allow_times = 5
|
||||
while not self.serial_port.is_open and connect_allow_times > 0:
|
||||
time.sleep(0.5)
|
||||
connect_allow_times -= 1
|
||||
print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
|
||||
raise ValueError("串口未打开，请检查设备连接")
|
||||
print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
|
||||
threading.Thread(target=self._read_data, daemon=True).start()
|
||||
return False
|
||||
|
||||
def pump_aspirate(self, pump_id: int, volume: int, valve_port: int):
|
||||
"""
|
||||
泵吸液 (阻塞)
|
||||
:param valve_port: 阀门端口 (1-8)
|
||||
"""
|
||||
pump_id = int(pump_id)
|
||||
valve_port = int(valve_port)
|
||||
if pump_id in self.pumps:
|
||||
pump = self.pumps[pump_id]
|
||||
# 1. 切换阀门
|
||||
pump.switch_valve(valve_port)
|
||||
pump.wait_until_idle()
|
||||
# 2. 吸液
|
||||
pump.aspirate(volume)
|
||||
pump.wait_until_idle()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"ChinweDevice连接失败: {e}")
|
||||
self._is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
return False
|
||||
|
||||
def pump_dispense(self, pump_id: int, volume: int, valve_port: int):
|
||||
"""
|
||||
断开串口连接
|
||||
|
||||
Returns:
|
||||
断开是否成功
|
||||
泵排液 (阻塞)
|
||||
:param valve_port: 阀门端口 (1-8)
|
||||
"""
|
||||
if self.serial_port and self.serial_port.is_open:
|
||||
try:
|
||||
self.serial_port.close()
|
||||
self._is_connected = False
|
||||
print("已断开串口连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"断开连接失败: {e}")
|
||||
return False
|
||||
pump_id = int(pump_id)
|
||||
valve_port = int(valve_port)
|
||||
if pump_id in self.pumps:
|
||||
pump = self.pumps[pump_id]
|
||||
# 1. 切换阀门
|
||||
pump.switch_valve(valve_port)
|
||||
pump.wait_until_idle()
|
||||
# 2. 排液
|
||||
pump.dispense(volume)
|
||||
pump.wait_until_idle()
|
||||
return True
|
||||
return False
|
||||
|
||||
def pump_valve(self, pump_id: int, port: int):
|
||||
"""泵切换阀门 (阻塞)"""
|
||||
pump_id = int(pump_id)
|
||||
port = int(port)
|
||||
if pump_id in self.pumps:
|
||||
pump = self.pumps[pump_id]
|
||||
pump.switch_valve(port)
|
||||
pump.wait_until_idle()
|
||||
return True
|
||||
return False
|
||||
|
||||
def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"):
|
||||
"""
|
||||
电机一直旋转 (速度模式)
|
||||
:param direction: "顺时针" or "逆时针"
|
||||
"""
|
||||
motor_id = int(motor_id)
|
||||
if motor_id not in self.motors: return False
|
||||
|
||||
dir_val = 0 if direction == "顺时针" else 1
|
||||
self.motors[motor_id].run_speed(speed, dir_val)
|
||||
return True
|
||||
|
||||
def _send_motor_command(self, command: str) -> bool:
|
||||
|
||||
def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"):
|
||||
"""
|
||||
发送电机控制命令
|
||||
|
||||
Args:
|
||||
command: 电机命令字符串，例如 "M 1 CW 1.5"
|
||||
|
||||
Returns:
|
||||
发送是否成功
|
||||
电机旋转1/4圈 (阻塞)
|
||||
假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲
|
||||
"""
|
||||
if not self.is_connected:
|
||||
print("设备未连接")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.serial_port.write((command + "\n").encode('utf-8'))
|
||||
print(f"发送命令: {command}")
|
||||
motor_id = int(motor_id)
|
||||
if motor_id not in self.motors: return False
|
||||
|
||||
pulses = 800
|
||||
dir_val = 0 if direction == "顺时针" else 1
|
||||
|
||||
self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False)
|
||||
|
||||
# 预估时间阻塞 (单位: 分钟 -> 秒)
|
||||
# Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM.
