From d2352cc51487b86c385b6d40f75b5d89748c1351 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 20 Oct 2025 12:48:19 +0800 Subject: [PATCH 001/104] =?UTF-8?q?1020=5FYB=E5=A5=94=E8=80=80=E4=BB=BF?= =?UTF-8?q?=E7=9C=9F=E6=9C=BA=E5=90=8C=E6=AD=A5=E5=AF=B9=E9=BD=90dev=5Funi?= =?UTF-8?q?lab=E5=8F=AF=E6=8E=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 待修改unilab的http服务 --- ..._cellconfig4.json => bioyond_yihua_YB.json | 18 +- .../bioyond_cell/2025092701.xlsx | Bin 0 -> 9287 bytes .../bioyond_cell/bioyond_cell_workstation.py | 681 + .../bioyond_material_management.py | 374 + .../bioyond_cell/bioyond_workstation copy.py | 715 + .../bioyond_cell/bioyond_yihua_YB.json | 14492 ++++++++++++++++ .../bioyond_cell/样品导入模板.xlsx | Bin 0 -> 22007 bytes .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1289 -- .../coin_cell_assembly/coin_cell_assembly.py | 1142 -- unilabos/registry/devices/bioyond.yaml | 3 + unilabos/registry/devices/bioyond_cell.yaml | 834 + .../devices/characterization_chromatic.yaml | 228 - .../devices/characterization_optic.yaml | 195 +- .../devices/reaction_station_bioyond.yaml | 31 +- .../registry/devices/robot_linear_motion.yaml | 171 - unilabos/registry/devices/work_station.yaml | 31 +- unilabos/registry/resources/bioyond/deck.yaml | 12 + unilabos/resources/bioyond/decks.py | 60 +- unilabos/resources/bioyond/warehouses.py | 116 +- 20 files changed, 17306 insertions(+), 3086 deletions(-) rename unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json => bioyond_yihua_YB.json (99%) create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/__init__.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py create mode 100644 unilabos/registry/devices/bioyond_cell.yaml diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json b/bioyond_yihua_YB.json similarity index 99% rename from unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json rename to bioyond_yihua_YB.json index 7e37132..1cd7f00 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json +++ b/bioyond_yihua_YB.json @@ -1,8 +1,22 @@ { "nodes": [ + { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {} + }, + "data": {} + }, { "id": "BatteryStation", - "name": "扣电工作站", + "name": "扣电组装工作站", "children": [ "coin_cell_deck" ], @@ -15,7 +29,7 @@ "z": 0 }, "config": { - "debug_mode": false, + "debug_mode": true, "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", "protocol_type": [], "deck": { diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx new file mode 100644 index 0000000000000000000000000000000000000000..3ce894f1e5033c9a9bbfc0b61024bce1ce3fbf49 GIT binary patch literal 9287 zcmeHtg;yNe_I2Z~jXMOF-~k%f1b2eFGz1IonxG*#1P$&D!3pk8fDj-!1lPuc1%5r5 znQvw?@B0hhyS@6})vIcsRb6%V+2@{9YKjPm1OQ|JDgXeW1(+XYfsNq+fH*_|00=;Z 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typing import Dict, Any, List, Optional +import requests +from pathlib import Path +import pandas as pd +import time +from datetime import datetime, timedelta +import re +import threading + +from urllib3 import response +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +from unilabos.utils.log import logger +from pylabrobot.resources.deck import Deck + +def _iso_local_now_ms() -> str: + # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z + dt = datetime.now() + # print(dt) + return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" + + +class BioyondCellWorkstation(WorkstationBase): + """ + 集成 Bioyond LIMS 的工作站示例， + 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → + 运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) → + 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) + """ + + def __init__( + self, + bioyond_config: Optional[Dict[str, Any]] = None, + station_resource: Optional[Dict[str, Any]] = None, + *args, **kwargs, + ): + + self.bioyond_config = bioyond_config or { + "base_url": "http://172.16.11.219:44388", + "api_key": "8A819E5C", + "timeout": 30, + "report_token": "CHANGE_ME_TOKEN", + "HTTP_host": "192.168.1.104", + "HTTP_port": 8080, + "debug_mode": False + } # report_token ：unilab自己的令牌report_token（0928未启用） + self.debug_mode = self.bioyond_config["debug_mode"] + self.http_service_started = False + super().__init__(station_resource=station_resource, *args, **kwargs) + logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") + + # 实例化并在后台线程启动 HTTP 报送服务 + self.order_status = {} # 记录任务完成情况，用于接受bioyond post信息和反馈信息，尤其用于硬件查询和物料信息变化 + try: + logger.info("准备开始unilab_HTTP后台线程") + t = threading.Thread(target=self._start_http_service, daemon=True, name="unilab_http") + t.start() + except Exception as e: + logger.error(f"unilab-HTTP后台线程启动失败: {e}") + + def _start_http_service(self, host: Optional[str] = None, port: Optional[int] = None) -> None: + host = host or self.bioyond_config.get("HTTP_host", "") + port = port or self.bioyond_config.get("HTTP_port", ) + + logger.info("准备开始unilab_HTTP服务") + try: + self.service = WorkstationHTTPService(self, host=host, port=port) + logger.info("WorkstationHTTPService 实例化完成") + self.service.start() + self.http_service_started = True + logger.info(f"WorkstationHTTPService成功启动: {host}:{port}") + #一直挂着，直到进程退出 + while True: + time.sleep(1) + except Exception as e: + self.http_service_started = False # 调试用 + logger.error(f"启动WorkstationHTTPService失败: {e}", exc_info=True) + + # -------------------- 基础HTTP封装 -------------------- + def _url(self, path: str) -> str: + + return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}" + + def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_local_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + # 模拟返回，不发真实请求 + logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + response = requests.post( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) # 拼接网址+post bioyond接口 + response.raise_for_status() + return response.json() + except Exception as e: + logger.info(f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}") + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + # -------------------- 单点接口封装 -------------------- + # 2.17 入库物料（单个） + def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/storage/inbound", { + "materialId": material_id, + "locationId": location_id + }) + + # 2.18 批量入库（多个） + def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]: + """ + items = [{"materialId": "...", "locationId": "..."}, ...] + """ + return self._post_lims("/api/lims/storage/batch-inbound", items) + + + + def auto_feeding4to3( + self, + # ★ 修改点：默认模板路径 + xlsx_path: Optional[str] = "unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx", + + # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- + WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, + WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, + WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0, + WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0, + WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0, + WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0, + WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0, + WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0, + WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0, + WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0, + WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0, + WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0, + + # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ---------------- + WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "", + WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "", + WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "", + WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "", + WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "", + WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "", + WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "", + WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "", + WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "", + + # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ---------------- + WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0, + WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0, + WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0, + WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0, + WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0, + WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0, + WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0, + WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0, + WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0, + WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0, + WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0, + WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0, + WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0, + WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0, + WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0, + ): + """ + 自动化上料（支持两种模式） + - Excel 路径存在 → 从 Excel 模板解析 + - Excel 路径不存在 → 使用手动参数 + """ + items: List[Dict[str, Any]] = [] + + # ---------- 模式 1: Excel 导入 ---------- + if xlsx_path: + path = Path(xlsx_path) + if path.exists(): # ★ 修改点：路径存在才加载 + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 四号手套箱加样头面 + for _, row in df.iloc[1:13, 2:7].iterrows(): + if pd.notna(row[5]): + items.append({ + "sourceWHName": "WH4", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialName": str(row[5]).strip(), + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + }) + # 四号手套箱原液瓶面 + for _, row in df.iloc[14:23, 2:9].iterrows(): + if pd.notna(row[5]): + items.append({ + "sourceWHName": "WH4", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialName": str(row[5]).strip(), + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + }) + # 三号手套箱人工堆栈 + for _, row in df.iloc[25:40, 2:7].iterrows(): + if pd.notna(row[5]) or pd.notna(row[6]): + items.append({ + "sourceWHName": "WH3", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 + }) + else: + logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。") + + # ---------- 模式 2: 手动填写 ---------- + if not items: + params = locals() + for name, value in params.items(): + if name.startswith("WH4") and "materialName" in name and value: + idx = name.split("_") + items.append({ + "sourceWHName": "WH4", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialName": value, + "quantity": float(params.get(name.replace("materialName", "quantity"), 0.0)) + }) + elif name.startswith("WH4") and "materialType" in name and (value or params.get(name.replace("materialType", "materialName"), "")): + idx = name.split("_") + items.append({ + "sourceWHName": "WH4", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialName": params.get(name.replace("materialType", "materialName"), ""), + "quantity": float(params.get(name.replace("materialType", "quantity"), 0.0)), + "materialType": value, + "targetWH": params.get(name.replace("materialType", "targetWH"), ""), + }) + elif name.startswith("WH3") and "materialType" in name and (value or params.get(name.replace("materialType", "materialId"), "")): + idx = name.split("_") + items.append({ + "sourceWHName": "WH3", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialType": value, + "materialId": params.get(name.replace("materialType", "materialId"), ""), + "quantity": int(params.get(name.replace("materialType", "quantity"), 1)), + }) + + if not items: + logger.warning("没有有效的上料条目，已跳过提交。") + return {"code": 0, "message": "no valid items", "data": []} + + return self._post_lims("/api/lims/order/auto-feeding4to3", items) + + + + + # 3.30 自动化上料(老版本) + def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 根据固定模板解析 Excel： + - 四号手套箱加样头面 (2-13行, 3-7列) + - 四号手套箱原液瓶面 (15-23行, 3-9列) + - 三号手套箱人工堆栈 (26-40行, 3-7列) + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + items: List[Dict[str, Any]] = [] + + # 四号手套箱 - 加样头面（2-13行, 3-7列） + for _, row in df.iloc[1:13, 2:7].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + } + if item["materialName"]: + items.append(item) + + # 四号手套箱 - 原液瓶面（15-23行, 3-9列） + for _, row in df.iloc[14:23, 2:9].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + } + if item["materialName"]: + items.append(item) + + # 三号手套箱人工堆栈（26-40行, 3-7列） + for _, row in df.iloc[25:40, 2:7].iterrows(): + item = { + "sourceWHName": "三号手套箱人工堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 # 默认数量1 + } + if item["materialId"] or item["materialType"]: + items.append(item) + + return self._post_lims("/api/lims/order/auto-feeding4to3", items) + + def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + def pick(names: List[str]) -> Optional[str]: + for n in names: + if n in df.columns: + return n + return None + + c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"]) + c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"]) + c_qty = pick(["数量", "quantity"]) + c_x = pick(["x", "X", "posX", "坐标X"]) + c_y = pick(["y", "Y", "posY", "坐标Y"]) + c_z = pick(["z", "Z", "posZ", "坐标Z"]) + + required = [c_loc, c_wh, c_qty, c_x, c_y, c_z] + if any(c is None for c in required): + raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。") + + def as_int(v, d=0): + try: + if pd.isna(v): return d + return int(v) + except Exception: + try: + return int(float(v)) + except Exception: + return d + + def as_float(v, d=0.0): + try: + if pd.isna(v): return d + return float(v) + except Exception: + return d + + def as_str(v, d=""): + if v is None or (isinstance(v, float) and pd.isna(v)): return d + s = str(v).strip() + return s if s else d + + items: List[Dict[str, Any]] = [] + for _, row in df.iterrows(): + items.append({ + "locationId": as_str(row[c_loc]), + "warehouseId": as_str(row[c_wh]), + "quantity": as_float(row[c_qty]), + "x": as_int(row[c_x]), + "y": as_int(row[c_y]), + "z": as_int(row[c_z]), + }) + + return self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + + # 2.14 新建实验 + def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + """ + 从 Excel 解析并创建实验（2.14） + 约定： + - batchId = Excel 文件名（不含扩展名） + - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） + - totalMass 自动计算为所有物料质量之和 + - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 列名容错：返回可选列名，找不到则返回 None + def _pick(col_names: List[str]) -> Optional[str]: + for c in col_names: + if c in df.columns: + return c + return None + + col_order_name = _pick(["配方ID", "orderName", "订单编号"]) + col_create_time = _pick(["创建日期", "createTime"]) + col_bottle_type = _pick(["配液瓶类型", "bottleType"]) + col_mix_time = _pick(["混匀时间(s)", "mixTime"]) + col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) + col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) + col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) + col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + + # 物料列：所有以 (g) 结尾 + material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + if not material_cols: + raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") + + batch_id = path.stem + + def _to_ymd_slash(v) -> str: + # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 + if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": + ts = datetime.now() + else: + try: + ts = pd.to_datetime(v) + except Exception: + ts = datetime.now() + return f"{ts.year}/{ts.month}/{ts.day}" + + def _as_int(val, default=0) -> int: + try: + if pd.isna(val): + return default + return int(val) + except Exception: + return default + + def _as_str(val, default="") -> str: + if val is None or (isinstance(val, float) and pd.isna(val)): + return default + s = str(val).strip() + return s if s else default + + orders: List[Dict[str, Any]] = [] + + for idx, row in df.iterrows(): + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + + for mcol in material_cols: + val = row.get(mcol, None) + if val is None or (isinstance(val, float) and pd.isna(val)): + continue + try: + mass = float(val) + except Exception: + continue + if mass > 0: + mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) + total_mass += mass + + order_data = { + "batchId": batch_id, + "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", + "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), + "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", + "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, + "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0, + "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0, + "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, + "materialInfos": mats, + "totalMass": round(total_mass, 4) # 自动汇总 + } + orders.append(order_data) + + # print(orders) + while True: + time.sleep(5) + response = self._post_lims("/api/lims/order/orders", orders) + if response.get("data", []): + break + logger.info(f"等待配液实验创建完成") + + + + # self.order_status[response["data"]["orderCode"]] = "running" + + # while True: + # time.sleep(5) + # if self.order_status.get(response["data"]["orderCode"], None) == "finished": + # logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运") + # break + # logger.info(f"等待配液实验完成") + + # self.transfer_3_to_2_to_1() + # self.wait_for_transfer_task() + # logger.info(f"3-2-1 转运完成，返回结果") + # return r321 + return response + + # 2.7 启动调度 + def scheduler_start(self) -> Dict[str, Any]: + return self._post_lims("/api/lims/scheduler/start") + # 3.10 停止调度 + def scheduler_stop(self) -> Dict[str, Any]: + + """ + 停止调度 (3.10) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/stop") + # 2.9 继续调度 + # 2.9 继续调度 + def scheduler_continue(self) -> Dict[str, Any]: + """ + 继续调度 (2.9) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/continue") + + # 2.24 物料变更推送 + def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: + """ + material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等） + """ + return self._post_report_raw("/report/material_change", material_obj) + + # 2.32 3-2-1 物料转运 + def transfer_3_to_2_to_1(self, + # source_wh_id: Optional[str] = None, + source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', + source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]: + payload: Dict[str, Any] = { + "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z + } + if source_wh_id: + payload["sourceWHID"] = source_wh_id + return self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + + # 3.35 1→2 物料转运 + def transfer_1_to_2(self) -> Dict[str, Any]: + """ + 1→2 物料转运 + URL: /api/lims/order/transfer-task1To2 + 只需要 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/order/transfer-task1To2") + + # 2.5 批量查询实验报告(post过滤关键字查询) + def order_list_v2(self, + timeType: str = "", + beginTime: str = "", + endTime: str = "", + status: str = "", # 60表示正在运行,80表示完成，90表示失败 + filter: str = "", + skipCount: int = 0, + pageCount: int = 1, # 显示多少页数据 + sorting: str = "") -> Dict[str, Any]: + """ + 批量查询实验报告的详细信息 (2.5) + URL: /api/lims/order/order-list + 参数默认值和接口文档保持一致 + """ + data: Dict[str, Any] = { + "timeType": timeType, + "beginTime": beginTime, + "endTime": endTime, + "status": status, + "filter": filter, + "skipCount": skipCount, + "pageCount": pageCount, + "sorting": sorting + } + return self._post_lims("/api/lims/order/order-list", data) + + # 一直post执行bioyond接口查询任务状态 + def wait_for_transfer_task(self, timeout: int = 3000, interval: int = 5, filter_text: Optional[str] = None) -> bool: + """ + 轮询查询物料转移任务是否成功完成 (status=80) + - timeout: 最大等待秒数 (默认600秒) + - interval: 轮询间隔秒数 (默认3秒) + 返回 True 表示找到并成功完成，False 表示超时未找到 + """ + now = datetime.now() + beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ") + endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ") + print(beginTime, endTime) + + deadline = time.time() + timeout + + while time.time() < deadline: + result = self.order_list_v2( + timeType="", + beginTime=beginTime, + endTime=endTime, + status="", + filter=filter_text, + skipCount=0, + pageCount=1, + sorting="" + ) + print(result) + + items = result.get("data", {}).get("items", []) + for item in items: + name = item.get("name", "") + status = item.get("status") + # 改成用 filter_text 判断 + if (not filter_text or filter_text in name) and status == 80: + logger.info(f"硬件转移动作完成: {name}, status={status}") + return True + + logger.info(f"等待中: {name}, status={status}") + time.sleep(interval) + + logger.warning("超时未找到成功的物料转移任务") + return False + + +# -------------------------------- +if __name__ == "__main__": + ws = BioyondCellWorkstation() + ws.scheduler_stop() + # re=ws.scheduler_start() + print(re) + # logger.info("调度启动完成") + + # ws.scheduler_continue() + # 3.30 上料：读取模板 Excel 自动解析并 POST + # r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板.xlsx") + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("4号箱向3号箱转运物料转移任务已完成") + + # ws.scheduler_start() + # print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items + + # # 新建实验 + # response = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092701.xlsx") + # logger.info(response) + # data_list = response.get("data", []) + # order_name = data_list[0].get("orderName", "") + + # ws.wait_for_transfer_task(filter_text=order_name) + # ws.wait_for_transfer_task(filter_text='DP20250927001') + # logger.info("3号站内实验完成") + # # ws.scheduler_start() + # # print(res) + # ws.transfer_3_to_2_to_1() + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("3号站向2号站向1号站转移任务完成") + # r321 = self.wait_for_transfer_task() + #1号站启动 + # ws.transfer_1_to_2() + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("1号站向2号站转移任务完成") + # logger.info("全流程结束") + + # 3.31 下料：同理 + # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx") + # print(r2["payload"]["data"]) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py new file mode 100644 index 0000000..245da15 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py @@ -0,0 +1,374 @@ +""" +Bioyond物料管理实现 +Bioyond Material Management Implementation + +基于Bioyond系统的物料管理，支持从Bioyond系统同步物料到UniLab工作站 +""" +from typing import Dict, Any, List, Optional, Union +import json +import asyncio +from abc import ABC, abstractmethod + +from pylabrobot.resources import ( + Resource as PLRResource, + Container, + Deck, + Coordinate as PLRCoordinate, +) + +from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker +from unilabos.utils.log import logger +from unilabos.resources.graphio import ( + resource_plr_to_ulab, + resource_ulab_to_plr, + resource_bioyond_to_ulab, + resource_bioyond_container_to_ulab, + resource_ulab_to_bioyond +) +from .workstation_material_management import MaterialManagementBase + + +class BioyondMaterialManagement(MaterialManagementBase): + """Bioyond物料管理类 + + 实现从Bioyond系统同步物料到UniLab工作站的功能： + 1. 