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
return True
|
||||
|
||||
def motor_stop(self, motor_id: int):
|
||||
"""电机停止"""
|
||||
motor_id = int(motor_id)
|
||||
if motor_id in self.motors:
|
||||
self.motors[motor_id].stop()
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"发送命令失败: {e}")
|
||||
return False
|
||||
|
||||
def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
|
||||
"""
|
||||
使电机转动指定圈数
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
turns: 转动圈数，支持小数
|
||||
clockwise: True为顺时针，False为逆时针
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
"""
|
||||
if clockwise:
|
||||
command = f"M {motor_id} CW {turns}"
|
||||
else:
|
||||
command = f"M {motor_id} CCW {turns}"
|
||||
return self._send_motor_command(command)
|
||||
return False
|
||||
|
||||
def set_motor_speed(self, motor_id: int, speed: float) -> bool:
|
||||
def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool:
|
||||
"""
|
||||
设置电机转速（如果设备支持）
|
||||
|
||||
Args:
|
||||
motor_id: 电机ID（1, 2, 3...）
|
||||
speed: 转速值
|
||||
|
||||
Returns:
|
||||
命令发送是否成功
|
||||
等待传感器达到指定电平
|
||||
:param target_state: "有液" or "无液"
|
||||
"""
|
||||
command = f"M {motor_id} SPEED {speed}"
|
||||
return self._send_motor_command(command)
|
||||
target_bool = True if target_state == "有液" else False
|
||||
|
||||
def _read_data(self) -> List[str]:
|
||||
"""
|
||||
读取串口数据并解析
|
||||
|
||||
Returns:
|
||||
读取到的数据行列表
|
||||
"""
|
||||
print("开始读取串口数据...")
|
||||
if not self.is_connected:
|
||||
return []
|
||||
|
||||
data_lines = []
|
||||
try:
|
||||
while self.serial_port.in_waiting:
|
||||
time.sleep(0.1) # 等待数据稳定
|
||||
try:
|
||||
line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
|
||||
if line:
|
||||
data_lines.append(line)
|
||||
self._parse_sensor_data(line)
|
||||
except Exception as ex:
|
||||
print(f"解码数据错误: {ex}")
|
||||
except Exception as e:
|
||||
print(f"读取串口数据错误: {e}")
|
||||
|
||||
return data_lines
|
||||
|
||||
def _parse_sensor_data(self, line: str) -> None:
|
||||
"""
|
||||
解析传感器数据
|
||||
|
||||
Args:
|
||||
line: 接收到的数据行
|
||||
"""
|
||||
# 解析电源电压
|
||||
if "电源电压" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("V", "").strip())
|
||||
self._voltage = val
|
||||
if self.debug:
|
||||
print(f"电源电压更新: {val}V")
|
||||
except Exception:
|
||||
pass
|
||||
self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}")
|
||||
start = time.time()
|
||||
while time.time() - start < timeout:
|
||||
if self.sensor_level == target_bool:
|
||||
return True
|
||||
time.sleep(0.1)
|
||||
self.logger.warning("Wait sensor level timeout")
|
||||
return False
|
||||
|
||||
# 解析电导率和ADC原始值（支持两种格式）
|
||||
if "电导率" in line and "ADC原始值" in line:
|
||||
try:
|
||||
# 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
|
||||
ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
|
||||
adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
|
||||
if ec_match:
|
||||
ec_val = float(ec_match.group(1))
|
||||
self._ec_value = ec_val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {ec_val:.2f} ms/cm")
|
||||
if adc_match:
|
||||
adc_val = int(adc_match.group(1))
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅电导率，无ADC原始值
|
||||
elif "电导率" in line:
|
||||
try:
|
||||
val = float(line.split("：")[1].replace("ms/cm", "").strip())
|
||||
self._ec_value = val
|
||||
if self.debug:
|
||||
print(f"电导率更新: {val:.2f} ms/cm")
|
||||
except Exception:
|
||||
pass
|
||||
# 仅ADC原始值（如有分开回传场景）
|
||||
elif "ADC原始值" in line:
|
||||
try:
|
||||
adc_val = int(line.split("：")[1].strip())
|
||||
self._ec_adc_value = adc_val
|
||||
if self.debug:
|
||||
print(f"EC ADC原始值更新: {adc_val}")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def spin_when_ec_ge_0():
|
||||
pass
|
||||
|
||||
def wait_time(self, duration: int) -> bool:
|
||||
"""
|
||||
等待指定时间 (秒)
|
||||
:param duration: 秒
|
||||
"""
|
||||
self.logger.info(f"Waiting for {duration} seconds...")