从Bioyond系统获取物料数据 + 2. 转换为UniLab格式 + 3. 同步到PyLabRobot Deck + 4. 支持双向同步 + """ + + def __init__( + self, + device_id: str, + deck_config: Dict[str, Any], + resource_tracker: DeviceNodeResourceTracker, + children_config: Dict[str, Dict[str, Any]] = None, + bioyond_config: Dict[str, Any] = None + ): + self.bioyond_config = bioyond_config or {} + self.bioyond_api_client = None + self.sync_interval = self.bioyond_config.get("sync_interval", 30) # 同步间隔（秒） + + # 初始化父类 + super().__init__(device_id, deck_config, resource_tracker, children_config) + + # 初始化Bioyond API客户端 + self._initialize_bioyond_client() + + # 启动同步任务 + self._start_sync_task() + + def _initialize_bioyond_client(self): + """初始化Bioyond API客户端""" + try: + # 这里应该根据实际的Bioyond API实现 + # 暂时使用模拟客户端 + self.bioyond_api_client = BioyondAPIClient(self.bioyond_config) + logger.info(f"Bioyond API客户端初始化成功") + except Exception as e: + logger.error(f"Bioyond API客户端初始化失败: {e}") + self.bioyond_api_client = None + + def _start_sync_task(self): + """启动同步任务""" + if self.bioyond_api_client: + # 创建异步同步任务 + asyncio.create_task(self._periodic_sync()) + logger.info(f"Bioyond同步任务已启动，间隔: {self.sync_interval}秒") + + async def _periodic_sync(self): + """定期同步任务""" + while True: + try: + await self.sync_from_bioyond() + await asyncio.sleep(self.sync_interval) + except Exception as e: + logger.error(f"Bioyond同步任务出错: {e}") + await asyncio.sleep(self.sync_interval) + + async def sync_from_bioyond(self) -> bool: + """从Bioyond系统同步物料""" + try: + if not self.bioyond_api_client: + logger.warning("Bioyond API客户端未初始化") + return False + + # 1. 从Bioyond获取物料数据 + bioyond_data = await self.bioyond_api_client.get_materials() + if not bioyond_data: + logger.warning("从Bioyond获取物料数据为空") + return False + + # 2. 转换为UniLab格式 + if isinstance(bioyond_data, dict) and "data" in bioyond_data: + # 容器格式数据 + unilab_resources = resource_bioyond_container_to_ulab(bioyond_data) + else: + # 物料列表格式数据 + unilab_resources = resource_bioyond_to_ulab(bioyond_data) + + # 3. 转换为PLR格式并分配到Deck + await self._assign_resources_to_deck(unilab_resources) + + logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源") + return True + + except Exception as e: + logger.error(f"从Bioyond同步物料失败: {e}") + return False + + async def sync_to_bioyond(self, plr_resource: PLRResource) -> bool: + """将本地物料变更同步到Bioyond系统""" + try: + if not self.bioyond_api_client: + logger.warning("Bioyond API客户端未初始化") + return False + + # 1. 转换为UniLab格式 + unilab_resource = resource_plr_to_ulab(plr_resource) + + # 2. 转换为Bioyond格式 + bioyond_materials = resource_ulab_to_bioyond([unilab_resource]) + + # 3. 发送到Bioyond系统 + success = await self.bioyond_api_client.update_materials(bioyond_materials) + + if success: + logger.info(f"成功同步物料 {plr_resource.name} 到Bioyond") + else: + logger.warning(f"同步物料 {plr_resource.name} 到Bioyond失败") + + return success + + except Exception as e: + logger.error(f"同步物料到Bioyond失败: {e}") + return False + + async def _assign_resources_to_deck(self, unilab_resources: List[Dict[str, Any]]): + """将UniLab资源分配到Deck""" + try: + # 转换为PLR格式 + from unilabos.resources.graphio import list_to_nested_dict + nested_resources = list_to_nested_dict(unilab_resources) + plr_resources = resource_ulab_to_plr(nested_resources) + + # 分配资源到Deck + if hasattr(plr_resources, 'children'): + resources_to_assign = plr_resources.children + elif isinstance(plr_resources, list): + resources_to_assign = plr_resources + else: + resources_to_assign = [plr_resources] + + for resource in resources_to_assign: + try: + # 获取资源位置 + if hasattr(resource, 'location') and resource.location: + location = PLRCoordinate(resource.location.x, resource.location.y, resource.location.z) + else: + location = PLRCoordinate(0, 0, 0) + + # 分配资源到Deck + self.plr_deck.assign_child_resource(resource, location) + + # 注册到resource tracker + self.resource_tracker.add_resource(resource) + + # 保存资源引用 + self.plr_resources[resource.name] = resource + + except Exception as e: + logger.error(f"分配资源 {resource.name} 到Deck失败: {e}") + + logger.info(f"成功分配了 {len(resources_to_assign)} 个资源到Deck") + + except Exception as e: + logger.error(f"分配资源到Deck失败: {e}") + + def _create_resource_by_type( + self, + resource_id: str, + resource_type: str, + config: Dict[str, Any], + data: Dict[str, Any], + location: PLRCoordinate + ) -> Optional[PLRResource]: + """根据类型创建Bioyond相关资源""" + try: + # 这里可以根据需要实现特定的Bioyond资源类型 + # 目前使用通用的容器类型 + if resource_type in ["container", "plate", "well"]: + return self._create_generic_container(resource_id, resource_type, config, data, location) + else: + logger.warning(f"未知的Bioyond资源类型: {resource_type}") + return None + + except Exception as e: + logger.error(f"创建Bioyond资源失败 {resource_id} ({resource_type}): {e}") + return None + + def _create_generic_container( + self, + resource_id: str, + resource_type: str, + config: Dict[str, Any], + data: Dict[str, Any], + location: PLRCoordinate + ) -> Optional[PLRResource]: + """创建通用容器资源""" + try: + from pylabrobot.resources import Plate, Well + + if resource_type == "plate": + return Plate( + name=resource_id, + size_x=config.get("size_x", 127.76), + size_y=config.get("size_y", 85.48), + size_z=config.get("size_z", 14.35), + location=location, + category="plate" + ) + elif resource_type == "well": + return Well( + name=resource_id, + size_x=config.get("size_x", 9.0), + size_y=config.get("size_y", 9.0), + size_z=config.get("size_z", 10.0), + location=location, + category="well" + ) + else: + return Container( + name=resource_id, + size_x=config.get("size_x", 50.0), + size_y=config.get("size_y", 50.0), + size_z=config.get("size_z", 10.0), + location=location, + category="container" + ) + + except Exception as e: + logger.error(f"创建通用容器失败 {resource_id}: {e}") + return None + + def get_bioyond_materials(self) -> List[Dict[str, Any]]: + """获取当前Bioyond物料列表""" + try: + # 将当前PLR资源转换为Bioyond格式 + bioyond_materials = [] + for resource in self.plr_resources.values(): + unilab_resource = resource_plr_to_ulab(resource) + bioyond_materials.extend(resource_ulab_to_bioyond([unilab_resource])) + return bioyond_materials + except Exception as e: + logger.error(f"获取Bioyond物料列表失败: {e}") + return [] + + def update_material_from_bioyond(self, material_id: str, bioyond_data: Dict[str, Any]) -> bool: + """从Bioyond数据更新指定物料""" + try: + # 查找现有物料 + material = self.find_material_by_id(material_id) + if not material: + logger.warning(f"未找到物料: {material_id}") + return False + + # 转换Bioyond数据为UniLab格式 + unilab_resources = resource_bioyond_to_ulab([bioyond_data]) + if not unilab_resources: + logger.warning(f"转换Bioyond数据失败: {material_id}") + return False + + # 更新物料属性 + unilab_resource = unilab_resources[0] + material.name = unilab_resource.get("name", material.name) + + # 更新位置 + position = unilab_resource.get("position", {}) + if position: + material.location = PLRCoordinate( + position.get("x", 0), + position.get("y", 0), + position.get("z", 0) + ) + + logger.info(f"成功更新物料: {material_id}") + return True + + except Exception as e: + logger.error(f"更新物料失败 {material_id}: {e}") + return False + + +class BioyondAPIClient: + """Bioyond API客户端（模拟实现） + + 实际使用时需要根据Bioyond系统的API接口实现 + """ + + def __init__(self, config: Dict[str, Any]): + self.config = config + self.base_url = config.get("base_url", "http://localhost:8080") + self.api_key = config.get("api_key", "") + self.timeout = config.get("timeout", 30) + + async def get_materials(self) -> Optional[Union[Dict[str, Any], List[Dict[str, Any]]]]: + """从Bioyond系统获取物料数据""" + try: + # 这里应该实现实际的API调用 + # 暂时返回模拟数据 + logger.info("从Bioyond API获取物料数据") + + # 模拟API调用延迟 + await asyncio.sleep(0.1) + + # 返回模拟数据（实际应该从API获取） + return { + "data": [], + "code": 1, + "message": "success", + "timestamp": 1234567890 + } + + except Exception as e: + logger.error(f"Bioyond API调用失败: {e}") + return None + + async def update_materials(self, materials: List[Dict[str, Any]]) -> bool: + """更新Bioyond系统中的物料数据""" + try: + # 这里应该实现实际的API调用 + logger.info(f"更新Bioyond系统中的 {len(materials)} 个物料") + + # 模拟API调用延迟 + await asyncio.sleep(0.1) + + # 模拟成功响应 + return True + + except Exception as e: + logger.error(f"更新Bioyond物料失败: {e}") + return False + + async def get_material_by_id(self, material_id: str) -> Optional[Dict[str, Any]]: + """根据ID获取单个物料""" + try: + # 这里应该实现实际的API调用 + logger.info(f"从Bioyond API获取物料: {material_id}") + + # 模拟API调用延迟 + await asyncio.sleep(0.1) + + # 返回模拟数据 + return { + "id": material_id, + "name": f"material_{material_id}", + "type": "container", + "quantity": 1.0, + "unit": "个" + } + + except Exception as e: + logger.error(f"获取Bioyond物料失败 {material_id}: {e}") + return None diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py new file mode 100644 index 0000000..864a9dd --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py @@ -0,0 +1,715 @@ +# -*- coding: utf-8 -*- +from typing import Dict, Any, List, Optional +from datetime import datetime, timezone +import requests +from pathlib import Path +import pandas as pd +import time +from datetime import datetime, timezone, timedelta +import re +import threading +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +from unilabos.utils.log import logger +from pylabrobot.resources.deck import Deck + + +def _iso_utc_now_ms() -> str: + # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z + dt = datetime.now(timezone.utc) + return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" + + +class BioyondWorkstation(WorkstationBase): + """ + 集成 Bioyond LIMS 的工作站示例， + 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → + 运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) → + 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) + """ + + def __init__( + self, + bioyond_config: Optional[Dict[str, Any]] = None, + station_resource: Optional[Dict[str, Any]] = None, + debug_mode: bool = False, # 增加调试模式开关 + *args, **kwargs, + ): + self.bioyond_config = bioyond_config or { + "base_url": "http://192.168.1.200:44386", + "api_key": "8A819E5C", + "timeout": 30, + "report_token": "CHANGE_ME_TOKEN" + } + + self.http_service_started = False + self.debug_mode = debug_mode + super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs) + logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") + + # 实例化并在后台线程启动 HTTP 报送服务 + self.order_status = {} + try: + t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http") + t.start() + + except Exception as e: + logger.error(f"unilab-server后台启动报送服务失败: {e}") + + @property + def device_id(self) -> str: + try: + return getattr(self, "_ros_node").device_id # 兼容 ROS 场景 + except Exception: + return "bioyond_workstation" + + def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None: + logger.info("进入 _start_http_service_bg 函数") + try: + self.service = WorkstationHTTPService(self, host=host, port=port) + logger.info("WorkstationHTTPService 实例化完成") + self.service.start() + self.http_service_started = True + logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}") + + #一直挂着，直到进程退出 + while True: + time.sleep(1) + + except Exception as e: + self.http_service_started = False + logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True) + + # -------------------- 基础HTTP封装 -------------------- + def _url(self, path: str) -> str: + return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}" + + def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_utc_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + # 模拟返回，不发真实请求 + logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + r = requests.post( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) + r.raise_for_status() + return r.json() + except Exception as e: + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + # --- 修正：_post_report / _post_report_raw 同样走 debug_mode --- + def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]: + payload = { + "token": self.bioyond_config.get("report_token", ""), + "request_time": _iso_utc_now_ms(), + "data": data + } + if self.debug_mode: + logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + try: + r = requests.post(self._url(path), json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"}) + r.raise_for_status() + return r.json() + except Exception as e: + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]: + if self.debug_mode: + logger.info(f"[DEBUG] POST {path} with body={body}") + return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"} + try: + r = requests.post(self._url(path), json=body, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"}) + r.raise_for_status() + return r.json() + except Exception as e: + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + + # -------------------- 单点接口封装 -------------------- + # 2.17 入库物料（单个） + def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/storage/inbound", { + "materialId": material_id, + "locationId": location_id + }) + + # 2.18 批量入库（多个） + def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]: + """ + items = [{"materialId": "...", "locationId": "..."}, ...] + """ + return self._post_lims("/api/lims/storage/batch-inbound", items) + + # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3） + def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 根据固定模板解析 Excel： + - 四号手套箱加样头面 (2-13行, 3-7列) + - 四号手套箱原液瓶面 (15-23行, 3-9列) + - 三号手套箱人工堆栈 (26-40行, 3-7列) + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + items: List[Dict[str, Any]] = [] + + # 四号手套箱 - 加样头面（2-13行, 3-7列） + for _, row in df.iloc[1:13, 2:7].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + } + if item["materialName"]: + items.append(item) + + # 四号手套箱 - 原液瓶面（15-23行, 3-9列） + for _, row in df.iloc[14:23, 2:9].iterrows(): + item = { + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + } + if item["materialName"]: + items.append(item) + + # 三号手套箱人工堆栈（26-40行, 3-7列） + for _, row in df.iloc[25:40, 2:7].iterrows(): + item = { + "sourceWHName": "三号手套箱人工堆栈", + "posX": int(row[2]), + "posY": int(row[3]), + "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 # 默认数量1 + } + if item["materialId"] or item["materialType"]: + items.append(item) + + return self._post_lims("/api/lims/order/auto-feeding4to3", items) + + + + def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + def pick(names: List[str]) -> Optional[str]: + for n in names: + if n in df.columns: + return n + return None + + c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"]) + c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"]) + c_qty = pick(["数量", "quantity"]) + c_x = pick(["x", "X", "posX", "坐标X"]) + c_y = pick(["y", "Y", "posY", "坐标Y"]) + c_z = pick(["z", "Z", "posZ", "坐标Z"]) + + required = [c_loc, c_wh, c_qty, c_x, c_y, c_z] + if any(c is None for c in required): + raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。") + + def as_int(v, d=0): + try: + if pd.isna(v): return d + return int(v) + except Exception: + try: + return int(float(v)) + except Exception: + return d + + def as_float(v, d=0.0): + try: + if pd.isna(v): return d + return float(v) + except Exception: + return d + + def as_str(v, d=""): + if v is None or (isinstance(v, float) and pd.isna(v)): return d + s = str(v).strip() + return s if s else d + + items: List[Dict[str, Any]] = [] + for _, row in df.iterrows(): + items.append({ + "locationId": as_str(row[c_loc]), + "warehouseId": as_str(row[c_wh]), + "quantity": as_float(row[c_qty]), + "x": as_int(row[c_x]), + "y": as_int(row[c_y]), + "z": as_int(row[c_z]), + }) + + return self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + + # 2.14 新建实验 + def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + """ + 从 Excel 解析并创建实验（2.14） + 约定： + - batchId = Excel 文件名（不含扩展名） + - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） + - totalMass 自动计算为所有物料质量之和 + - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 列名容错：返回可选列名，找不到则返回 None + def _pick(col_names: List[str]) -> Optional[str]: + for c in col_names: + if c in df.columns: + return c + return None + + col_order_name = _pick(["配方ID", "orderName", "订单编号"]) + col_create_time = _pick(["创建日期", "createTime"]) + col_bottle_type = _pick(["配液瓶类型", "bottleType"]) + col_mix_time = _pick(["混匀时间(s)", "mixTime"]) + col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) + col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) + col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) + col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + + # 物料列：所有以 (g) 结尾 + material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + if not material_cols: + raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") + + batch_id = path.stem + + def _to_ymd_slash(v) -> str: + # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 + if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": + ts = datetime.now() + else: + try: + ts = pd.to_datetime(v) + except Exception: + ts = datetime.now() + return f"{ts.year}/{ts.month}/{ts.day}" + + def _as_int(val, default=0) -> int: + try: + if pd.isna(val): + return default + return int(val) + except Exception: + return default + + def _as_str(val, default="") -> str: + if val is None or (isinstance(val, float) and pd.isna(val)): + return default + s = str(val).strip() + return s if s else default + + orders: List[Dict[str, Any]] = [] + + for idx, row in df.iterrows(): + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + + for mcol in material_cols: + val = row.get(mcol, None) + if val is None or (isinstance(val, float) and pd.isna(val)): + continue + try: + mass = float(val) + except Exception: + continue + if mass > 0: + mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) + total_mass += mass + + order_data = { + "batchId": batch_id, + "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", + "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), + "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", + "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, + "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0, + "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0, + "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, + "materialInfos": mats, + "totalMass": round(total_mass, 4) # 自动汇总 + } + orders.append(order_data) + + # print(orders) + + response = self._post_lims("/api/lims/order/orders", orders) + self.order_status[response["data"]["orderCode"]] = "running" + + while True: + time.sleep(5) + if self.order_status.get(response["data"]["orderCode"], None) == "finished": + logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运") + break + logger.info(f"等待配液实验完成") + + self.transfer_3_to_2_to_1() + r321 = self.wait_for_transfer_task() + logger.info(f"3-2-1 转运完成，返回结果") + return r321 + + + # 2.7 启动调度 + def scheduler_start(self) -> Dict[str, Any]: + return self._post_lims("/api/lims/scheduler/start") + # 3.10 停止调度 + def scheduler_stop(self) -> Dict[str, Any]: + """ + 停止调度 (3.10) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/stop") + # 2.9 继续调度 + def scheduler_continue(self) -> Dict[str, Any]: + """ + 继续调度 (2.9) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/continue") + + + + # 2.24 物料变更推送 + def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: + """ + material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等） + """ + return self._post_report_raw("/report/material_change", material_obj) + + # 2.21 步骤完成推送（BS → LIMS） + def report_step_finish(self, + order_code: str, + order_name: str, + step_name: str, + step_id: str, + sample_id: str, + start_time: str, + end_time: str, + execution_status: str = "completed") -> Dict[str, Any]: + data = { + "orderCode": order_code, + "orderName": order_name, + "stepName": step_name, + "stepId": step_id, + "sampleId": sample_id, + "startTime": start_time, + "endTime": end_time, + "executionStatus": execution_status + } + return self._post_report("/report/step_finish", data) + + # 2.23 订单完成推送（BS → LIMS） + def report_order_finish(self, + order_code: str, + order_name: str, + start_time: str, + end_time: str, + status: str = "30", # 30 完成 / -11 异常停止 / -12 人工停止 + workflow_status: str = "Finished", + completion_time: Optional[str] = None, + used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]: + data = { + "orderCode": order_code, + "orderName": order_name, + "startTime": start_time, + "endTime": end_time, + "status": status, + "workflowStatus": workflow_status, + "completionTime": completion_time or end_time, + "usedMaterials": used_materials or [] + } + return self._post_report("/report/order_finish", data) + + # 2.5 批量查询实验报告（用于轮询是否完成） + def order_list(self, + status: Optional[str] = None, + begin_time: Optional[str] = None, + end_time: Optional[str] = None, + filter_text: Optional[str] = None, + skip: int = 0, page: int = 10) -> Dict[str, Any]: + data: Dict[str, Any] = {"skipCount": skip, "pageCount": page} + if status is not None: # 80 成功 / 90 失败 / 100 执行中 + data["status"] = status + if begin_time: + data["timeType"] = "CreationTime" + data["beginTime"] = begin_time + if end_time: + data["endTime"] = end_time + if filter_text: + data["filter"] = filter_text + return self._post_lims("/api/lims/order/order-list", data) + + # 2.6 实验报告查询（根据任务ID拿详情） + def order_report(self, order_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/order/order-report", order_id) + + # 2.32 3-2-1 物料转运 + def transfer_3_to_2_to_1(self, + # source_wh_id: Optional[str] = None, + source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', + source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]: + payload: Dict[str, Any] = { + "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z + } + if source_wh_id: + payload["sourceWHID"] = source_wh_id + return self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + + # 2.28 样品/废料取出 + def take_out(self, + order_id: str, + preintake_ids: Optional[List[str]] = None, + material_ids: Optional[List[str]] = None) -> Dict[str, Any]: + data = { + "orderId": order_id, + "preintakeIds": preintake_ids or [], + "materialIds": material_ids or [] + } + return self._post_lims("/api/lims/order/take-out", data) + + # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”-------- + def start_station1_internal_flow(self, **kwargs) -> None: + logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）") + + + # 3.x 1→2 物料转运 + def transfer_1_to_2(self) -> Dict[str, Any]: + """ + 1→2 物料转运 + URL: /api/lims/order/transfer-task1To2 + 只需要 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/order/transfer-task1To2") + + + # -------------------- 整体编排 -------------------- + def run_full_workflow(self, + inbound_items: List[Dict[str, str]], + orders: List[Dict[str, Any]], + poll_filter_code: Optional[str] = None, + poll_timeout_s: int = 600, + poll_interval_s: int = 5, + transfer_source: Optional[Dict[str, Any]] = None, + takeout_order_id: Optional[str] = None) -> None: + """ + 一键串联： + 1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度 + 运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送 + 完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程 + → 9) 1-2 转运 → 10) 样品/废料取出 + """ + # 1. 