|
||||
time.sleep(duration)
|
||||
return True
|
||||
|
||||
def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
|
||||
"""支持标准 JSON 指令调用"""
|
||||
return super().execute_command_from_outer(command_dict)
|
||||
|
||||
def main():
|
||||
"""测试函数"""
|
||||
print("=== ChinWe设备测试 ===")
|
||||
|
||||
# 创建设备实例
|
||||
device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
|
||||
try:
|
||||
# 测试5: 发送电机命令
|
||||
print("\n5. 发送电机命令测试:")
|
||||
print(" 5.3 使用通用函数控制电机20顺时针转2圈:")
|
||||
device.rotate_motor(2, 20.0, clockwise=True)
|
||||
time.sleep(0.5)
|
||||
finally:
|
||||
time.sleep(10)
|
||||
# 测试7: 断开连接
|
||||
print("\n7. 断开连接:")
|
||||
device.disconnect()
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
# Test
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
dev = ChinweDevice(port="192.168.31.201:8899")
|
||||
try:
|
||||
if dev.is_connected:
|
||||
print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
|
||||
|
||||
# Test pump 1
|
||||
# dev.pump_valve(1, 1)
|
||||
# dev.pump_move(1, 1000, "aspirate")
|
||||
|
||||
# Test motor 4
|
||||
# dev.motor_run(4, 60, 0, 2)
|
||||
|
||||
for _ in range(5):
|
||||
print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}")
|
||||
time.sleep(1)
|
||||
finally:
|
||||
dev.disconnect()
|
||||
|
||||
93
unilabos/devices/workstation/post_process/bottle_carriers.py
Normal file
93
unilabos/devices/workstation/post_process/bottle_carriers.py
Normal file
@@ -0,0 +1,93 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle
|
||||
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
# ============================================================================
|
||||
# 聚合站（PolymerStation）载体定义（统一入口）
|
||||
# ============================================================================
|
||||
|
||||
def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-单试剂瓶载架
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="POST_PROCESS_Raw_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 统一后缀采用 "flask_1" 命名（可按需调整）
|
||||
carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-单试剂瓶载架
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="POST_PROCESS_Reaction_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 统一后缀采用 "flask_1" 命名（可按需调整）
|
||||
carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
20
unilabos/devices/workstation/post_process/bottles.py
Normal file
20
unilabos/devices/workstation/post_process/bottles.py
Normal file
@@ -0,0 +1,20 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
def POST_PROCESS_PolymerStation_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0,
|
||||
height: float = 120.0,
|
||||
max_volume: float = 500000.0, # 500mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建试剂瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="POST_PROCESS_PolymerStation_Reagent_Bottle",
|
||||
)
|
||||
|
||||
46
unilabos/devices/workstation/post_process/decks.py
Normal file
46
unilabos/devices/workstation/post_process/decks.py
Normal file
@@ -0,0 +1,46 @@
|
||||
from os import name
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.devices.workstation.post_process.warehouses import (
|
||||
post_process_warehouse_4x3x1,
|
||||
post_process_warehouse_4x3x1_2,
|
||||
)
|
||||
|
||||
|
||||
|
||||
class post_process_deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "post_process_deck",
|
||||
size_x: float = 2000.0,
|
||||
size_y: float = 1000.0,
|
||||
size_z: float = 2670.0,
|
||||
category: str = "deck",
|
||||
setup: bool = True,
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
self.warehouses = {
|
||||
"原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"),
|
||||
"反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"),
|
||||
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
"原料罐堆栈": Coordinate(350.0, 55.0, 0.0),
|
||||
"反应罐堆栈": Coordinate(1000.0, 55.0, 0.0),
|
||||
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
157
unilabos/devices/workstation/post_process/opcua_huairou.json
Normal file
157
unilabos/devices/workstation/post_process/opcua_huairou.json
Normal file
@@ -0,0 +1,157 @@
|
||||
{
|
||||
"register_node_list_from_csv_path": {
|
||||
"path": "opcua_nodes_huairou.csv"
|
||||
},
|
||||
"create_flow": [
|
||||
{
|
||||
"name": "trigger_grab_action",
|
||||
"description": "触发反应罐及原料罐抓取动作",
|
||||
"parameters": ["reaction_tank_number", "raw_tank_number"],
|
||||
"action": [
|
||||
{
|
||||
"init_function": {
|
||||
"func_name": "init_grab_params",
|
||||
"write_nodes": ["reaction_tank_number", "raw_tank_number"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_grab",
|
||||
"write_nodes": {"grab_trigger": true},
|
||||
"condition_nodes": ["grab_complete"],
|
||||
"stop_condition_expression": "grab_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_grab",
|
||||
"write_nodes": {"grab_trigger": false}
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "trigger_post_processing",
|
||||
"description": "触发后处理动作",
|
||||
"parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
|
||||
"injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
|
||||
"second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
|
||||
"first_powder_wash_count","second_powder_wash_count","initial_water_amount",
|
||||
"pre_filtration_mixing_time","atomization_pressure_kpa"],
|
||||
"action": [
|
||||
{
|
||||
"init_function": {
|
||||
"func_name": "init_post_processing_params",
|
||||
"write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
|
||||
"injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
|
||||
"second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
|
||||
"first_powder_wash_count","second_powder_wash_count","initial_water_amount",
|
||||
"pre_filtration_mixing_time","atomization_pressure_kpa"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_post_processing",
|
||||
"write_nodes": {"post_process_trigger": true},
|
||||
"condition_nodes": ["post_process_complete"],
|
||||
"stop_condition_expression": "post_process_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_post_processing",
|
||||
"write_nodes": {"post_process_trigger": false}
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "trigger_cleaning_action",
|
||||
"description": "触发清洗及管路吹气动作",
|
||||
"parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
|
||||
"nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
|
||||
"nmp_pump_cleaning_suction_count",
|
||||
"nmp_inner_wall_cleaning_waste_time",
|
||||
"nmp_stirrer_cleaning_injection",
|
||||
"nmp_stirrer_cleaning_count",
|
||||
"nmp_stirrer_cleaning_wait_time",
|
||||
"nmp_stirrer_cleaning_waste_time",
|
||||
"water_outer_wall_cleaning_injection",
|
||||
"water_outer_wall_cleaning_count",
|
||||
"water_outer_wall_cleaning_wait_time",
|
||||
"water_outer_wall_cleaning_waste_time",
|
||||
"water_inner_wall_cleaning_injection",
|
||||
"water_inner_wall_cleaning_count",
|
||||
"water_pump_cleaning_suction_count",
|
||||
"water_inner_wall_cleaning_waste_time",
|
||||
"water_stirrer_cleaning_injection",
|
||||
"water_stirrer_cleaning_count",
|
||||
"water_stirrer_cleaning_wait_time",
|
||||
"water_stirrer_cleaning_waste_time",
|
||||
"acetone_outer_wall_cleaning_injection",
|
||||
"acetone_outer_wall_cleaning_count",
|
||||
"acetone_outer_wall_cleaning_wait_time",
|
||||
"acetone_outer_wall_cleaning_waste_time",
|
||||
"acetone_inner_wall_cleaning_injection",
|
||||
"acetone_inner_wall_cleaning_count",
|
||||
"acetone_pump_cleaning_suction_count",
|
||||
"acetone_inner_wall_cleaning_waste_time",
|
||||
"acetone_stirrer_cleaning_injection",
|
||||
"acetone_stirrer_cleaning_count",
|
||||
"acetone_stirrer_cleaning_wait_time",
|
||||
"acetone_stirrer_cleaning_waste_time",
|
||||
"pipe_blowing_time",
|
||||
"injection_pump_forward_empty_suction_count",
|
||||
"injection_pump_reverse_empty_suction_count",
|
||||
"filtration_liquid_selection"],
|
||||
"action": [
|
||||
{
|
||||
"init_function": {
|
||||
"func_name": "init_cleaning_params",
|
||||
"write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
|
||||
"nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
|
||||
"nmp_pump_cleaning_suction_count",
|
||||
"nmp_inner_wall_cleaning_waste_time",
|
||||
"nmp_stirrer_cleaning_injection",
|
||||
"nmp_stirrer_cleaning_count",
|
||||
"nmp_stirrer_cleaning_wait_time",
|
||||
"nmp_stirrer_cleaning_waste_time",
|
||||
"water_outer_wall_cleaning_injection",