入库（多于1个就用批量接口 2.18） + if len(inbound_items) == 1: + r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"]) + logger.info(f"单个入库结果: {r}") + else: + r = self.storage_batch_inbound(inbound_items) + logger.info(f"批量入库结果: {r}") + + # 2. 新建实验（2.14） + r = self.create_orders(orders) + logger.info(f"新建实验结果: {r}") + + # 3. 启动调度（2.7） + r = self.scheduler_start() + logger.info(f"启动调度结果: {r}") + + # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— # + # self.report_material_change({...}) + # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...", + # start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed") + # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms()) + + # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功） + if poll_filter_code: + import time + deadline = time.time() + poll_timeout_s + while time.time() < deadline: + res = self.order_list(status="80", filter_text=poll_filter_code, page=5) + if isinstance(res, dict) and res.get("data", {}).get("items"): + logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}") + break + time.sleep(poll_interval_s) + else: + logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）") + + # 7. 启动 3-2-1 转运（2.32） + if transfer_source: + r = self.transfer_3_to_2_to_1( + source_wh_id=transfer_source.get("sourceWHID"), + source_x=transfer_source.get("sourcePosX", 1), + source_y=transfer_source.get("sourcePosY", 1), + source_z=transfer_source.get("sourcePosZ", 1), + ) + logger.info(f"3-2-1 转运结果: {r}") + + # 8. 1号站内部流程（占位） + self.start_station1_internal_flow() + + # 9. 1→2 转运（占位） + self.transfer_1_to_2() + + # 10. 样品/废料取出（2.28） + if takeout_order_id: + r = self.take_out(order_id=takeout_order_id) + logger.info(f"样品/废料取出结果: {r}") + + # 2.5 批量查询实验报告 + def order_list_v2(self, + timeType: str = "string", + beginTime: str = "", + endTime: str = "", + status: str = "", + filter: str = "物料转移任务", + skipCount: int = 0, + pageCount: int = 1, + sorting: str = "") -> Dict[str, Any]: + """ + 批量查询实验报告的详细信息 (2.5) + URL: /api/lims/order/order-list + 参数默认值和接口文档保持一致 + """ + data: Dict[str, Any] = { + "timeType": timeType, + "beginTime": beginTime, + "endTime": endTime, + "status": status, + "filter": filter, + "skipCount": skipCount, + "pageCount": pageCount, + "sorting": sorting + } + return self._post_lims("/api/lims/order/order-list", data) + + + def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool: + """ + 轮询查询物料转移任务是否成功完成 (status=80) + - timeout: 最大等待秒数 (默认600秒) + - interval: 轮询间隔秒数 (默认3秒) + 返回 True 表示找到并成功完成，False 表示超时未找到 + """ + now = datetime.now() + beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ") + endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ") + print(beginTime, endTime) + + deadline = time.time() + timeout + + while time.time() < deadline: + result = self.order_list_v2( + timeType="string", + beginTime=beginTime, + endTime=endTime, + status="", + filter="物料转移任务", + skipCount=0, + pageCount=1, + sorting="" + ) + print(result) + + items = result.get("data", {}).get("items", []) + for item in items: + name = item.get("name", "") + status = item.get("status") + if name.startswith("物料转移任务") and status == 80: + logger.info(f"硬件转移动作完成: {name}") + return True + + time.sleep(interval) + + logger.warning("超时未找到成功的物料转移任务") + return False + + +# -------------------------------- +if __name__ == "__main__": + ws = BioyondWorkstation() + # ws.scheduler_stop() + ws.scheduler_start() + logger.info("调度启动完成") + + # ws.scheduler_continue() + # 3.30 上料：读取模板 Excel 自动解析并 POST + r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx") + ws.wait_for_transfer_task() + logger.info("4号箱向3号箱转运物料转移任务已完成") + + # ws.scheduler_start() + # print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items + + # 新建实验 + res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx") + # ws.scheduler_start() + # print(res) + + #1号站启动 + ws.transfer_1_to_2() + ws.wait_for_transfer_task() + logger.info("1号站向2号站转移任务完成") + logger.info("全流程结束") + + # 3.31 下料：同理 + # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx") + # print(r2["payload"]["data"]) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json new file mode 100644 index 0000000..29f6254 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json @@ -0,0 +1,14492 @@ +{ + "nodes": [ + { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {}, + + "bioyond_config": { + "api_key": "8A819E5C", + "api_host": "http://192.168.1.200:44388", + "debug_mode": false + } + }, + "data": {} + }, + { + "id": "BatteryStation", + "name": "扣电组装工作站", + "children": [ + "coin_cell_deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", + "protocol_type": [], + "deck": { + "data": { + "_resource_child_name": "coin_cell_deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "zi_dan_jia", + "zi_dan_jia2", + "zi_dan_jia3", + "zi_dan_jia4", + "zi_dan_jia5", + "zi_dan_jia6", + "zi_dan_jia7", + "zi_dan_jia8", + "liaopan1", + "liaopan2", + "liaopan3", + "liaopan4", + "liaopan5", + "liaopan6", + "bottle_rack_3x4", + "bottle_rack_6x2", + "bottle_rack_6x2_2", + "tip_box_64", + "waste_tip_box" + ], + "parent": null, + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1620.0, + "size_y": 1270.0, + "size_z": 500.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "zi_dan_jia", + "name": "zi_dan_jia", + "sample_id": null, + "children": [ + "zi_dan_jia_clipmagazinehole_0_0", + "zi_dan_jia_clipmagazinehole_0_1", + "zi_dan_jia_clipmagazinehole_1_0", + "zi_dan_jia_clipmagazinehole_1_1" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 1400, + "y": 50, + "z": 0 + }, + "config": { + "type": "ClipMagazine_four", + "size_x": 80, + "size_y": 80, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_four", + "model": null, + "barcode": null, + "ordering": { + "A1": "zi_dan_jia_clipmagazinehole_0_0", + "B1": "zi_dan_jia_clipmagazinehole_0_1", + "A2": "zi_dan_jia_clipmagazinehole_1_0", + "B2": "zi_dan_jia_clipmagazinehole_1_1" + }, + "hole_diameter": 14.0, + "hole_depth": 10.0, + "max_sheets_per_hole": 100 + }, + "data": {} + }, + { + "id": "zi_dan_jia_clipmagazinehole_0_0", + "name": "zi_dan_jia_clipmagazinehole_0_0", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_0" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 15.0, + "y": 52.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia2_jipian_0", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia_clipmagazinehole_0_0" + } + ] + } + }, + { + "id": "zi_dan_jia2_jipian_0", + "name": "zi_dan_jia2_jipian_0", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia_clipmagazinehole_0_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "zi_dan_jia_clipmagazinehole_0_1", + "name": "zi_dan_jia_clipmagazinehole_0_1", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_1" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 15.0, + "y": 27.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 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"ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "zi_dan_jia_clipmagazinehole_1_0", + "name": "zi_dan_jia_clipmagazinehole_1_0", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_2" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 40.0, + "y": 52.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { 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"id": "zi_dan_jia_clipmagazinehole_1_1", + "name": "zi_dan_jia_clipmagazinehole_1_1", + "sample_id": null, + "children": [ + "zi_dan_jia2_jipian_3" + ], + "parent": "zi_dan_jia", + "type": "container", + "class": "", + "position": { + "x": 40.0, + "y": 27.5, + "z": 10 + }, + "config": { + "type": "ClipMagazineHole", + "size_x": 14.0, + "size_y": 14.0, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "clip_magazine_hole", + "model": null, + "barcode": null, + "max_volume": 1960.0, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "sheet_count": 1, + "sheets": [ + { + "name": "zi_dan_jia2_jipian_3", + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "location": null, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null, + "children": [], + "parent_name": "zi_dan_jia_clipmagazinehole_1_1" + } + ] + } + }, + { + "id": "zi_dan_jia2_jipian_3", + "name": "zi_dan_jia2_jipian_3", + "sample_id": null, + "children": [], + "parent": "zi_dan_jia_clipmagazinehole_1_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "zi_dan_jia2", + "name": "zi_dan_jia2", + "sample_id": null, + "children": [ + "zi_dan_jia2_clipmagazinehole_0_0", + "zi_dan_jia2_clipmagazinehole_0_1", + "zi_dan_jia2_clipmagazinehole_1_0", + "zi_dan_jia2_clipmagazinehole_1_1" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 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collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - if len(self.children) >= self._unilabos_state["max_sheets"]: - raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - - - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - children: List[ElectrodeSheet] = [] - def __init__( - self, - name: str, - diameter: float, - depth: float, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片 - - 根据洞的深度和极片的厚度来判断是否可以添加极片 - """ - # 检查极片直径是否适合洞的直径 - if sheet._unilabos_state["diameter"] > self.diameter: - return False - - # 计算当前已添加极片的总厚度 - current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) - - # 检查添加新极片后总厚度是否超过洞的深度 - if current_thickness + sheet._unilabos_state["thickness"] > self.depth: - return False - - return True - - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate] = None, - reassign: bool = True, - ): - """放置极片到洞位中 - - Args: - resource: 要放置的极片 - location: 极片在洞位中的位置（对于洞位，通常为None） - reassign: 是否允许重新分配 - """ - # 检查是否可以添加极片 - if not self.can_add_sheet(resource): - raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") - - # 调用父类方法实际执行分配 - super().assign_child_resource(resource, location, reassign) - - def unassign_child_resource(self, resource: ElectrodeSheet): - """从洞位中移除极片 - - Args: - resource: 要移除的极片 - """ - if resource not in self.children: - raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") - - # 调用父类方法实际执行移除 - super().unassign_child_resource(resource) - - - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self.children), - "sheets": [sheet.serialize() for sheet in self.children], - } -class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有4个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=2, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -# TODO: 这个要改 -class ClipMagazine(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - - electrolyte_name: str - electrolyte_volume: float - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState() - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #这个应该没用，不会有加了后再加的事情 - def add_electrolyte(self, name: str, volume: float) -> bool: - """添加电解液信息""" - if name != self._unilabos_state["electrolyte_name"]: - return False - self._unilabos_state["electrolyte_volume"] += volume - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# 电解液作为属性放进去 - -class BatteryPressSlotState(TypedDict): - """电池状态字典""" - diameter: float =20.0 - depth: float = 4.0 - -class BatteryPressSlot(Resource): - """电池压制槽类 - 设备，可容纳一个电池""" - children: List[Battery] = [] - - def __init__( - self, - name: str = "BatteryPressSlot", - category: str = "battery_press_slot", - ): - """初始化电池压制槽 - - Args: - name: 压制槽名称 - diameter: 直径 (mm) - depth: 深度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=10, - size_y=12, - size_z=13, - category=category, - ) - self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() - - def has_battery(self) -> bool: - """检查是否有电池""" - return len(self.children) > 0 - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - def assign_child_resource( - self, - resource: Battery, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - if self.has_battery(): - raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_battery_info(self, index: int) -> Battery: - return self.children[0] - -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - # 记录网格参数用于前端渲染 - self._grid_params = { - "num_items_x": 8, - "num_items_y": 8, - "dx": 8.0, - "dy": 8.0, - "item_dx": 9.0, - "item_dy": 9.0, - } - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - def serialize(self) -> dict: - return { - **super().serialize(), - **self._grid_params, - } - - - -class WasteTipBoxstate(TypedDict): - """"废枪头盒状态字典""" - max_tips: int = 100 - tip_count: int = 0 - -#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 -class WasteTipBox(Trash): - """废枪头盒类 - 100个枪头容量""" - - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "waste_tip_box", - model: Optional[str] = None, - ): - """初始化废枪头盒 - - Args: - name: 废枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - max_tips: 最大枪头容量 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - - def add_tip(self) -> None: - """添加废枪头""" - if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: - raise ValueError(f"废枪头盒 {self.name} 已满") - self._unilabos_state["tip_count"] += 1 - - def get_tip_count(self) -> int: - """获取枪头数量""" - return self._unilabos_state["tip_count"] - - def empty(self) -> None: - """清空废枪头盒""" - self._unilabos_state["tip_count"] = 0 - - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - name_to_index: dict - - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - position_spacing: float - name_to_index: dict - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Resource] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - num_items_x: int = 3, - num_items_y: int = 4, - position_spacing: float = 35.0, - orientation: str = "horizontal", - padding_x: float = 20.0, - padding_y: float = 20.0, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # 初始化状态 - self._unilabos_state: BottleRackState = BottleRackState( - bottle_diameter=30.0, - bottle_height=100.0, - position_spacing=position_spacing, - name_to_index={}, - ) - # 基于网格生成瓶位坐标映射（居中摆放） - # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） - origin_x = padding_x - origin_y = padding_y - self.index_to_pos = {} - for j in range(num_items_y): - for i in range(num_items_x): - idx = j * num_items_x + i - if orientation == "vertical": - # 纵向：沿 y 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + j * position_spacing, - y=origin_y + i * position_spacing, - z=0, - ) - else: - # 横向（默认）：沿 x 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + i * position_spacing, - y=origin_y + j * position_spacing, - z=0, - ) - self.name_to_index = {} - self.name_to_pos = {} - self.num_items_x = num_items_x - self.num_items_y = num_items_y - self.orientation = orientation - self.padding_x = padding_x - self.padding_y = padding_y - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update( - self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): - capacity = self.num_items_x * self.num_items_y - assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = self.index_to_pos.get(index, Coordinate.zero()) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource(self, resource: Resource, index: int): - capacity = self.num_items_x * self.num_items_y - assert 0 <= index < capacity, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - def serialize(self) -> dict: - return { - **super().serialize(), - "num_items_x": self.num_items_x, - "num_items_y": self.num_items_y, - "position_spacing": self._unilabos_state.get("position_spacing", 35.0), - "orientation": self.orientation, - "padding_x": self.padding_x, - "padding_y": self.padding_y, - } - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class CoincellDeck(Deck): - """纽扣电池组装工作站台面类""" - - def __init__( - self, - name: str = "coin_cell_deck", - size_x: float = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """初始化纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -def create_a_liaopan(): - liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - return liaopan - -def create_a_coin_cell_deck(): - deck = Deck(size_x=1200, - size_y=800, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) - - print(deck) - - return deck - - -import json - -if __name__ == "__main__": - electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck() - """======================================子弹夹============================================""" - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - """======================================子弹夹============================================""" - #liaopan = TipBox64(name="liaopan") - """======================================物料板============================================""" - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) - - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) - - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - #liaopan.children[3].assign_child_resource(jipian, location=None) - """======================================物料板============================================""" - """======================================瓶架，移液枪============================================""" - # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - bottle_rack_3x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=3, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) - - - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - - tip_box = TipBox64(name="tip_box_64") - deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) - - waste_tip_box = WasteTipBox(name="waste_tip_box") - deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - """======================================瓶架，移液枪============================================""" - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "56bbed5b-6e30-438c-b06d-f69eaa63bb45" - BasicConfig.sk = "238222fe-0bf7-4350-a426-e5ced8011dcf" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - - # 检查序列化后的资源 - - json.dump({"nodes": resources, "links": []}, open("button_battery_decks_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py deleted file mode 100644 index 4758bdd..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ /dev/null @@ -1,1142 +0,0 @@ -import csv -import json -import os -import threading -import time -from datetime import datetime -from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource -from unilabos_msgs.msg import Resource -from unilabos.device_comms.modbus_plc.client import ModbusTcpClient -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate -from unilabos.devices.workstation.workstation_base import WorkstationBase -from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient -from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * -from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -#构建物料系统 - -class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - deck: CoincellDeck, - address: str = "192.168.1.20", - port: str = "502", - debug_mode: bool = True, - *args, - **kwargs, - ): - super().