|
||||
"water_outer_wall_cleaning_count",
|
||||
"water_outer_wall_cleaning_wait_time",
|
||||
"water_outer_wall_cleaning_waste_time",
|
||||
"water_inner_wall_cleaning_injection",
|
||||
"water_inner_wall_cleaning_count",
|
||||
"water_pump_cleaning_suction_count",
|
||||
"water_inner_wall_cleaning_waste_time",
|
||||
"water_stirrer_cleaning_injection",
|
||||
"water_stirrer_cleaning_count",
|
||||
"water_stirrer_cleaning_wait_time",
|
||||
"water_stirrer_cleaning_waste_time",
|
||||
"acetone_outer_wall_cleaning_injection",
|
||||
"acetone_outer_wall_cleaning_count",
|
||||
"acetone_outer_wall_cleaning_wait_time",
|
||||
"acetone_outer_wall_cleaning_waste_time",
|
||||
"acetone_inner_wall_cleaning_injection",
|
||||
"acetone_inner_wall_cleaning_count",
|
||||
"acetone_pump_cleaning_suction_count",
|
||||
"acetone_inner_wall_cleaning_waste_time",
|
||||
"acetone_stirrer_cleaning_injection",
|
||||
"acetone_stirrer_cleaning_count",
|
||||
"acetone_stirrer_cleaning_wait_time",
|
||||
"acetone_stirrer_cleaning_waste_time",
|
||||
"pipe_blowing_time",
|
||||
"injection_pump_forward_empty_suction_count",
|
||||
"injection_pump_reverse_empty_suction_count",
|
||||
"filtration_liquid_selection"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_cleaning",
|
||||
"write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
|
||||
"condition_nodes": ["cleaning_complete"],
|
||||
"stop_condition_expression": "cleaning_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_cleaning",
|
||||
"write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,70 @@
|
||||
Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
|
||||
原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码
|
||||
反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码
|
||||
反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发
|
||||
后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发
|
||||
搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速
|
||||
搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速
|
||||
注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度
|
||||
注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度
|
||||
抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数
|
||||
第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量
|
||||
第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量
|
||||
第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间
|
||||
第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间
|
||||
第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数
|
||||
第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数
|
||||
最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量
|
||||
抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间
|
||||
雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa
|
||||
清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发
|
||||
废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警
|
||||
清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警
|
||||
NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警
|
||||
丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警
|
||||
门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警
|
||||
反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
|
||||
后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC
|
||||
清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
|
||||
远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC
|
||||
设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC
|
||||
NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注
|
||||
NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数
|
||||
NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间
|
||||
NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间
|
||||
NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注
|
||||
NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数
|
||||
NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数
|
||||
NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间
|
||||
NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注
|
||||
NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数
|
||||
NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间
|
||||
NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间
|
||||
清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注
|
||||
清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数
|
||||
清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间
|
||||
清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间
|
||||
清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注
|
||||
清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数
|
||||
清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数
|
||||
清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间
|
||||
清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注
|
||||
清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数
|
||||
清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间
|
||||
清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间
|
||||
丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注
|
||||
丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数
|
||||
丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间
|
||||
丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间
|
||||
丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注
|
||||
丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数
|
||||
丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数
|
||||
丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间
|
||||
丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注
|
||||
丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数
|
||||
丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间
|
||||
丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
|
||||
管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间
|
||||
注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数
|
||||
注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数
|
||||
抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮
|
||||
|
1781
unilabos/devices/workstation/post_process/post_process.py
Normal file
1781
unilabos/devices/workstation/post_process/post_process.py
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,45 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "post_process_station",
|
||||
"name": "post_process_station",
|
||||
"children": [
|
||||
"post_process_deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "post_process_station",
|
||||
"config": {
|
||||
"url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer",
|
||||
"config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json",
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "post_process_deck",
|
||||
"_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck"
|
||||
}
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "post_process_deck",
|
||||
"name": "post_process_deck",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "post_process_station",
|
||||
"type": "deck",
|
||||
"class": "post_process_deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "post_process_deck",
|
||||
"setup": true
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,160 @@
|
||||
from typing import Dict, Optional, List, Union
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
|
||||
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
|
||||
|
||||
|
||||
LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
|
||||
|
||||
|
||||
def warehouse_factory(
|
||||
name: str,
|
||||
num_items_x: int = 1,
|
||||
num_items_y: int = 4,
|
||||
num_items_z: int = 4,
|
||||
dx: float = 137.0,
|
||||
dy: float = 96.0,
|
||||
dz: float = 120.0,
|
||||
item_dx: float = 10.0,
|
||||
item_dy: float = 10.0,
|
||||
item_dz: float = 10.0,
|
||||
resource_size_x: float = 127.0,
|
||||
resource_size_y: float = 86.0,
|
||||
resource_size_z: float = 25.0,
|
||||
removed_positions: Optional[List[int]] = None,
|
||||
empty: bool = False,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
col_offset: int = 0, # 列起始偏移量，用于生成5-8等命名
|
||||
layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
|
||||
):
|
||||
# 创建位置坐标
|
||||
locations = []
|
||||
|
||||
for layer in range(num_items_z): # 层
|
||||
for row in range(num_items_y): # 行
|
||||
for col in range(num_items_x): # 列
|
||||
# 计算位置
|
||||
x = dx + col * item_dx
|
||||
|
||||
# 根据 layout 决定 y 坐标计算
|
||||
if layout == "row-major":
|
||||
# 行优先：row=0(第1行) 应该显示在上方，y 值最小
|
||||
y = dy + row * item_dy
|
||||
else:
|
||||
# 列优先：保持原逻辑
|
||||
y = dy + (num_items_y - row - 1) * item_dy
|
||||
|
||||
z = dz + (num_items_z - layer - 1) * item_dz
|
||||
locations.append(Coordinate(x, y, z))
|
||||
|
||||
if removed_positions:
|
||||
locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
|
||||
|
||||
_sites = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=resource_size_x,
|
||||
resource_size_y=resource_size_y,
|
||||
resource_size_z=resource_size_z,
|
||||
name_prefix=name,
|
||||
)
|
||||
|
||||
len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
|
||||
|
||||
# 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9
|
||||
# 命名顺序必须与坐标生成顺序一致：层 → 行 → 列
|
||||
keys = []
|
||||
for layer in range(num_items_z): # 遍历每一层
|
||||
for row in range(num_items_y): # 遍历每一行
|
||||
for col in range(num_items_x): # 遍历每一列
|
||||
# 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321）
|
||||
# row=1 应该对应 global_row=1（第2行：8765）
|
||||
# row=2 应该对应 global_row=2（第3行：12,11,10,9）
|
||||
# 但前端显示时 row=2 在最上面，所以需要反转
|
||||
reversed_row = (num_items_y - 1 - row) # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0
|
||||
global_row = layer * num_items_y + reversed_row
|
||||
|
||||
# 每行的最大数字 = (global_row + 1) * num_items_x + col_offset
|
||||
base_num = (global_row + 1) * num_items_x + col_offset
|
||||
|
||||
# 从右到左递减：4,3,2,1
|
||||
key = str(base_num - col)
|
||||
keys.append(key)
|
||||
|
||||
sites = {i: site for i, site in zip(keys, _sites.values())}
|
||||
|
||||
return WareHouse(
|
||||
name=name,
|
||||
size_x=dx + item_dx * num_items_x,
|
||||
size_y=dy + item_dy * num_items_y,
|
||||
size_z=dz + item_dz * num_items_z,
|
||||
num_items_x = num_items_x,
|
||||
num_items_y = num_items_y,
|
||||
num_items_z = num_items_z,
|
||||
ordering_layout=layout, # 传递排序方式到 ordering_layout
|
||||
sites=sites,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
|
||||
class WareHouse(ItemizedCarrier):
|
||||
"""堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
num_items_x: int,
|
||||
num_items_y: int,
|
||||
num_items_z: int,
|
||||
layout: str = "x-y",
|
||||
sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
ordering_layout: str = "col-major",
|
||||
**kwargs
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
# ordered_items=ordered_items,
|
||||
# ordering=ordering,
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
layout=layout,
|
||||
sites=sites,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存排序方式，供graphio.py的坐标映射使用
|
||||
# 使用独立属性避免与父类的layout冲突
|
||||
self.ordering_layout = ordering_layout
|
||||
|
||||
def serialize(self) -> dict:
|
||||
"""序列化时保存 ordering_layout 属性"""
|
||||
data = super().serialize()
|
||||
data['ordering_layout'] = self.ordering_layout
|
||||
return data
|
||||
|
||||
def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
|
||||
if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
|
||||
raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
|
||||
|
||||
site_index = layer * 4 + row * 1 + col
|
||||
return self.sites[site_index]
|
||||
|
||||
def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
|
||||
site = self.get_site_by_layer_position(row, col, layer)
|
||||
site.assign_child_resource(rack)
|
||||
|
||||
def get_rack_at_position(self, row: int, col: int, layer: int):
|
||||
site = self.get_site_by_layer_position(row, col, layer)
|
||||
return site.resource
|
||||
38
unilabos/devices/workstation/post_process/warehouses.py
Normal file
38
unilabos/devices/workstation/post_process/warehouses.py
Normal file
@@ -0,0 +1,38 @@
|
||||
from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
|
||||
# =================== Other ===================
|
||||
|
||||
|
||||
def post_process_warehouse_4x3x1(name: str) -> WareHouse:
|
||||
"""创建post_process 4x3x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def post_process_warehouse_4x3x1_2(name: str) -> WareHouse:
|
||||
"""已弃用：创建post_process 4x3x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
dx=12.0,
|
||||
dy=12.0,
|
||||
dz=12.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
Reference in New Issue
Block a user