__init__( - #桌子 - deck=deck, - *args, - **kwargs, - ) - self.debug_mode = debug_mode - self.deck = deck - """ 连接初始化 """ - modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) - if not debug_mode: - modbus_client.client.connect() - count = 100 - while count >0: - count -=1 - if modbus_client.client.is_socket_open(): - break - time.sleep(2) - if not modbus_client.client.is_socket_open(): - raise ValueError('modbus tcp connection failed') - else: - print("测试模式，跳过连接") - - """ 工站的配置 """ - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) - self.client = modbus_client.register_node_list(self.nodes) - self.success = False - self.allow_data_read = False #允许读取函数运行标志位 - self.csv_export_thread = None - self.csv_export_running = False - self.csv_export_file = None - #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - - #self._ros_node.update_resource(self.deck) - - #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - #}) - - - def post_init(self, ros_node: ROS2WorkstationNode): - self._ros_node = ros_node - #self.deck = create_a_coin_cell_deck() - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.deck] - }) - - # 批量操作在这里写 - async def change_hole_sheet_to_2(self, hole: MaterialHole): - hole._unilabos_state["max_sheets"] = 2 - return await self._ros_node.update_resource(hole) - - - async def fill_plate(self): - plate_1: MaterialPlate = self.deck.children[0].children[0] - #plate_1 - return await self._ros_node.update_resource(plate_1) - - #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): - # """启动工作流""" - # self.current_workflow_status = WorkflowStatus.RUNNING - # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") -# - # # TODO: 实现工作流逻辑 -# - # anode_sheet = self.deck.get_resource("anode_sheet") - - """ Action逻辑代码 """ - def _sys_start_cmd(self, cmd=None): - """设备启动命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_START_CMD') - ret = node.write(cmd) - print(ret) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) - return cmd_feedback[0] - - def _sys_stop_cmd(self, cmd=None): - """设备停止命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_STOP_CMD') - node.write(cmd) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) - return cmd_feedback[0] - - def _sys_reset_cmd(self, cmd=None): - """设备复位命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) - return cmd_feedback[0] - - def _sys_hand_cmd(self, cmd=None): - """手动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) - self.success = True - print("步骤0") - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) - return cmd_feedback[0] - - def _sys_auto_cmd(self, cmd=None): - """自动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) - return cmd_feedback[0] - - def _sys_init_cmd(self, cmd=None): - """初始化命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_succ_cmd(self, cmd=None): - """UNILAB发送配方完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rec_msg_succ_cmd(self, cmd=None): - """UNILAB接收测试电池数据完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) - return cmd_feedback - - - # ====================== 命令类指令（REG_x_） ====================== - def _unilab_send_msg_electrolyte_num(self, num=None): - """UNILAB写电解液使用瓶数(可读写)""" - if num is not None: - self.success = False - ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - print(ret) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_use_num(self, use_num=None): - """UNILAB写单次电解液使用瓶数(可读写)""" - if use_num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) - self.success = True - return self.success - else: - return False - - def _unilab_send_msg_assembly_type(self, num=None): - """UNILAB写组装参数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_vol(self, vol=None): - """UNILAB写电解液吸取量参数""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - def _unilab_send_msg_assembly_pressure(self, vol=None): - """UNILAB写电池压制力""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - # ==================== 0905新增内容（COIL_x_STATUS） ==================== - def _unilab_send_electrolyte_bottle_num(self, num=None): - """UNILAB发送电解液瓶数完毕""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_rece_electrolyte_bottle_num(self, num=None): - """设备请求接受电解液瓶数""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _reg_msg_electrolyte_num(self, num=None): - """电解液已使用瓶数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _reg_data_electrolyte_use_num(self, num=None): - """单瓶电解液完成组装数""" - if num is not None: - self.success = False - self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_finished_cmd(self, num=None): - """Unilab发送已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rece_finished_cmd(self, num=None): - """Unilab接收已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) - return cmd_feedback[0] - - - - # ==================== 状态类属性（COIL_x_STATUS） ==================== - def _sys_start_status(self) -> bool: - """设备启动中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) - return status[0] - - def _sys_stop_status(self) -> bool: - """设备停止中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) - return status[0] - - def _sys_reset_status(self) -> bool: - """设备复位中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) - return status[0] - - def _sys_init_status(self) -> bool: - """设备初始化完成( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) - return status[0] - - # 查找资源 - def modify_deck_name(self, resource_name: str): - # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) - # print(f"!!! figure_res: {type(figure_res)}") - self.deck.children[1] - return - - @property - def sys_status(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_start_status(): - return "设备启动中" - elif self._sys_stop_status(): - return "设备停止中" - elif self._sys_reset_status(): - return "设备复位中" - elif self._sys_init_status(): - return "设备初始化中" - else: - return "未知状态" - - def _sys_hand_status(self) -> bool: - """设备手动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) - return status[0] - - def _sys_auto_status(self) -> bool: - """设备自动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) - return status[0] - - @property - def sys_mode(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_hand_status(): - return "设备手动模式" - elif self._sys_auto_status(): - return "设备自动模式" - else: - return "未知模式" - - @property - def request_rec_msg_status(self) -> bool: - """设备请求接受配方( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) - return status[0] - - @property - def request_send_msg_status(self) -> bool: - """设备请求发送测试数据( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) - return status[0] - - # ======================= 其他属性（特殊功能） ======================== - ''' - @property - def warning_1(self) -> bool: - status, read_err = self.client.use_node('COIL_WARNING_1').read(1) - return status[0] - ''' - # ===================== 生产数据区 ====================== - - @property - def data_assembly_coin_cell_num(self) -> int: - """已完成电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) - return num - - @property - def data_assembly_time(self) -> float: - """单颗电池组装时间 (秒, REAL/FLOAT32)""" - if self.debug_mode: - return 0 - time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) - return time - - @property - def data_open_circuit_voltage(self) -> float: - """开路电压值 (FLOAT32)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) - return vol - - @property - def data_axis_x_pos(self) -> float: - """分液X轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_y_pos(self) -> float: - """分液Y轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_z_pos(self) -> float: - """分液Z轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_pole_weight(self) -> float: - """当前电池正极片称重数据 (FLOAT32)""" - if self.debug_mode: - return 0 - weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) - return weight - - @property - def data_assembly_pressure(self) -> int: - """当前电池压制力 (INT16)""" - if self.debug_mode: - return 0 - pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) - return pressure - - @property - def data_electrolyte_volume(self) -> int: - """当前电解液加注量 (INT16)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) - return vol - - @property - def data_coin_num(self) -> int: - """当前电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) - return num - - @property - def data_coin_cell_code(self) -> str: - """电池二维码序列号 (STRING)""" - try: - # 尝试不同的字节序读取 - code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code - except Exception as e: - print(f"读取电池二维码失败: {e}") - return "N/A" - - - @property - def data_electrolyte_code(self) -> str: - try: - # 尝试不同的字节序读取 - code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code - except Exception as e: - print(f"读取电解液二维码失败: {e}") - return "N/A" - - # ===================== 环境监控区 ====================== - @property - def data_glove_box_pressure(self) -> float: - """手套箱压力 (bar, FLOAT32)""" - if self.debug_mode: - return 0 - status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return status - - @property - def data_glove_box_o2_content(self) -> float: - """手套箱氧含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - - @property - def data_glove_box_water_content(self) -> float: - """手套箱水含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - -# @property -# def data_stack_vision_code(self) -> int: -# """物料堆叠复检图片编码 (INT16)""" -# if self.debug_mode: -# return 0 -# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) -# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type -# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) -# #print(code.type) -# # print(read_err) -# return int(code) - - def func_pack_device_init(self): - #切换手动模式 - print("切换手动模式") - self._sys_hand_cmd(True) - time.sleep(1) - while (self._sys_hand_status()) == False: - print("waiting for hand_cmd") - time.sleep(1) - #设备初始化 - self._sys_init_cmd(True) - time.sleep(1) - #sys_init_status为bool值，不加括号 - while (self._sys_init_status())== False: - print("waiting for init_cmd") - time.sleep(1) - #手动按钮置回False - self._sys_hand_cmd(False) - time.sleep(1) - while (self._sys_hand_cmd()) == True: - print("waiting for hand_cmd to False") - time.sleep(1) - #初始化命令置回False - self._sys_init_cmd(False) - time.sleep(1) - while (self._sys_init_cmd()) == True: - print("waiting for init_cmd to False") - time.sleep(1) - - def func_pack_device_auto(self): - #切换自动 - print("切换自动模式") - self._sys_auto_cmd(True) - time.sleep(1) - while (self._sys_auto_status()) == False: - print("waiting for auto_status") - time.sleep(1) - #自动按钮置False - self._sys_auto_cmd(False) - time.sleep(1) - while (self._sys_auto_cmd()) == True: - print("waiting for auto_cmd") - time.sleep(1) - - def func_pack_device_start(self): - #切换自动 - print("启动") - self._sys_start_cmd(True) - time.sleep(1) - while (self._sys_start_status()) == False: - print("waiting for start_status") - time.sleep(1) - #自动按钮置False - self._sys_start_cmd(False) - time.sleep(1) - while (self._sys_start_cmd()) == True: - print("waiting for start_cmd") - time.sleep(1) - - def func_pack_send_bottle_num(self, bottle_num: int): - #发送电解液平台数 - print("启动") - while (self._unilab_rece_electrolyte_bottle_num()) == False: - print("waiting for rece_electrolyte_bottle_num to True") - # self.client.use_node('8520').write(True) - time.sleep(1) - #发送电解液瓶数为2 - self._reg_msg_electrolyte_num(bottle_num) - time.sleep(1) - #完成信号置True - self._unilab_send_electrolyte_bottle_num(True) - time.sleep(1) - #检测到依华已接收 - while (self._unilab_rece_electrolyte_bottle_num()) == True: - print("waiting for rece_electrolyte_bottle_num to False") - time.sleep(1) - #完成信号置False - self._unilab_send_electrolyte_bottle_num(False) - time.sleep(1) - #自动按钮置False - - - # 下发参数 - #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: - # """UNILAB写参数""" - # while (self.request_rec_msg_status) == False: - # print("wait for res_msg") - # time.sleep(1) - # self.success = False - # self._unilab_send_msg_electrolyte_num(elec_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_use_num(elec_use_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_vol(elec_vol) - # time.sleep(1) - # self._unilab_send_msg_assembly_type(assembly_type) - # time.sleep(1) - # self._unilab_send_msg_assembly_pressure(assembly_pressure) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(True) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(False) - # #将允许读取标志位置True - # self.allow_data_read = True - # self.success = True - # return self.success - - def func_pack_send_msg_cmd(self, elec_use_num) -> bool: - """UNILAB写参数""" - while (self.request_rec_msg_status) == False: - print("wait for request_rec_msg_status to True") - time.sleep(1) - self.success = False - #self._unilab_send_msg_electrolyte_num(elec_num) - time.sleep(1) - self._unilab_send_msg_electrolyte_use_num(elec_use_num) - time.sleep(1) - self._unilab_send_msg_succ_cmd(True) - time.sleep(1) - while (self.request_rec_msg_status) == True: - print("wait for request_rec_msg_status to False") - time.sleep(1) - self._unilab_send_msg_succ_cmd(False) - #将允许读取标志位置True - self.allow_data_read = True - self.success = True - return self.success - - def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: - """UNILAB读参数""" - while self.request_send_msg_status == False: - print("waiting for send_read_msg_status to True") - time.sleep(1) - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - print("data_open_circuit_voltage", data_open_circuit_voltage) - print("data_pole_weight", data_pole_weight) - print("data_assembly_time", data_assembly_time) - print("data_assembly_pressure", data_assembly_pressure) - print("data_electrolyte_volume", data_electrolyte_volume) - print("data_coin_num", data_coin_num) - print("data_electrolyte_code", data_electrolyte_code) - print("data_coin_cell_code", data_coin_cell_code) - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd(True) - time.sleep(1) - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd(False) - time.sleep(1) - #将允许读取标志位置True - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - #将数据存入csv文件 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - self.success = True - return self.success - - - - def func_pack_send_finished_cmd(self) -> bool: - """UNILAB写参数""" - while (self._unilab_rece_finished_cmd()) == False: - print("wait for rece_finished_cmd to True") - time.sleep(1) - self.success = False - self._unilab_send_finished_cmd(True) - time.sleep(1) - while (self._unilab_rece_finished_cmd()) == True: - print("wait for rece_finished_cmd to False") - time.sleep(1) - self._unilab_send_finished_cmd(False) - #将允许读取标志位置True - self.success = True - return self.success - - - - def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: - summary_csv_file = os.path.join(file_path, "duandian.csv") - # 如果断点文件存在，先读取之前的进度 - if os.path.exists(summary_csv_file): - read_status_flag = True - with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: - reader = csv.reader(csvfile) - header = next(reader) # 跳过标题行 - data_row = next(reader) # 读取数据行 - if len(data_row) >= 2: - elec_num_r = int(data_row[0]) - elec_use_num_r = int(data_row[1]) - elec_num_N = int(data_row[2]) - elec_use_num_N = int(data_row[3]) - coin_num_N = int(data_row[4]) - if elec_num_r == elec_num and elec_use_num_r == elec_use_num: - print("断点文件与当前任务匹配，继续") - else: - print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") - return False - print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") - - else: - read_status_flag = False - print("未找到断点文件，从头开始") - elec_num_N = 0 - elec_use_num_N = 0 - coin_num_N = 0 - - print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") - - - #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 - if read_status_flag == False: - #初始化 - self.func_pack_device_init() - #切换自动 - self.func_pack_device_auto() - #启动，小车收回 - self.func_pack_device_start() - #发送电解液瓶数量，启动搬运,多搬运没事 - self.func_pack_send_bottle_num(elec_num) - last_i = elec_num_N - last_j = elec_use_num_N - for i in range(last_i, elec_num): - print(f"开始第{last_i+i+1}瓶电解液的组装") - #第一个循环从上次断点继续，后续循环从0开始 - j_start = last_j if i == last_i else 0 - self.func_pack_send_msg_cmd(elec_use_num-j_start) - - for j in range(j_start, elec_use_num): - print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") - #读取电池组装数据并存入csv - self.func_pack_get_msg_cmd(file_path) - time.sleep(1) - - #这里定义物料系统 - # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 - liaopan1 = self.deck.get_resource("liaopan1") - liaopan4 = self.deck.get_resource("liaopan4") - jipian1 = liaopan1.children[coin_num_N].children[0] - jipian4 = liaopan4.children[coin_num_N].children[0] - #print(jipian1) - #从料盘上去物料解绑后放到另一盘上 - jipian1.parent.unassign_child_resource(jipian1) - jipian4.parent.unassign_child_resource(jipian4) - - #print(jipian2.parent) - battery = Battery(name = f"battery_{coin_num_N}") - battery.assign_child_resource(jipian1, location=None) - battery.assign_child_resource(jipian4, location=None) - - zidanjia6 = self.deck.get_resource("zi_dan_jia6") - - zidanjia6.children[0].assign_child_resource(battery, location=None) - - - # 生成断点文件 - # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) - writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) - csvfile.flush() - coin_num_N += 1 - elec_use_num_N += 1 - elec_num_N += 1 - elec_use_num_N = 0 - - #循环正常结束，则删除断点文件 - os.remove(summary_csv_file) - #全部完成后等待依华发送完成信号 - self.func_pack_send_finished_cmd() - - - def func_pack_device_stop(self) -> bool: - """打包指令：设备停止""" - for i in range(3): - time.sleep(2) - print(f"输出{i}") - #print("_sys_hand_cmd", self._sys_hand_cmd()) - #time.sleep(1) - #print("_sys_hand_status", self._sys_hand_status()) - #time.sleep(1) - #print("_sys_init_cmd", self._sys_init_cmd()) - #time.sleep(1) - #print("_sys_init_status", self._sys_init_status()) - #time.sleep(1) - #print("_sys_auto_status", self._sys_auto_status()) - #time.sleep(1) - #print("data_axis_y_pos", self.data_axis_y_pos) - #time.sleep(1) - #self.success = False - #with open('action_device_stop.json', 'r', encoding='utf-8') as f: - # action_json = json.load(f) - #self.client.execute_procedure_from_json(action_json) - #self.success = True - #return self.success - - def fun_wuliao_test(self) -> bool: - #找到data_init中构建的2个物料盘 - #liaopan1 = self.deck.get_resource("liaopan1") - #liaopan4 = self.deck.get_resource("liaopan4") - #for coin_num_N in range(16): - # liaopan1 = self.deck.get_resource("liaopan1") - # liaopan4 = self.deck.get_resource("liaopan4") - # jipian1 = liaopan1.children[coin_num_N].children[0] - # jipian4 = liaopan4.children[coin_num_N].children[0] - # #print(jipian1) - # #从料盘上去物料解绑后放到另一盘上 - # jipian1.parent.unassign_child_resource(jipian1) - # jipian4.parent.unassign_child_resource(jipian4) - # - # #print(jipian2.parent) - # battery = Battery(name = f"battery_{coin_num_N}") - # battery.assign_child_resource(jipian1, location=None) - # battery.assign_child_resource(jipian4, location=None) - # - # zidanjia6 = self.deck.get_resource("zi_dan_jia6") - # zidanjia6.children[0].assign_child_resource(battery, location=None) - # ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - # }) - # time.sleep(2) - for i in range(20): - print(f"输出{i}") - time.sleep(2) - - - # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): - # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 - if self.csv_export_running: - return False, "读取已在运行中" - - #若不存在该目录则创建 - if not os.path.exists(file_path): - os.makedirs(file_path) - print(f"创建目录: {file_path}") - - # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 - while self.allow_data_read: - - #函数运行标志位，确保只同时启动一个导出函数 - self.csv_export_running = True - - #等待接收结果标志位置True - while self.request_send_msg_status == False: - print("waiting for send_msg_status to True") - time.sleep(1) - #日期时间戳用于按天存放csv文件 - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - - #接收信息 - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - # 电解液瓶位置 - elec_bottle_site = 2 - # 极片夹取位置(应当通过寄存器读光标) - Pos_elec_site = 0 - Al_elec_site = 0 - Gasket_site = 0 - - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd()# = True - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd()# = False - - #此处操作物料信息（如果中途报错停止，如何） - #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） - #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） - - #物料读取操作写在这里 - #在这里进行物料调取 - #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） - # transfer_bottle(deck, elec_bottle_site) - # #找到电解液瓶的对象 - # electrolyte_rack = deck.get_resource("electrolyte_rack") - # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] - # # TODO: 瓶子取液体操作需要加入 -# -# - # #找到压制工站对应的对象 - # battery_press_slot = deck.get_resource("battery_press_1") - # #创建一个新电池 - # test_battery = Battery( - # name=f"test_battery_{data_coin_num}", - # diameter=20.0, # 与压制槽直径匹配 - # height=3.0, # 电池高度 - # max_volume=100.0, # 100μL容量 - # barcode=data_coin_cell_code, # 电池条码 - # ) - # if battery_press_slot.has_battery(): - # return False, "压制工站已有电池，无法放置新电池" - # #在压制位放置电池 - # battery_press_slot.place_battery(test_battery) - # #从第一个子弹夹中取料 - # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) - # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) - # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) - # - # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") - # - # #把电解液从瓶中取到电池夹子中 - # battery_site = deck.get_resource("battery_press_1") - # clip_magazine_battery = deck.get_resource("clip_magazine_battery") - # if battery_site.has_battery(): - # battery = battery_site.take_battery() #从压制槽取出电池 - # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 -# -# -# -# - # # 保存配置到文件 - # self.deck.save("button_battery_station_layout.json", indent=2) - # print("\n台面配置已保存到: button_battery_station_layout.json") - # - # # 保存状态到文件 - # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) - # print("台面状态已保存到: button_battery_station_state.json") - - - - - - - #将数据写入csv中 - #如当前目录下无同名文件则新建一个csv用于存放数据 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - - # 只要不在自动模式运行中，就将允许标志位置False - if self.sys_auto_status == False or self.sys_start_status == False: - self.allow_data_read = False - self.csv_export_running = False - time.sleep(1) - - def func_stop_read_data(self): - """停止CSV导出""" - if not self.csv_export_running: - return False, "read data未在运行" - - self.csv_export_running = False - self.allow_data_read = False - - if self.csv_export_thread and self.csv_export_thread.is_alive(): - self.csv_export_thread.join(timeout=5) - - def func_get_csv_export_status(self): - """获取CSV导出状态""" - return { - 'allow_read': self.allow_data_read, - 'running': self.csv_export_running, - 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False - } - - - ''' - # ===================== 物料管理区 ====================== - @property - def data_material_inventory(self) -> int: - """主物料库存 (数量, INT16)""" - inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) - return inventory - - @property - def data_tips_inventory(self) -> int: - """移液枪头库存 (数量, INT16)""" - inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) - return inventory - - ''' - - -if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) - #Coin_Cell.func_pack_device_init() - #Coin_Cell.func_pack_device_auto() - #Coin_Cell.func_pack_device_start() - #Coin_Cell.func_pack_send_bottle_num(2) - #Coin_Cell.func_pack_send_msg_cmd(2) - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_send_finished_cmd() -# - #Coin_Cell.func_allpack_cmd(3, 2) - #print(Coin_Cell.data_stack_vision_code) - #print("success") - #创建一个物料台面 - - #deck = create_a_coin_cell_deck() - - ##在台面上找到料盘和极片 - #liaopan1 = deck.get_resource("liaopan1") - #liaopan2 = deck.get_resource("liaopan2") - #jipian1 = liaopan1.children[1].children[0] -# - ##print(jipian1) - ##把物料解绑后放到另一盘上 - #jipian1.parent.unassign_child_resource(jipian1) - #liaopan2.children[1].assign_child_resource(jipian1, location=None) - ##print(jipian2.parent) - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - - with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f: - bioyond_resources_unilab = json.load(f) - print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") - ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) - print(f"转换结果类型: {type(ulab_resources)}") - print(ulab_resources) - diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml index 9c64795..fe6f090 100644 --- a/unilabos/registry/devices/bioyond.yaml +++ b/unilabos/registry/devices/bioyond.yaml @@ -242,8 +242,11 @@ workstation.bioyond_dispensing_station: properties: config: type: string + deck: + type: string required: - config + - deck type: object data: properties: {} diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml new file mode 100644 index 0000000..c50a1a8 --- /dev/null +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -0,0 +1,834 @@ +bioyond_cell: + category: + - bioyond_cell + class: + action_value_mappings: + auto-auto_batch_outbound_from_xlsx: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: {} + 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type: string + WH3_x1_y2_z3_4_materialType: + default: '' + type: string + WH3_x1_y2_z3_4_quantity: + default: 0 + type: number + WH3_x1_y3_z3_7_materialId: + default: '' + type: string + WH3_x1_y3_z3_7_materialType: + default: '' + type: string + WH3_x1_y3_z3_7_quantity: + default: 0 + type: number + WH3_x1_y4_z3_10_materialId: + default: '' + type: string + WH3_x1_y4_z3_10_materialType: + default: '' + type: string + WH3_x1_y4_z3_10_quantity: + default: 0 + type: number + WH3_x1_y5_z3_13_materialId: + default: '' + type: string + WH3_x1_y5_z3_13_materialType: + default: '' + type: string + WH3_x1_y5_z3_13_quantity: + default: 0 + type: number + WH3_x2_y1_z3_2_materialId: + default: '' + type: string + WH3_x2_y1_z3_2_materialType: + default: '' + type: string + WH3_x2_y1_z3_2_quantity: + default: 0 + type: number + WH3_x2_y2_z3_5_materialId: + default: '' + type: string + WH3_x2_y2_z3_5_materialType: + default: '' + type: string + WH3_x2_y2_z3_5_quantity: + default: 0 + type: number + WH3_x2_y3_z3_8_materialId: + default: '' + type: string + WH3_x2_y3_z3_8_materialType: + default: '' + type: string + WH3_x2_y3_z3_8_quantity: + default: 0 + type: number + WH3_x2_y4_z3_11_materialId: + default: '' + type: string + WH3_x2_y4_z3_11_materialType: + default: '' + type: string + WH3_x2_y4_z3_11_quantity: + default: 0 + type: number + WH3_x2_y5_z3_14_materialId: + default: '' + type: string + WH3_x2_y5_z3_14_materialType: + default: '' + type: string + WH3_x2_y5_z3_14_quantity: + default: 0 + type: number + WH3_x3_y1_z3_3_materialId: + default: '' + type: string + WH3_x3_y1_z3_3_materialType: + default: '' + type: string + WH3_x3_y1_z3_3_quantity: + default: 0 + type: number + WH3_x3_y2_z3_6_materialId: + default: '' + type: string + WH3_x3_y2_z3_6_materialType: + default: '' + type: string + WH3_x3_y2_z3_6_quantity: + default: 0 + type: number + WH3_x3_y3_z3_9_materialId: + default: '' + type: string + WH3_x3_y3_z3_9_materialType: + default: '' + type: string + WH3_x3_y3_z3_9_quantity: + default: 0 + type: number + WH3_x3_y4_z3_12_materialId: + default: '' + type: string + WH3_x3_y4_z3_12_materialType: + default: '' + type: string + WH3_x3_y4_z3_12_quantity: + default: 0 + type: number + WH3_x3_y5_z3_15_materialId: + default: '' + type: string + WH3_x3_y5_z3_15_materialType: + default: '' + type: string + WH3_x3_y5_z3_15_quantity: + default: 0 + type: number + WH4_x1_y1_z1_1_materialName: + default: '' + type: string + WH4_x1_y1_z1_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_materialName: + default: '' + type: string + WH4_x1_y1_z2_1_materialType: + default: '' + type: string + WH4_x1_y1_z2_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_targetWH: + default: '' + type: string + WH4_x1_y2_z1_6_materialName: + default: '' + type: string + WH4_x1_y2_z1_6_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_materialName: + default: '' + type: string + WH4_x1_y2_z2_4_materialType: + default: '' + type: string + WH4_x1_y2_z2_4_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_targetWH: + default: '' + type: string + WH4_x1_y3_z1_11_materialName: + default: '' + type: string + WH4_x1_y3_z1_11_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_materialName: + default: '' + type: string + WH4_x1_y3_z2_7_materialType: + default: '' + type: string + WH4_x1_y3_z2_7_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_targetWH: + default: '' + type: string + WH4_x2_y1_z1_2_materialName: + default: '' + type: string + WH4_x2_y1_z1_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_materialName: + default: '' + type: string + WH4_x2_y1_z2_2_materialType: + default: '' + type: string + WH4_x2_y1_z2_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_targetWH: + default: '' + type: string + WH4_x2_y2_z1_7_materialName: + default: '' + type: string + WH4_x2_y2_z1_7_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_materialName: + default: '' + type: string + WH4_x2_y2_z2_5_materialType: + default: '' + type: string + WH4_x2_y2_z2_5_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_targetWH: + default: '' + type: string + WH4_x2_y3_z1_12_materialName: + default: '' + type: string + WH4_x2_y3_z1_12_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_materialName: + default: '' + type: string + WH4_x2_y3_z2_8_materialType: + default: '' + type: string + WH4_x2_y3_z2_8_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_targetWH: + default: '' + type: string + WH4_x3_y1_z1_3_materialName: + default: '' + type: string + WH4_x3_y1_z1_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_materialName: + default: '' + type: string + WH4_x3_y1_z2_3_materialType: + default: '' + type: string + WH4_x3_y1_z2_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_targetWH: + default: '' + type: string + WH4_x3_y2_z1_8_materialName: + default: '' + type: string + WH4_x3_y2_z1_8_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_materialName: + default: '' + type: string + WH4_x3_y2_z2_6_materialType: + default: '' + type: string + WH4_x3_y2_z2_6_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_targetWH: + default: '' + type: string + WH4_x3_y3_z2_9_materialName: + default: '' + type: string + WH4_x3_y3_z2_9_materialType: + default: '' + type: string + WH4_x3_y3_z2_9_quantity: + default: 0.0 + type: number + WH4_x3_y3_z2_9_targetWH: + default: '' + type: string + WH4_x4_y1_z1_4_materialName: + default: '' + type: string + WH4_x4_y1_z1_4_quantity: + default: 0.0 + type: number + WH4_x4_y2_z1_9_materialName: + default: '' + type: string + WH4_x4_y2_z1_9_quantity: + default: 0.0 + type: number + WH4_x5_y1_z1_5_materialName: + default: '' + type: string + WH4_x5_y1_z1_5_quantity: + default: 0.0 + type: number + WH4_x5_y2_z1_10_materialName: + default: '' + type: string + WH4_x5_y2_z1_10_quantity: + default: 0.0 + type: number + xlsx_path: + default: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx + type: string + required: [] + type: object + result: {} + required: + - goal + title: auto_feeding4to3参数 + type: object + type: UniLabJsonCommand + auto-auto_feeding4to3_from_xlsx: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: {} + required: + - goal + title: auto_feeding4to3_from_xlsx参数 + type: object + type: UniLabJsonCommand + auto-create_orders: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: {} + required: + - goal + title: create_orders参数 + type: object + type: UniLabJsonCommand + auto-order_list_v2: + feedback: {} + goal: {} + goal_default: + beginTime: '' + endTime: '' + filter: '' + pageCount: 1 + skipCount: 0 + sorting: '' + status: '' + timeType: '' + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + beginTime: + default: '' + type: string + endTime: + default: '' + type: string + filter: + default: '' + type: string + pageCount: + default: 1 + type: integer + skipCount: + default: 0 + type: integer + sorting: + default: '' + type: string + status: + default: '' + type: string + timeType: + default: '' + type: string + required: [] + type: object + result: {} + required: + - goal + title: order_list_v2参数 + type: object + type: UniLabJsonCommand + auto-report_material_change: + feedback: {} + goal: {} + goal_default: + material_obj: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_obj: + type: object + required: + - material_obj + type: object + result: {} + required: + - goal + title: report_material_change参数 + type: object + type: UniLabJsonCommand + auto-scheduler_continue: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_continue参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand + auto-scheduler_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_stop参数 + type: object + type: UniLabJsonCommand + auto-storage_batch_inbound: + feedback: {} + goal: {} + goal_default: + items: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + items: + items: + type: object + type: array + required: + - items + type: object + result: {} + required: + - goal + title: storage_batch_inbound参数 + type: object + type: UniLabJsonCommand + auto-storage_inbound: + feedback: {} + goal: {} + goal_default: + location_id: null + material_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + location_id: + type: string + material_id: + type: string + required: + - material_id + - location_id + type: object + result: {} + required: + - goal + title: storage_inbound参数 + type: object + type: UniLabJsonCommand + auto-transfer_1_to_2: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: transfer_1_to_2参数 + type: object + type: UniLabJsonCommand + auto-transfer_3_to_2_to_1: + feedback: {} + goal: {} + goal_default: + source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b + source_x: 1 + source_y: 1 + source_z: 1 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + source_wh_id: + default: 3a19debc-84b4-0359-e2d4-b3beea49348b + type: string + source_x: + default: 1 + type: integer + source_y: + default: 1 + type: integer + source_z: + default: 1 + type: integer + required: [] + type: object + result: {} + required: + - goal + title: transfer_3_to_2_to_1参数 + type: object + type: UniLabJsonCommand + auto-wait_for_transfer_task: + feedback: {} + goal: {} + goal_default: + filter_text: null + interval: 5 + timeout: 3000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + filter_text: + type: string + interval: + default: 5 + type: integer + timeout: + default: 3000 + type: integer + required: [] + type: object + result: {} + required: + - goal + title: wait_for_transfer_task参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation + status_types: {} + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + bioyond_config: + type: string + station_resource: + type: string + required: [] + type: object + data: + properties: {} + required: [] + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/characterization_chromatic.yaml b/unilabos/registry/devices/characterization_chromatic.yaml index f3059b5..37446bc 100644 --- a/unilabos/registry/devices/characterization_chromatic.yaml +++ b/unilabos/registry/devices/characterization_chromatic.yaml @@ -1,231 +1,3 @@ -hplc.agilent: - category: - - characterization_chromatic - class: - action_value_mappings: - auto-check_status: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: check_status参数 - type: object - type: UniLabJsonCommand - auto-extract_data_from_txt: - feedback: {} - goal: {} - goal_default: - file_path: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。 - properties: - feedback: {} - goal: - properties: - file_path: - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: extract_data_from_txt参数 - type: object - type: UniLabJsonCommand - auto-start_sequence: - feedback: {} - goal: {} - goal_default: - params: null - resource: null - wf_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。 - properties: - feedback: {} - goal: - properties: - params: - type: string - resource: - type: object - wf_name: - type: string - required: - - wf_name - type: object - result: {} - required: - - goal - title: start_sequence参数 - type: object - type: UniLabJsonCommand - auto-try_close_sub_device: - feedback: {} - goal: {} - goal_default: - device_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。 - properties: - feedback: {} - goal: - properties: - device_name: - type: string - required: [] - type: object - result: {} - required: - - goal - title: try_close_sub_device参数 - type: object - type: UniLabJsonCommand - auto-try_open_sub_device: - feedback: {} - goal: {} - goal_default: - device_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。 - properties: - feedback: {} - goal: - properties: - device_name: - type: string - required: [] - type: object - result: {} - required: - - goal - title: try_open_sub_device参数 - type: object - type: UniLabJsonCommand - execute_command_from_outer: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver - status_types: - could_run: bool - data_file: String - device_status: str - driver_init_ok: bool - finish_status: str - is_running: bool - status_text: str - success: bool - type: python - config_info: [] - description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - driver_debug: - default: false - type: string - required: [] - type: object - data: - properties: - could_run: - type: boolean - data_file: - items: - type: string - type: array - device_status: - type: string - driver_init_ok: - type: boolean - finish_status: - type: string - is_running: - type: boolean - status_text: - type: string - success: - type: boolean - required: - - status_text - - device_status - - could_run - - driver_init_ok - - is_running - - success - - finish_status - - data_file - type: object - version: 1.0.0 hplc.agilent-zhida: category: - characterization_chromatic diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml index 80dcf93..0967ef4 100644 --- a/unilabos/registry/devices/characterization_optic.yaml +++ b/unilabos/registry/devices/characterization_optic.yaml @@ -1,194 +1 @@ -raman.home_made: - category: - - characterization_optic - class: - action_value_mappings: - auto-ccd_time: - feedback: {} - goal: {} - goal_default: - int_time: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。 - properties: - feedback: {} - goal: - properties: - int_time: - type: string - required: - - int_time - type: object - result: {} - required: - - goal - title: ccd_time参数 - type: object - type: UniLabJsonCommand - auto-laser_on_power: - feedback: {} - goal: {} - goal_default: - output_voltage_laser: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。 - properties: - feedback: {} - goal: - properties: - output_voltage_laser: - type: string - required: - - output_voltage_laser - type: object - result: {} - required: - - goal - title: laser_on_power参数 - type: object - type: UniLabJsonCommand - auto-raman_without_background: - feedback: {} - goal: {} - goal_default: - int_time: null - laser_power: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。 - properties: - feedback: {} - goal: - properties: - int_time: - type: string - laser_power: - type: string - required: - - int_time - - laser_power - type: object - result: {} - required: - - goal - title: raman_without_background参数 - type: object - type: UniLabJsonCommand - auto-raman_without_background_average: - feedback: {} - goal: {} - goal_default: - average: null - int_time: null - laser_power: null - sample_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。 - properties: - feedback: {} - goal: - properties: - average: - type: string - int_time: - type: string - laser_power: - type: string - sample_name: - type: string - required: - - sample_name - - int_time - - laser_power - - average - type: object - result: {} - required: - - goal - title: raman_without_background_average参数 - type: object - type: UniLabJsonCommand - raman_cmd: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.raman_uv.home_made_raman:RamanObj - status_types: {} - type: python - config_info: [] - description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - baudrate_ccd: - default: 921600 - type: string - baudrate_laser: - default: 9600 - type: string - port_ccd: - type: string - port_laser: - type: string - required: - - port_laser - - port_ccd - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 +{} diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index 0a4090e..875de07 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -75,31 +75,6 @@ reaction_station.bioyond: title: load_bioyond_data_from_file参数 type: object type: UniLabJsonCommand - auto-merge_workflow_with_parameters: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: merge_workflow_with_parameters参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -729,6 +704,7 @@ reaction_station.bioyond: status_types: all_workflows: dict bioyond_status: dict + station_info: dict workstation_status: dict type: python config_info: [] @@ -742,8 +718,6 @@ reaction_station.bioyond: type: string deck: type: string - station_config: - type: string required: [] type: object data: @@ -752,11 +726,14 @@ reaction_station.bioyond: type: object bioyond_status: type: object + station_info: + type: object workstation_status: type: object required: - bioyond_status - all_workflows + - station_info - workstation_status type: object version: 1.0.0 diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml index 0f8506e..7d9de36 100644 --- a/unilabos/registry/devices/robot_linear_motion.yaml +++ b/unilabos/registry/devices/robot_linear_motion.yaml @@ -834,174 +834,3 @@ linear_motion.toyo_xyz.sim: mesh: toyo_xyz type: device version: 1.0.0 -motor.iCL42: - category: - - robot_linear_motion - class: - action_value_mappings: - auto-execute_run_motor: - feedback: {} - goal: {} - goal_default: - mode: null - position: null - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。 - properties: - feedback: {} - goal: - properties: - mode: - type: string - position: - type: number - velocity: - type: integer - required: - - mode - - position - - velocity - type: object - result: {} - required: - - goal - title: execute_run_motor参数 - type: object - type: UniLabJsonCommand - auto-init_device: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: init_device参数 - type: object - type: UniLabJsonCommand - auto-run_motor: - feedback: {} - goal: {} - goal_default: - mode: null - position: null - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。 - properties: - feedback: {} - goal: - properties: - mode: - type: string - position: - type: number - velocity: - type: integer - required: - - mode - - position - - velocity - type: object - result: {} - required: - - goal - title: run_motor参数 - type: object - type: UniLabJsonCommand - execute_command_from_outer: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.motor.iCL42:iCL42Driver - status_types: - is_executing_run: bool - motor_position: int - success: bool - type: python - config_info: [] - description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - device_address: - default: 1 - type: integer - device_com: - default: COM9 - type: string - required: [] - type: object - data: - properties: - is_executing_run: - type: boolean - motor_position: - type: integer - success: - type: boolean - required: - - motor_position - - is_executing_run - - success - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 7efdfd2..380c3f6 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -6120,31 +6120,6 @@ workstation.bioyond: title: load_bioyond_data_from_file参数 type: object type: UniLabJsonCommand - auto-merge_workflow_with_parameters: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: merge_workflow_with_parameters参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -6460,6 +6435,7 @@ workstation.bioyond: status_types: all_workflows: dict bioyond_status: dict + station_info: dict workstation_status: dict type: python config_info: [] @@ -6473,8 +6449,6 @@ workstation.bioyond: type: string deck: type: string - station_config: - type: string required: [] type: object data: @@ -6483,11 +6457,14 @@ workstation.bioyond: type: object bioyond_status: type: object + station_info: + type: object workstation_status: type: object required: - bioyond_status - all_workflows + - station_info - workstation_status type: object version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index d5a49b8..dd424ea 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,3 +22,15 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_Deck14: + category: + - deck + class: + module: unilabos.resources.bioyond.decks:YB_Deck + type: pylabrobot + description: BIOYOND PolymerReactionStation Deck + handles: [] + icon: 配液站.webp + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index e8c021f..fa242c3 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,6 +1,7 @@ +from os import name from pylabrobot.resources import Deck, Coordinate, Rotation -from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling +from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1 class BIOYOND_PolymerReactionStation_Deck(Deck): @@ -66,3 +67,60 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + +class BIOYOND_YB_Deck(Deck): + def __init__( + self, + name: str = "YB_Deck", + size_x: float = 4150, + size_y: float = 1400.0, + size_z: float = 2670.0, + category: str = "deck", + setup: bool = False + ) -> None: + super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0) + if setup: + self.setup() + + def setup(self) -> None: + # 添加仓库 + self.warehouses = { + "321窗口": bioyond_warehouse_1x2x2("321窗口"), + "43窗口": bioyond_warehouse_1x2x2("43窗口"), + "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"), + "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"), + "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), + "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"), + + "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"), + "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"), + "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"), + "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"), + } + # warehouse 的位置 + self.warehouse_locations = { + "321窗口": Coordinate(-150.0, 158.0, 0.0), + "43窗口": Coordinate(4160.0, 158.0, 0.0), + "手动传递窗左": Coordinate(-150.0, 877.0, 0.0), + "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), + "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0), + "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0), + + "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0), + "母液加样右": Coordinate(2152.0, 333.0, 0.0), + "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), + "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), + } + + for warehouse_name, warehouse in self.warehouses.items(): + self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + +def YB_Deck(name: str) -> Deck: + by=BIOYOND_YB_Deck(name=name) + by.setup() + return by + + + + + diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index 266a366..477e8ae 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -5,15 +5,15 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" return warehouse_factory( name=name, - num_items_x=4, + num_items_x=1, num_items_y=4, - num_items_z=1, + num_items_z=4, dx=10.0, dy=10.0, dz=10.0, - item_dx=147.0, - item_dy=106.0, - item_dz=130.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, category="warehouse", ) @@ -34,7 +34,113 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse: category="warehouse", removed_positions=None ) + # 定义benyond的堆栈 +def bioyond_warehouse_1x2x2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=2, + num_items_z=2, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_10x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=10, + num_items_y=1, + 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 bioyond_warehouse_1x3x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=3, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_2x1x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=1, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_3x3x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + 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 bioyond_warehouse_5x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=5, + num_items_y=1, + 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 bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + 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", + ) def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: """创建BioYond开关盖加液模块台面""" From 2f25063bf1f179c04dfb1da8b7b440e08065f627 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 20 Oct 2025 15:30:41 +0800 Subject: [PATCH 002/104] Update bioyond_cell_workstation.py --- .../bioyond_cell/bioyond_cell_workstation.py | 40 ++++++++++--------- 1 file changed, 22 insertions(+), 18 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 7119b1b..8f8f052 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -14,7 +14,6 @@ from urllib3 import response from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService from unilabos.utils.log import logger -from pylabrobot.resources.deck import Deck def _iso_local_now_ms() -> str: # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z @@ -43,13 +42,15 @@ class BioyondCellWorkstation(WorkstationBase): "api_key": "8A819E5C", "timeout": 30, "report_token": "CHANGE_ME_TOKEN", - "HTTP_host": "192.168.1.104", + "HTTP_host": "172.21.32.90", "HTTP_port": 8080, "debug_mode": False } # report_token ：unilab自己的令牌report_token（0928未启用） self.debug_mode = self.bioyond_config["debug_mode"] self.http_service_started = False - super().__init__(station_resource=station_resource, *args, **kwargs) + deck = kwargs.pop("deck", None) + self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation") + super().__init__(deck=deck, station_resource=station_resource, *args, **kwargs) logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") # 实例化并在后台线程启动 HTTP 报送服务 @@ -132,8 +133,7 @@ class BioyondCellWorkstation(WorkstationBase): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx", - + xlsx_path: Optional[str] = "unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -196,7 +196,7 @@ class BioyondCellWorkstation(WorkstationBase): for _, row in df.iloc[1:13, 2:7].iterrows(): if pd.notna(row[5]): items.append({ - "sourceWHName": "WH4", + "sourceWHName": "四号手套箱堆栈", "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialName": str(row[5]).strip(), "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, @@ -205,7 +205,7 @@ class BioyondCellWorkstation(WorkstationBase): for _, row in df.iloc[14:23, 2:9].iterrows(): if pd.notna(row[5]): items.append({ - "sourceWHName": "WH4", + "sourceWHName": "四号手套箱堆栈", "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialName": str(row[5]).strip(), "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, @@ -216,7 +216,7 @@ class BioyondCellWorkstation(WorkstationBase): for _, row in df.iloc[25:40, 2:7].iterrows(): if pd.notna(row[5]) or pd.notna(row[6]): items.append({ - "sourceWHName": "WH3", + "sourceWHName": "三号手套箱人工堆栈", "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", @@ -229,28 +229,28 @@ class BioyondCellWorkstation(WorkstationBase): if not items: params = locals() for name, value in params.items(): - if name.startswith("WH4") and "materialName" in name and value: + if name.startswith("四号手套箱堆栈") and "materialName" in name and value: idx = name.split("_") items.append({ - "sourceWHName": "WH4", + "sourceWHName": "四号手套箱堆栈", "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), "materialName": value, "quantity": float(params.get(name.replace("materialName", "quantity"), 0.0)) }) - elif name.startswith("WH4") and "materialType" in name and (value or params.get(name.replace("materialType", "materialName"), "")): + elif name.startswith("四号手套箱堆栈") and "materialType" in name and (value or params.get(name.replace("materialType", "materialName"), "")): idx = name.split("_") items.append({ - "sourceWHName": "WH4", + "sourceWHName": "四号手套箱堆栈", "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), "materialName": params.get(name.replace("materialType", "materialName"), ""), "quantity": float(params.get(name.replace("materialType", "quantity"), 0.0)), "materialType": value, "targetWH": params.get(name.replace("materialType", "targetWH"), ""), }) - elif name.startswith("WH3") and "materialType" in name and (value or params.get(name.replace("materialType", "materialId"), "")): + elif name.startswith("三号手套箱人工堆栈") and "materialType" in name and (value or params.get(name.replace("materialType", "materialId"), "")): idx = name.split("_") items.append({ - "sourceWHName": "WH3", + "sourceWHName": "三号手套箱人工堆栈", "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), "materialType": value, "materialId": params.get(name.replace("materialType", "materialId"), ""), @@ -260,7 +260,7 @@ class BioyondCellWorkstation(WorkstationBase): if not items: logger.warning("没有有效的上料条目，已跳过提交。") return {"code": 0, "message": "no valid items", "data": []} - + logger.info(items) return self._post_lims("/api/lims/order/auto-feeding4to3", items) @@ -641,9 +641,13 @@ class BioyondCellWorkstation(WorkstationBase): # -------------------------------- if __name__ == "__main__": ws = BioyondCellWorkstation() - ws.scheduler_stop() - # re=ws.scheduler_start() - print(re) + # logger.info(ws.scheduler_start()) + + logger.info(ws.auto_feeding4to3()) + # re=ws.scheduler_stop() + # re = ws.transfer_3_to_2_to_1() + + # print(re) # logger.info("调度启动完成") # ws.scheduler_continue() From ab697ce973b7988f796b1cf543fb65109fd93315 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 20 Oct 2025 16:12:38 +0800 Subject: [PATCH 003/104] Update station.py --- .../workstation/bioyond_studio/station.py | 23 +++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 33975d8..3c596a2 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -20,6 +20,7 @@ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNo from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode from pylabrobot.resources.resource import Resource as ResourcePLR +from unilabos.resources.bioyond.decks import YB_Deck from unilabos.devices.workstation.bioyond_studio.config import ( API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING ) @@ -135,7 +136,7 @@ class BioyondWorkstation(WorkstationBase): # 初始化父类 super().__init__( # 桌子 - deck=deck, + deck=YB_Deck("YB_Deck14"), *args, **kwargs, ) @@ -467,7 +468,7 @@ def create_bioyond_workstation_example(): """创建Bioyond工作站示例""" # 配置参数 - device_id = "bioyond_workstation_001" + device_id = "bioyond_cell_workstation_001" # 子资源配置 children = { @@ -486,8 +487,8 @@ def create_bioyond_workstation_example(): # Bioyond配置 bioyond_config = { - "base_url": "http://bioyond.example.com/api", - "api_key": "your_api_key_here", + "base_url": "http://172.16.11.219:44388", + "api_key": "8A819E5C", "sync_interval": 60, # 60秒同步一次 "timeout": 30 } @@ -511,4 +512,18 @@ def create_bioyond_workstation_example(): if __name__ == "__main__": + by = create_bioyond_workstation_example() + by.get_workstation_status() + by.get_device_status() + by.get_bioyond_status() + by.get_station_info() + by.get_workstation_status() + by.get_bioyond_status() + by.get_station_info() + by.get_workstation_status() + by.get_bioyond_status() + by.get_station_info() + by.get_workstation_status() + by.get_bioyond_status() + by.get_station_info() pass \ No newline at end of file From 37641c43895a84f13830c1ef2dec32d918d648e1 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Tue, 21 Oct 2025 14:48:55 +0800 Subject: [PATCH 004/104] =?UTF-8?q?xinyu1021=E6=8E=A8=E9=80=81=E4=BB=A3?= =?UTF-8?q?=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 120 +++++- .../bioyond_material_management.py | 374 ------------------ .../bioyond_cell/bioyond_yihua_YB.json | 8 +- .../workstation/bioyond_studio/bioyond_rpc.py | 6 +- .../workstation/workstation_http_service.py | 6 +- 5 files changed, 123 insertions(+), 391 deletions(-) delete mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 8f8f052..be33125 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -42,7 +42,7 @@ class BioyondCellWorkstation(WorkstationBase): "api_key": "8A819E5C", "timeout": 30, "report_token": "CHANGE_ME_TOKEN", - "HTTP_host": "172.21.32.90", + "HTTP_host": "172.21.33.126", "HTTP_port": 8080, "debug_mode": False } # report_token ：unilab自己的令牌report_token（0928未启用） @@ -51,6 +51,8 @@ class BioyondCellWorkstation(WorkstationBase): deck = kwargs.pop("deck", None) self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation") super().__init__(deck=deck, station_resource=station_resource, *args, **kwargs) + # 步骤通量任务通知铃 + self._pending_events: dict[str, threading.Event] = {} logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") # 实例化并在后台线程启动 HTTP 报送服务 @@ -62,6 +64,98 @@ class BioyondCellWorkstation(WorkstationBase): except Exception as e: logger.error(f"unilab-HTTP后台线程启动失败: {e}") + # http报送服务 + def process_step_finish_report(self, report_request): + stepId = report_request.data.get("stepId") + logger.info(f"步骤完成: stepId: {stepId}, stepName:{report_request.data.get('stepName')}") + return report_request.data.get('executionStatus') + + def process_sample_finish_report(self, report_request): + logger.info(f"通量完成: {report_request.data.get('sampleId')}") + return {"status": "received"} + + def process_order_finish_report(self, report_request, used_materials=None): + order_code = report_request.data.get("orderCode") + + logger.info(f"任务完成: {order_code}, status={report_request.data.get('status')}") + self._set_pending_event(order_code) + return {"status": "received"} + + def _set_pending_event(self, taskname: Optional[str]) -> None: + if not taskname: + return + event = self._pending_events.get(taskname) + if event is None: + event = threading.Event() + self._pending_events[taskname] = event + event.set() + + def _wait_for_order_completion(self, order_code: Optional[str], timeout: int = 600) -> bool: + if not order_code: + logger.warning("无法等待任务完成：order_code 为空") + return False + event = self._pending_events.get(order_code) + if event is None: + event = threading.Event() + self._pending_events[order_code] = event + elif event.is_set(): + logger.info(f"任务 {order_code} 在等待之前已完成") + self._pending_events.pop(order_code, None) + return True + logger.info(f"等待任务 {order_code} 完成 (timeout={timeout}s)") + finished = event.wait(timeout) + if not finished: + logger.warning(f"等待任务 {order_code} 完成超时（{timeout}s）") + self._pending_events.pop(order_code, None) + return finished + + def _wait_for_response_orders(self, response: Dict[str, Any], context: str, timeout: int = 600) -> None: + order_codes = self._extract_order_codes(response) + if not order_codes: + logger.warning(f"{context} 响应中未找到 orderCode，无法跟踪任务完成") + return + for code in order_codes: + self._wait_for_order_completion(code, timeout=timeout) + + @staticmethod + def _extract_order_codes(response: Dict[str, Any]) -> List[str]: + order_codes: List[str] = [] + if not isinstance(response, dict): + return order_codes + data = response.get("data") + keys = ["orderCode", "order_code", "orderId", "order_id"] + if isinstance(data, dict): + for key in keys: + if key in data and data[key]: + order_codes.append(str(data[key])) + if not order_codes and "orders" in data and isinstance(data["orders"], list): + for order in data["orders"]: + if isinstance(order, dict): + for key in keys: + if key in order and order[key]: + order_codes.append(str(order[key])) + elif isinstance(data, list): + for item in data: + if isinstance(item, dict): + for key in keys: + if key in item and item[key]: + order_codes.append(str(item[key])) + elif isinstance(data, str): + if data: + order_codes.append(data) + meta = response.get("orderCode") + if meta: + order_codes.append(str(meta)) + # 去重 + seen = set() + unique_codes: List[str] = [] + for code in order_codes: + if code not in seen: + seen.add(code) + unique_codes.append(code) + return unique_codes + + def _start_http_service(self, host: Optional[str] = None, port: Optional[int] = None) -> None: host = host or self.bioyond_config.get("HTTP_host", "") port = port or self.bioyond_config.get("HTTP_port", ) @@ -261,7 +355,9 @@ class BioyondCellWorkstation(WorkstationBase): logger.warning("没有有效的上料条目，已跳过提交。") return {"code": 0, "message": "no valid items", "data": []} logger.info(items) - return self._post_lims("/api/lims/order/auto-feeding4to3", items) + response = self._post_lims("/api/lims/order/auto-feeding4to3", items) + self._wait_for_response_orders(response, "auto_feeding4to3") + return response @@ -327,7 +423,9 @@ class BioyondCellWorkstation(WorkstationBase): if item["materialId"] or item["materialType"]: items.append(item) - return self._post_lims("/api/lims/order/auto-feeding4to3", items) + response = self._post_lims("/api/lims/order/auto-feeding4to3", items) + self._wait_for_response_orders(response, "auto_feeding4to3_from_xlsx") + return response def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: """ @@ -392,7 +490,9 @@ class BioyondCellWorkstation(WorkstationBase): "z": as_int(row[c_z]), }) - return self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + response = self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + self._wait_for_response_orders(response, "auto_batch_outbound_from_xlsx") + return response # 2.14 新建实验 def create_orders(self, xlsx_path: str) -> Dict[str, Any]: @@ -517,6 +617,7 @@ class BioyondCellWorkstation(WorkstationBase): # self.wait_for_transfer_task() # logger.info(f"3-2-1 转运完成，返回结果") # return r321 + self._wait_for_response_orders(response, "create_orders", timeout=1800) return response # 2.7 启动调度 @@ -641,9 +742,18 @@ class BioyondCellWorkstation(WorkstationBase): # -------------------------------- if __name__ == "__main__": ws = BioyondCellWorkstation() - # logger.info(ws.scheduler_start()) + logger.info(ws.scheduler_start()) logger.info(ws.auto_feeding4to3()) + logger.info(ws.create_orders(r"unilabos\devices\workstation\bioyond_studio\bioyond_cell\2025092701.xlsx")) + logger.info(ws.transfer_3_to_2_to_1()) + + logger.info(ws.transfer_1_to_2()) + + + + while True: + time.sleep(1) # re=ws.scheduler_stop() # re = ws.transfer_3_to_2_to_1() diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py deleted file mode 100644 index 245da15..0000000 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_material_management.py +++ /dev/null @@ -1,374 +0,0 @@ -""" -Bioyond物料管理实现 -Bioyond Material Management Implementation - -基于Bioyond系统的物料管理，支持从Bioyond系统同步物料到UniLab工作站 -""" -from typing import Dict, Any, List, Optional, Union -import json -import asyncio -from abc import ABC, abstractmethod - -from pylabrobot.resources import ( - Resource as PLRResource, - Container, - Deck, - Coordinate as PLRCoordinate, -) - -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker -from unilabos.utils.log import logger -from unilabos.resources.graphio import ( - resource_plr_to_ulab, - resource_ulab_to_plr, - resource_bioyond_to_ulab, - resource_bioyond_container_to_ulab, - resource_ulab_to_bioyond -) -from .workstation_material_management import MaterialManagementBase - - -class BioyondMaterialManagement(MaterialManagementBase): - """Bioyond物料管理类 - - 实现从Bioyond系统同步物料到UniLab工作站的功能： - 1. 从Bioyond系统获取物料数据 - 2. 转换为UniLab格式 - 3. 同步到PyLabRobot Deck - 4. 支持双向同步 - """ - - def __init__( - self, - device_id: str, - deck_config: Dict[str, Any], - resource_tracker: DeviceNodeResourceTracker, - children_config: Dict[str, Dict[str, Any]] = None, - bioyond_config: Dict[str, Any] = None - ): - self.bioyond_config = bioyond_config or {} - self.bioyond_api_client = None - self.sync_interval = self.bioyond_config.get("sync_interval", 30) # 同步间隔（秒） - - # 初始化父类 - super().__init__(device_id, deck_config, resource_tracker, children_config) - - # 初始化Bioyond API客户端 - self._initialize_bioyond_client() - - # 启动同步任务 - self._start_sync_task() - - def _initialize_bioyond_client(self): - """初始化Bioyond API客户端""" - try: - # 这里应该根据实际的Bioyond API实现 - # 暂时使用模拟客户端 - self.bioyond_api_client = BioyondAPIClient(self.bioyond_config) - logger.info(f"Bioyond API客户端初始化成功") - except Exception as e: - logger.error(f"Bioyond API客户端初始化失败: {e}") - self.bioyond_api_client = None - - def _start_sync_task(self): - """启动同步任务""" - if self.bioyond_api_client: - # 创建异步同步任务 - asyncio.create_task(self._periodic_sync()) - logger.info(f"Bioyond同步任务已启动，间隔: {self.sync_interval}秒") - - async def _periodic_sync(self): - """定期同步任务""" - while True: - try: - await self.sync_from_bioyond() - await asyncio.sleep(self.sync_interval) - except Exception as e: - logger.error(f"Bioyond同步任务出错: {e}") - await asyncio.sleep(self.sync_interval) - - async def sync_from_bioyond(self) -> bool: - """从Bioyond系统同步物料""" - try: - if not self.bioyond_api_client: - logger.warning("Bioyond API客户端未初始化") - return False - - # 1. 从Bioyond获取物料数据 - bioyond_data = await self.bioyond_api_client.get_materials() - if not bioyond_data: - logger.warning("从Bioyond获取物料数据为空") - return False - - # 2. 转换为UniLab格式 - if isinstance(bioyond_data, dict) and "data" in bioyond_data: - # 容器格式数据 - unilab_resources = resource_bioyond_container_to_ulab(bioyond_data) - else: - # 物料列表格式数据 - unilab_resources = resource_bioyond_to_ulab(bioyond_data) - - # 3. 转换为PLR格式并分配到Deck - await self._assign_resources_to_deck(unilab_resources) - - logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源") - return True - - except Exception as e: - logger.error(f"从Bioyond同步物料失败: {e}") - return False - - async def sync_to_bioyond(self, plr_resource: PLRResource) -> bool: - """将本地物料变更同步到Bioyond系统""" - try: - if not self.bioyond_api_client: - logger.warning("Bioyond API客户端未初始化") - return False - - # 1. 转换为UniLab格式 - unilab_resource = resource_plr_to_ulab(plr_resource) - - # 2. 转换为Bioyond格式 - bioyond_materials = resource_ulab_to_bioyond([unilab_resource]) - - # 3. 发送到Bioyond系统 - success = await self.bioyond_api_client.update_materials(bioyond_materials) - - if success: - logger.info(f"成功同步物料 {plr_resource.name} 到Bioyond") - else: - logger.warning(f"同步物料 {plr_resource.name} 到Bioyond失败") - - return success - - except Exception as e: - logger.error(f"同步物料到Bioyond失败: {e}") - return False - - async def _assign_resources_to_deck(self, unilab_resources: List[Dict[str, Any]]): - """将UniLab资源分配到Deck""" - try: - # 转换为PLR格式 - from unilabos.resources.graphio import list_to_nested_dict - nested_resources = list_to_nested_dict(unilab_resources) - plr_resources = resource_ulab_to_plr(nested_resources) - - # 分配资源到Deck - if hasattr(plr_resources, 'children'): - resources_to_assign = plr_resources.children - elif isinstance(plr_resources, list): - resources_to_assign = plr_resources - else: - resources_to_assign = [plr_resources] - - for resource in resources_to_assign: - try: - # 获取资源位置 - if hasattr(resource, 'location') and resource.location: - location = PLRCoordinate(resource.location.x, resource.location.y, resource.location.z) - else: - location = PLRCoordinate(0, 0, 0) - - # 分配资源到Deck - self.plr_deck.assign_child_resource(resource, location) - - # 注册到resource tracker - self.resource_tracker.add_resource(resource) - - # 保存资源引用 - self.plr_resources[resource.name] = resource - - except Exception as e: - logger.error(f"分配资源 {resource.name} 到Deck失败: {e}") - - logger.info(f"成功分配了 {len(resources_to_assign)} 个资源到Deck") - - except Exception as e: - logger.error(f"分配资源到Deck失败: {e}") - - def _create_resource_by_type( - self, - resource_id: str, - resource_type: str, - config: Dict[str, Any], - data: Dict[str, Any], - location: PLRCoordinate - ) -> Optional[PLRResource]: - """根据类型创建Bioyond相关资源""" - try: - # 这里可以根据需要实现特定的Bioyond资源类型 - # 目前使用通用的容器类型 - if resource_type in ["container", "plate", "well"]: - return self._create_generic_container(resource_id, resource_type, config, data, location) - else: - logger.warning(f"未知的Bioyond资源类型: {resource_type}") - return None - - except Exception as e: - logger.error(f"创建Bioyond资源失败 {resource_id} ({resource_type}): {e}") - return None - - def _create_generic_container( - self, - resource_id: str, - resource_type: str, - config: Dict[str, Any], - data: Dict[str, Any], - location: PLRCoordinate - ) -> Optional[PLRResource]: - """创建通用容器资源""" - try: - from pylabrobot.resources import Plate, Well - - if resource_type == "plate": - return Plate( - name=resource_id, - size_x=config.get("size_x", 127.76), - size_y=config.get("size_y", 85.48), - size_z=config.get("size_z", 14.35), - location=location, - category="plate" - ) - elif resource_type == "well": - return Well( - name=resource_id, - size_x=config.get("size_x", 9.0), - size_y=config.get("size_y", 9.0), - size_z=config.get("size_z", 10.0), - location=location, - category="well" - ) - else: - return Container( - name=resource_id, - size_x=config.get("size_x", 50.0), - size_y=config.get("size_y", 50.0), - size_z=config.get("size_z", 10.0), - location=location, - category="container" - ) - - except Exception as e: - logger.error(f"创建通用容器失败 {resource_id}: {e}") - return None - - def get_bioyond_materials(self) -> List[Dict[str, Any]]: - """获取当前Bioyond物料列表""" - try: - # 将当前PLR资源转换为Bioyond格式 - bioyond_materials = [] - for resource in self.plr_resources.values(): - unilab_resource = resource_plr_to_ulab(resource) - bioyond_materials.extend(resource_ulab_to_bioyond([unilab_resource])) - return bioyond_materials - except Exception as e: - logger.error(f"获取Bioyond物料列表失败: {e}") - return [] - - def update_material_from_bioyond(self, material_id: str, bioyond_data: Dict[str, Any]) -> bool: - """从Bioyond数据更新指定物料""" - try: - # 查找现有物料 - material = self.find_material_by_id(material_id) - if not material: - logger.warning(f"未找到物料: {material_id}") - return False - - # 转换Bioyond数据为UniLab格式 - unilab_resources = resource_bioyond_to_ulab([bioyond_data]) - if not unilab_resources: - logger.warning(f"转换Bioyond数据失败: {material_id}") - return False - - # 更新物料属性 - unilab_resource = unilab_resources[0] - material.name = unilab_resource.get("name", material.name) - - # 更新位置 - position = unilab_resource.get("position", {}) - if position: - material.location = PLRCoordinate( - position.get("x", 0), - position.get("y", 0), - position.get("z", 0) - ) - - logger.info(f"成功更新物料: {material_id}") - return True - - except Exception as e: - logger.error(f"更新物料失败 {material_id}: {e}") - return False - - -class BioyondAPIClient: - """Bioyond API客户端（模拟实现） - - 实际使用时需要根据Bioyond系统的API接口实现 - """ - - def __init__(self, config: Dict[str, Any]): - self.config = config - self.base_url = config.get("base_url", "http://localhost:8080") - self.api_key = config.get("api_key", "") - self.timeout = config.get("timeout", 30) - - async def get_materials(self) -> Optional[Union[Dict[str, Any], List[Dict[str, Any]]]]: - """从Bioyond系统获取物料数据""" - try: - # 这里应该实现实际的API调用 - # 暂时返回模拟数据 - logger.info("从Bioyond API获取物料数据") - - # 模拟API调用延迟 - await asyncio.sleep(0.1) - - # 返回模拟数据（实际应该从API获取） - return { - "data": [], - "code": 1, - "message": "success", - "timestamp": 1234567890 - } - - except Exception as e: - logger.error(f"Bioyond API调用失败: {e}") - return None - - async def update_materials(self, materials: List[Dict[str, Any]]) -> bool: - """更新Bioyond系统中的物料数据""" - try: - # 这里应该实现实际的API调用 - logger.info(f"更新Bioyond系统中的 {len(materials)} 个物料") - - # 模拟API调用延迟 - await asyncio.sleep(0.1) - - # 模拟成功响应 - return True - - except Exception as e: - logger.error(f"更新Bioyond物料失败: {e}") - return False - - async def get_material_by_id(self, material_id: str) -> Optional[Dict[str, Any]]: - """根据ID获取单个物料""" - try: - # 这里应该实现实际的API调用 - logger.info(f"从Bioyond API获取物料: {material_id}") - - # 模拟API调用延迟 - await asyncio.sleep(0.1) - - # 返回模拟数据 - return { - "id": material_id, - "name": f"material_{material_id}", - "type": "container", - "quantity": 1.0, - "unit": "个" - } - - except Exception as e: - logger.error(f"获取Bioyond物料失败 {material_id}: {e}") - return None diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json index 29f6254..d6a917f 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json @@ -10,13 +10,9 @@ "class": "bioyond_cell", "config": { "protocol_type": [], - "station_resource": {}, + "station_resource": {} + - "bioyond_config": { - "api_key": "8A819E5C", - "api_host": "http://192.168.1.200:44388", - "debug_mode": false - } }, "data": {} }, diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py index 45d0cad..5aef45b 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py @@ -47,8 +47,8 @@ class BioyondV1RPC(BaseRequest): super().__init__() print("开始初始化 BioyondV1RPC") self.config = config - self.api_key = config["api_key"] - self.host = config["api_host"] + self.api_key = config["8A819E5C"] + self.host = config["http://172.16.11.219:44388"] self._logger = SimpleLogger() self.material_cache = {} self._load_material_cache() @@ -61,7 +61,7 @@ class BioyondV1RPC(BaseRequest): :return: 当前时间的 ISO 8601 格式字符串 """ - current_time = datetime.now(timezone.utc).isoformat( + current_time = datetime.now().isoformat( timespec='milliseconds' ) # 替换时区部分为 'Z' diff --git a/unilabos/devices/workstation/workstation_http_service.py b/unilabos/devices/workstation/workstation_http_service.py index 27f869c..12eb926 100644 --- a/unilabos/devices/workstation/workstation_http_service.py +++ b/unilabos/devices/workstation/workstation_http_service.py @@ -71,11 +71,11 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler): if content_length > 0: post_data = self.rfile.read(content_length) request_data = json.loads(post_data.decode('utf-8')) + else: request_data = {} - - logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}") - + logger.info(f"收到工作站报送: {endpoint} 收到接受数据：{request_data}") + # logger.info(f"收到的json数据: {request_data}") # 统一的报送端点路由（基于LIMS协议规范） if endpoint == '/report/step_finish': response = self._handle_step_finish_report(request_data) From 2c2d1e5569e857e76c50844a27737c7ef9f7fd24 Mon Sep 17 00:00:00 2001 From: calvincao Date: Tue, 21 Oct 2025 14:58:38 +0800 Subject: [PATCH 005/104] =?UTF-8?q?=E5=9C=A8=20**bioyond=5Fcell=5Fworkstat?= =?UTF-8?q?ion.py**=20=E4=B8=AD=E5=AE=9E=E7=8E=B0=20`update=5Fpush=5Fip`?= =?UTF-8?q?=20=E6=96=B9=E6=B3=95=E5=B9=B6=E5=A2=9E=E5=BC=BA=E9=94=99?= =?UTF-8?q?=E8=AF=AF=E5=A4=84=E7=90=86=EF=BC=9B=E4=BF=AE=E5=A4=8D=20**bioy?= =?UTF-8?q?ond=5Fyihua=5FYB.json**=20=E4=B8=AD=E7=9A=84=20JSON=20=E5=90=88?= =?UTF-8?q?=E5=B9=B6=E5=86=B2=E7=AA=81=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 48 +++++++++++++++++++ .../bioyond_cell/bioyond_yihua_YB.json | 3 ++ 2 files changed, 51 insertions(+) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index be33125..7ed0e9f 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -167,6 +167,12 @@ class BioyondCellWorkstation(WorkstationBase): self.service.start() self.http_service_started = True logger.info(f"WorkstationHTTPService成功启动: {host}:{port}") + # 启动成功后，上报本机推送地址（3.36） + try: + r = self.update_push_ip(host, port) + logger.info(f"更新推送IP结果: {r}") + except Exception as e: + logger.warning(f"调用更新推送IP接口失败: {e}") #一直挂着，直到进程退出 while True: time.sleep(1) @@ -207,6 +213,48 @@ class BioyondCellWorkstation(WorkstationBase): logger.error(f"POST {path} 失败: {e}") return {"error": str(e)} + def _put_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：PUT {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_local_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + logger.info(f"[DEBUG] PUT {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + response = requests.put( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) + response.raise_for_status() + return response.json() + except Exception as e: + logger.info(f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}") + logger.error(f"PUT {path} 失败: {e}") + return {"error": str(e)} + + # -------------------- 3.36 更新推送 IP 地址 -------------------- + def update_push_ip(self, ip: Optional[str] = None, port: Optional[int] = None) -> Dict[str, Any]: + """ + 3.36 更新推送 IP 地址接口（PUT） + URL: /api/lims/order/ip-config + 请求体：{ apiKey, requestTime, data: { ip, port } } + """ + target_ip = ip or self.bioyond_config.get("HTTP_host", "") + target_port = int(port or self.bioyond_config.get("HTTP_port", 0)) + data = {"ip": target_ip, "port": target_port} + + # 固定接口路径，不做其他路径兼容 + path = "/api/lims/order/ip-config" + return self._put_lims(path, data) + # -------------------- 单点接口封装 -------------------- # 2.17 入库物料（单个） def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json index d6a917f..81e1ee7 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json @@ -11,7 +11,10 @@ "config": { "protocol_type": [], "station_resource": {} +<<<<<<< Updated upstream +======= +>>>>>>> Stashed changes }, "data": {} From e70c545ec80e5b9eadde7471ea383156d9c73ef0 Mon Sep 17 00:00:00 2001 From: calvincao Date: Tue, 21 Oct 2025 15:19:44 +0800 Subject: [PATCH 006/104] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=20**bioyond=5Fyihua?= =?UTF-8?q?=5FYB.json**=20=E4=B8=AD=E7=9A=84=20JSON=20=E5=90=88=E5=B9=B6?= =?UTF-8?q?=E5=86=B2=E7=AA=81=EF=BC=8C=E6=B8=85=E7=90=86=E4=B8=8D=E5=BF=85?= =?UTF-8?q?=E8=A6=81=E7=9A=84=E6=A0=87=E8=AE=B0=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_studio/bioyond_cell/bioyond_yihua_YB.json | 4 ---- 1 file changed, 4 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json index 81e1ee7..3d1b98a 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json @@ -11,10 +11,6 @@ "config": { "protocol_type": [], "station_resource": {} -<<<<<<< Updated upstream - -======= ->>>>>>> Stashed changes }, "data": {} From de7c80c3c2d8eb7b262b8e597173edef8b9691df Mon Sep 17 00:00:00 2001 From: calvincao Date: Wed, 22 Oct 2025 16:13:36 +0800 Subject: [PATCH 007/104] =?UTF-8?q?=E9=87=8D=E6=9E=84=EF=BC=9A=E5=AE=8C?= =?UTF-8?q?=E5=96=84=E9=85=8D=E7=BD=AE=E5=8A=A0=E8=BD=BD=E6=9C=BA=E5=88=B6?= =?UTF-8?q?=E4=B8=8E=E5=88=9D=E5=A7=8B=E5=8C=96=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 新增环境变量覆盖机制，增强配置灵活性 优化 bioyond_rpc.py 与 bioyond_cell_workstation.py 的初始化流程与结构 修正 station.py 工作流映射逻辑，确保正确性 提高代码可读性与模块间解耦程度 --- .../bioyond_cell/bioyond_cell_workstation.py | 27 +++++++++++-------- .../workstation/bioyond_studio/bioyond_rpc.py | 4 +-- .../workstation/bioyond_studio/config.py | 27 ++++++++++++++++--- .../workstation/bioyond_studio/station.py | 4 +-- 4 files changed, 44 insertions(+), 18 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 7ed0e9f..78b635c 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -9,9 +9,14 @@ import time from datetime import datetime, timedelta import re import threading +import os from urllib3 import response from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation +from unilabos.devices.workstation.bioyond_studio.config import ( + BIOYOND_FULL_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING +) from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService from unilabos.utils.log import logger @@ -22,7 +27,7 @@ def _iso_local_now_ms() -> str: return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" -class BioyondCellWorkstation(WorkstationBase): +class BioyondCellWorkstation(BioyondWorkstation): """ 集成 Bioyond LIMS 的工作站示例， 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → @@ -37,20 +42,18 @@ class BioyondCellWorkstation(WorkstationBase): *args, **kwargs, ): + # 使用统一配置，支持自定义覆盖 self.bioyond_config = bioyond_config or { - "base_url": "http://172.16.11.219:44388", - "api_key": "8A819E5C", - "timeout": 30, - "report_token": "CHANGE_ME_TOKEN", - "HTTP_host": "172.21.33.126", - "HTTP_port": 8080, - "debug_mode": False - } # report_token ：unilab自己的令牌report_token（0928未启用） + **BIOYOND_FULL_CONFIG, # 从 config.py 加载完整配置 + "workflow_mappings": WORKFLOW_MAPPINGS, + "material_type_mappings": MATERIAL_TYPE_MAPPINGS, + "warehouse_mapping": WAREHOUSE_MAPPING + } self.debug_mode = self.bioyond_config["debug_mode"] self.http_service_started = False deck = kwargs.pop("deck", None) self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation") - super().__init__(deck=deck, station_resource=station_resource, *args, **kwargs) + super().__init__(bioyond_config=self.bioyond_config, deck=deck, station_resource=station_resource, *args, **kwargs) # 步骤通量任务通知铃 self._pending_events: dict[str, threading.Event] = {} logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") @@ -793,7 +796,9 @@ if __name__ == "__main__": logger.info(ws.scheduler_start()) logger.info(ws.auto_feeding4to3()) - logger.info(ws.create_orders(r"unilabos\devices\workstation\bioyond_studio\bioyond_cell\2025092701.xlsx")) + # 使用正斜杠或 Path 对象来指定文件路径 + excel_path = Path("unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") + logger.info(ws.create_orders(excel_path)) logger.info(ws.transfer_3_to_2_to_1()) logger.info(ws.transfer_1_to_2()) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py index 5aef45b..ef6ff77 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py @@ -47,8 +47,8 @@ class BioyondV1RPC(BaseRequest): super().__init__() print("开始初始化 BioyondV1RPC") self.config = config - self.api_key = config["8A819E5C"] - self.host = config["http://172.16.11.219:44388"] + self.api_key = config.get("api_key", "") + self.host = config.get("api_host", "") or config.get("base_url", "") self._logger = SimpleLogger() self.material_cache = {} self._load_material_cache() diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 52ae82e..c73abd3 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -2,11 +2,32 @@ """ 配置文件 - 包含所有配置信息和映射关系 """ +import os -# API配置 +# ==================== API 基础配置 ==================== +# 支持通过环境变量覆盖默认值 API_CONFIG = { - "api_key": "", - "api_host": "" + "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"), +} + +# ==================== 完整的 Bioyond 配置 ==================== +# BioyondCellWorkstation 默认配置（包含所有必需参数） +BIOYOND_FULL_CONFIG = { + # API 连接配置 + "base_url": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"), + "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), + "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), + + # 报送配置 + "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), + + # HTTP 服务配置 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # 0.0.0.0 绑定所有网络接口 + "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), + + # 调试模式 + "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", } # 工作流映射配置 diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 3c596a2..795b740 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -165,8 +165,8 @@ class BioyondWorkstation(WorkstationBase): self.workflow_sequence = [] self.pending_task_params = [] - if "workflow_mappings" in bioyond_config: - self._set_workflow_mappings(bioyond_config["workflow_mappings"]) + if self.bioyond_config and "workflow_mappings" in self.bioyond_config: + self._set_workflow_mappings(self.bioyond_config["workflow_mappings"]) logger.info(f"Bioyond工作站初始化完成") def post_init(self, ros_node: ROS2WorkstationNode): From 9c4d0256cf8abb179a9f0d7f1e7cd526f6497359 Mon Sep 17 00:00:00 2001 From: calvincao Date: Wed, 22 Oct 2025 16:38:32 +0800 Subject: [PATCH 008/104] =?UTF-8?q?=E5=A2=9E=E5=BC=BA=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E6=96=87=E4=BB=B6=EF=BC=8C=E6=96=B0=E5=A2=9E=20report=5Fip=20?= =?UTF-8?q?=E9=80=89=E9=A1=B9=E4=BB=A5=E6=94=AF=E6=8C=81=E6=9C=AC=E6=9C=BA?= =?UTF-8?q?=20IP=20=E5=9C=B0=E5=9D=80=E7=9A=84=E7=81=B5=E6=B4=BB=E9=85=8D?= =?UTF-8?q?=E7=BD=AE=EF=BC=9B=E5=9C=A8=20bioyond=5Fcell=5Fworkstation.py?= =?UTF-8?q?=20=E4=B8=AD=E4=BC=98=E5=8C=96=E6=8E=A8=E9=80=81=E5=9C=B0?= =?UTF-8?q?=E5=9D=80=E6=9B=B4=E6=96=B0=E9=80=BB=E8=BE=91=EF=BC=8C=E6=94=AF?= =?UTF-8?q?=E6=8C=81=E8=87=AA=E5=8A=A8=E6=A3=80=E6=B5=8B=E5=92=8C=E9=85=8D?= =?UTF-8?q?=E7=BD=AE=E4=BC=98=E5=85=88=E7=BA=A7=E5=A4=84=E7=90=86=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 22 +++++++++++++++++-- .../workstation/bioyond_studio/config.py | 3 ++- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 78b635c..ef4004e 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -10,6 +10,7 @@ from datetime import datetime, timedelta import re import threading import os +import socket from urllib3 import response from unilabos.devices.workstation.workstation_base import WorkstationBase @@ -170,12 +171,29 @@ class BioyondCellWorkstation(BioyondWorkstation): self.service.start() self.http_service_started = True logger.info(f"WorkstationHTTPService成功启动: {host}:{port}") + # 启动成功后，上报本机推送地址（3.36） try: - r = self.update_push_ip(host, port) - logger.info(f"更新推送IP结果: {r}") + # 优先使用配置中的 report_ip + report_ip = self.bioyond_config.get("report_ip", "").strip() + + # 如果配置中没有指定 report_ip，且监听地址是 0.0.0.0，则自动检测 + if not report_ip and host in ("0.0.0.0", ""): + # 从 Bioyond 配置中提取服务器地址 + bioyond_server = self.bioyond_config.get("base_url", "") + if bioyond_server: + import urllib.parse + parsed = urllib.parse.urlparse(bioyond_server) + + elif not report_ip: + # 如果没有配置 report_ip，使用监听地址 + report_ip = host + + r = self.update_push_ip(report_ip, port) + logger.info(f"向 Bioyond 报送推送地址: {report_ip}:{port}, 结果: {r}") except Exception as e: logger.warning(f"调用更新推送IP接口失败: {e}") + #一直挂着，直到进程退出 while True: time.sleep(1) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index c73abd3..e2506bc 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -23,8 +23,9 @@ BIOYOND_FULL_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # 0.0.0.0 绑定所有网络接口 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), + "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.33.141"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） # 调试模式 "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", From 5a7845d8ca7b190f7dce9f0411abe8d368e6f57e Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 23 Oct 2025 08:34:33 +0800 Subject: [PATCH 009/104] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E6=96=87=E4=BB=B6=E4=B8=AD=E7=9A=84=20report=5Fip=20=E9=BB=98?= =?UTF-8?q?=E8=AE=A4=E5=80=BC=EF=BC=8C=E4=BC=98=E5=8C=96=20bioyond=5Fcell?= =?UTF-8?q?=5Fworkstation.py=20=E4=B8=AD=E7=9A=84=E8=AE=A2=E5=8D=95?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=A4=84=E7=90=86=E9=80=BB=E8=BE=91=EF=BC=8C?= =?UTF-8?q?=E6=96=B0=E5=A2=9E=E5=A4=9A=E4=B8=AA=E7=93=B6=E5=AD=90=E5=92=8C?= =?UTF-8?q?=E8=BD=BD=E6=9E=B6=E7=B1=BB=E5=9E=8B=E7=9A=84=E5=AE=9A=E4=B9=89?= =?UTF-8?q?=EF=BC=8C=E8=B0=83=E6=95=B4=E4=BB=93=E5=BA=93=E7=BB=93=E6=9E=84?= =?UTF-8?q?=E4=BB=A5=E6=94=AF=E6=8C=81=E6=9B=B4=E7=81=B5=E6=B4=BB=E7=9A=84?= =?UTF-8?q?=E7=89=A9=E6=96=99=E7=AE=A1=E7=90=86=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 28 +- .../workstation/bioyond_studio/config.py | 2 +- .../resources/bioyond/bottle_carriers.yaml | 84 +++++ .../registry/resources/bioyond/bottles.yaml | 90 +++++ unilabos/registry/resources/bioyond/deck.yaml | 2 +- unilabos/resources/bioyond/bottle_carriers.py | 348 +++++++++++++++++- unilabos/resources/bioyond/bottles.py | 163 ++++++++ unilabos/resources/bioyond/warehouses.py | 4 +- 8 files changed, 711 insertions(+), 10 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index ef4004e..ac3ea5b 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -80,8 +80,15 @@ class BioyondCellWorkstation(BioyondWorkstation): def process_order_finish_report(self, report_request, used_materials=None): order_code = report_request.data.get("orderCode") + status = report_request.data.get("status") + logger.info(f"report_request: {report_request}") + + logger.info(f"任务完成: {order_code}, status={status}") + + # 记录订单状态码 + if order_code: + self.order_status[order_code] = status - logger.info(f"任务完成: {order_code}, status={report_request.data.get('status')}") self._set_pending_event(order_code) return {"status": "received"} @@ -119,7 +126,18 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.warning(f"{context} 响应中未找到 orderCode，无法跟踪任务完成") return for code in order_codes: - self._wait_for_order_completion(code, timeout=timeout) + finished = self._wait_for_order_completion(code, timeout=timeout) + if finished: + # 检查订单返回码是否为30（正常完成） + status = self.order_status.get(code) + if status == 30 or status == "30": + logger.info(f"订单 {code} 成功完成，状态码: {status}") + else: + logger.warning(f"订单 {code} 完成但状态码异常: {status} (期望: 30, -11=异常停止, -12=人工停止)") + # 清理状态记录 + self.order_status.pop(code, None) + else: + logger.error(f"订单 {code} 等待超时，未收到完成通知") @staticmethod def _extract_order_codes(response: Dict[str, Any]) -> List[str]: @@ -296,7 +314,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx", + xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -812,8 +830,8 @@ class BioyondCellWorkstation(BioyondWorkstation): if __name__ == "__main__": ws = BioyondCellWorkstation() logger.info(ws.scheduler_start()) - - logger.info(ws.auto_feeding4to3()) + #TODO：新建入库 + logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # 使用正斜杠或 Path 对象来指定文件路径 excel_path = Path("unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") logger.info(ws.create_orders(excel_path)) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index e2506bc..ed14f7b 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -25,7 +25,7 @@ BIOYOND_FULL_CONFIG = { # HTTP 服务配置 "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), - "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.33.141"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） + "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.57"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） # 调试模式 "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index 44e5427..e4d7a48 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -46,3 +46,87 @@ BIOYOND_PolymerStation_6VialCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 +BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier + type: pylabrobot + description: BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier + type: pylabrobot + description: BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier + type: pylabrobot + description: BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier + type: pylabrobot + description: BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier + type: pylabrobot + description: BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +BIOYOND_PolymerStation_AdapterBlock: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_AdapterBlock + type: pylabrobot + description: BIOYOND_PolymerStation_AdapterBlock + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +BIOYOND_PolymerStation_TipBox: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox + type: pylabrobot + description: BIOYOND_PolymerStation_TipBox + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 55da690..86d5eed 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -48,3 +48,93 @@ BIOYOND_PolymerStation_Solution_Beaker: icon: '' init_param_schema: {} version: 1.0.0 +BIOYOND_PolymerStation_100ml_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_100ml_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_Large_Dispense_Head: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Dispense_Head + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_5ml_Dispensing_Vial: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_5ml_Dispensing_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_20ml_Dispensing_Vial: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_20ml_Dispensing_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_Small_Solution_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Small_Solution_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_Large_Solution_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Solution_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_Pipette_Tip: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Pipette_Tip + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index dd424ea..140dc5f 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,7 +22,7 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_Deck14: +YB_Deck15: category: - deck class: diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py index f56c2f1..a772fb8 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/bottle_carriers.py @@ -6,7 +6,13 @@ from unilabos.resources.bioyond.bottles import ( BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Liquid_Vial, BIOYOND_PolymerStation_Solution_Beaker, - BIOYOND_PolymerStation_Reagent_Bottle + BIOYOND_PolymerStation_Reagent_Bottle, + BIOYOND_PolymerStation_5ml_Dispensing_Vial, + BIOYOND_PolymerStation_20ml_Dispensing_Vial, + BIOYOND_PolymerStation_Small_Solution_Bottle, + BIOYOND_PolymerStation_Large_Solution_Bottle, + BIOYOND_PolymerStation_Large_Dispense_Head, + BIOYOND_PolymerStation_Pipette_Tip ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -274,3 +280,343 @@ def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1") return carrier + + +def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: + """5ml分液瓶板 - 2x3布局，6个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 15.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] + for i in range(6): + carrier[i] = BIOYOND_PolymerStation_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + return carrier + + +def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: + """20ml分液瓶板 - 2x3布局，6个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 70.0 + + # 瓶位尺寸 + bottle_diameter = 20.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] + for i in range(6): + carrier[i] = BIOYOND_PolymerStation_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + return carrier + + +def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: + """配液瓶(小)板 - 2x3布局，6个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 65.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] + for i in range(6): + carrier[i] = BIOYOND_PolymerStation_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + return carrier + + +def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: + """配液瓶(大)板 - 2x2布局，4个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 瓶位尺寸 + bottle_diameter = 55.0 + bottle_spacing_x = 60.0 # X方向间距 + bottle_spacing_y = 60.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=2, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier", + ) + carrier.num_items_x = 2 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "B1", "B2"] + for i in range(4): + carrier[i] = BIOYOND_PolymerStation_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + return carrier + + +def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: + """加样头(大)板 - 2x3布局，6个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] + for i in range(6): + carrier[i] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_{ordering[i]}") + return carrier + + +def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: + """适配器块 - 单个中央位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 30.0 + + # 适配器尺寸 + adapter_diameter = 80.0 + + # 计算中央位置 + center_x = (carrier_size_x - adapter_diameter) / 2 + center_y = (carrier_size_y - adapter_diameter) / 2 + center_z = 0.0 + + 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=adapter_diameter, + resource_size_y=adapter_diameter, + name_prefix=name, + ), + model="BIOYOND_PolymerStation_AdapterBlock", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + # 适配器块本身不包含瓶子，只是一个支撑结构 + return carrier + + +def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: + """枪头盒 - 8x12布局，96个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 55.0 + + # 枪头尺寸 + tip_diameter = 10.0 + tip_spacing_x = 9.0 # X方向间距 + tip_spacing_y = 9.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 + start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=12, + num_items_y=8, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=tip_spacing_x, + item_dy=tip_spacing_y, + size_x=tip_diameter, + size_y=tip_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="BIOYOND_PolymerStation_TipBox", + ) + carrier.num_items_x = 12 + carrier.num_items_y = 8 + carrier.num_items_z = 1 + # 创建96个枪头 + for i in range(96): + row = chr(65 + i // 12) # A-H + col = (i % 12) + 1 # 1-12 + carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}") + return carrier + diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index 7d241a7..22fc6b7 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -90,3 +90,166 @@ def BIOYOND_PolymerStation_Reagent_Bottle( barcode=barcode, model="BIOYOND_PolymerStation_Reagent_Bottle", ) + + +def BIOYOND_PolymerStation_100ml_Liquid_Bottle( + name: str, + diameter: float = 50.0, + height: float = 80.0, + max_volume: float = 100000.0, # 100mL + barcode: str = None, +) -> Bottle: + """创建100ml液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_100ml_Liquid_Bottle", + ) + + +def BIOYOND_PolymerStation_Liquid_Bottle( + name: str, + diameter: float = 40.0, + height: float = 70.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Liquid_Bottle", + ) + + +def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( + name: str, + diameter: float = 45.0, + height: float = 75.0, + max_volume: float = 60000.0, # 60mL + barcode: str = None, +) -> Bottle: + """创建高粘液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle", + ) + + +def BIOYOND_PolymerStation_Large_Dispense_Head( + name: str, + diameter: float = 35.0, + height: float = 90.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建加样头(大)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Large_Dispense_Head", + ) + + +def BIOYOND_PolymerStation_5ml_Dispensing_Vial( + name: str, + diameter: float = 15.0, + height: float = 45.0, + max_volume: float = 5000.0, # 5mL + barcode: str = None, +) -> Bottle: + """创建5ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_5ml_Dispensing_Vial", + ) + + +def BIOYOND_PolymerStation_20ml_Dispensing_Vial( + name: str, + diameter: float = 20.0, + height: float = 65.0, + max_volume: float = 20000.0, # 20mL + barcode: str = None, +) -> Bottle: + """创建20ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_20ml_Dispensing_Vial", + ) + + +def BIOYOND_PolymerStation_Small_Solution_Bottle( + name: str, + diameter: float = 35.0, + height: float = 60.0, + max_volume: float = 40000.0, # 40mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(小)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Small_Solution_Bottle", + ) + + +def BIOYOND_PolymerStation_Large_Solution_Bottle( + name: str, + diameter: float = 55.0, + height: float = 90.0, + max_volume: float = 150000.0, # 150mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(大)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Large_Solution_Bottle", + ) + + +def BIOYOND_PolymerStation_Pipette_Tip( + name: str, + diameter: float = 10.0, + height: float = 50.0, + max_volume: float = 1000.0, # 1mL + barcode: str = None, +) -> Bottle: + """创建枪头""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Pipette_Tip", + ) + diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index 477e8ae..22be38b 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -39,9 +39,9 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" return warehouse_factory( name=name, - num_items_x=1, + num_items_x=2, num_items_y=2, - num_items_z=2, + num_items_z=1, dx=10.0, dy=10.0, dz=10.0, From d3d8ba65007549e69c693fc7119dfc4c2b0f9c9b Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Thu, 23 Oct 2025 15:32:36 +0800 Subject: [PATCH 010/104] =?UTF-8?q?fix(yb3):=20=E7=89=A9=E6=96=99=E5=90=8D?= =?UTF-8?q?=E7=A7=B0=E4=B8=8E=E6=A8=A1=E5=9E=8B=E5=AF=B9=E9=BD=90=EF=BC=9B?= =?UTF-8?q?YAML=20=E5=8E=BB=E6=8E=89=20BIOYOND=5FPolymerStation=5F=20?= =?UTF-8?q?=E5=89=8D=E7=BC=80=EF=BC=9B=E4=BF=AE=E5=A4=8D=206StockCarrier?= =?UTF-8?q?=20model?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../resources/bioyond/bottle_carriers.yaml | 44 +++++++++---------- .../registry/resources/bioyond/bottles.yaml | 28 ++++++------ unilabos/resources/bioyond/bottle_carriers.py | 26 +++++------ unilabos/resources/bioyond/bottles.py | 28 ++++++------ 4 files changed, 63 insertions(+), 63 deletions(-) diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index e4d7a48..5889bcc 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -1,130 +1,130 @@ -BIOYOND_PolymerStation_1BottleCarrier: +1BottleCarrier: category: - bottle_carriers class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier type: pylabrobot - description: BIOYOND_PolymerStation_1BottleCarrier + description: 1BottleCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_1FlaskCarrier: +1FlaskCarrier: category: - bottle_carriers class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier type: pylabrobot - description: BIOYOND_PolymerStation_1FlaskCarrier + description: 1FlaskCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_6StockCarrier: +6StockCarrier: category: - bottle_carriers class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier type: pylabrobot - description: BIOYOND_PolymerStation_6StockCarrier + description: 6StockCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_6VialCarrier: +6VialCarrier: category: - bottle_carriers class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier type: pylabrobot - description: BIOYOND_PolymerStation_6VialCarrier + description: 6VialCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier: +6x5ml_DispensingVialCarrier: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier type: pylabrobot - description: BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier + description: 6x5ml_DispensingVialCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier: +6x20ml_DispensingVialCarrier: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier type: pylabrobot - description: BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier + description: 6x20ml_DispensingVialCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier: +6x_SmallSolutionBottleCarrier: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier type: pylabrobot - description: BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier + description: 6x_SmallSolutionBottleCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier: +4x_LargeSolutionBottleCarrier: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier type: pylabrobot - description: BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier + description: 4x_LargeSolutionBottleCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier: +6x_LargeDispenseHeadCarrier: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier type: pylabrobot - description: BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier + description: 6x_LargeDispenseHeadCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_AdapterBlock: +AdapterBlock: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_AdapterBlock type: pylabrobot - description: BIOYOND_PolymerStation_AdapterBlock + description: AdapterBlock handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -BIOYOND_PolymerStation_TipBox: +TipBox: category: - yb3 class: module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox type: pylabrobot - description: BIOYOND_PolymerStation_TipBox + description: TipBox handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 86d5eed..8d71f28 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -1,4 +1,4 @@ -BIOYOND_PolymerStation_Liquid_Vial: +Liquid_Vial: category: - bottles class: @@ -8,7 +8,7 @@ BIOYOND_PolymerStation_Liquid_Vial: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Reagent_Bottle: +Reagent_Bottle: category: - bottles class: @@ -18,7 +18,7 @@ BIOYOND_PolymerStation_Reagent_Bottle: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Solid_Stock: +Solid_Stock: category: - bottles class: @@ -28,7 +28,7 @@ BIOYOND_PolymerStation_Solid_Stock: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Solid_Vial: +Solid_Vial: category: - bottles class: @@ -38,7 +38,7 @@ BIOYOND_PolymerStation_Solid_Vial: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Solution_Beaker: +Solution_Beaker: category: - bottles class: @@ -48,7 +48,7 @@ BIOYOND_PolymerStation_Solution_Beaker: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_100ml_Liquid_Bottle: +100ml_Liquid_Bottle: category: - yb3 class: @@ -58,7 +58,7 @@ BIOYOND_PolymerStation_100ml_Liquid_Bottle: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Liquid_Bottle: +Liquid_Bottle: category: - yb3 class: @@ -68,7 +68,7 @@ BIOYOND_PolymerStation_Liquid_Bottle: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle: +High_Viscosity_Liquid_Bottle: category: - yb3 class: @@ -78,7 +78,7 @@ BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Large_Dispense_Head: +Large_Dispense_Head: category: - yb3 class: @@ -88,7 +88,7 @@ BIOYOND_PolymerStation_Large_Dispense_Head: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_5ml_Dispensing_Vial: +5ml_Dispensing_Vial: category: - yb3 class: @@ -98,7 +98,7 @@ BIOYOND_PolymerStation_5ml_Dispensing_Vial: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_20ml_Dispensing_Vial: +20ml_Dispensing_Vial: category: - yb3 class: @@ -108,7 +108,7 @@ BIOYOND_PolymerStation_20ml_Dispensing_Vial: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Small_Solution_Bottle: +Small_Solution_Bottle: category: - yb3 class: @@ -118,7 +118,7 @@ BIOYOND_PolymerStation_Small_Solution_Bottle: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Large_Solution_Bottle: +Large_Solution_Bottle: category: - yb3 class: @@ -128,7 +128,7 @@ BIOYOND_PolymerStation_Large_Solution_Bottle: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Pipette_Tip: +Pipette_Tip: category: - yb3 class: diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py index a772fb8..87f84df 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/bottle_carriers.py @@ -57,7 +57,7 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_Electrolyte_6VialCarrier", + model="Electrolyte_6VialCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -95,7 +95,7 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="BIOYOND_Electrolyte_1BottleCarrier", + model="Electrolyte_1BottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -144,7 +144,7 @@ def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_6VialCarrier", + model="6StockCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -195,7 +195,7 @@ def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_6VialCarrier", + model="6VialCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -236,7 +236,7 @@ def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="BIOYOND_PolymerStation_1BottleCarrier", + model="1BottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -273,7 +273,7 @@ def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="BIOYOND_PolymerStation_1FlaskCarrier", + model="1FlaskCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -321,7 +321,7 @@ def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarri size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier", + model="6x5ml_DispensingVialCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -371,7 +371,7 @@ def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarr size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", + model="6x20ml_DispensingVialCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -421,7 +421,7 @@ def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCar size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier", + model="6x_SmallSolutionBottleCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -471,7 +471,7 @@ def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCar size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier", + model="4x_LargeSolutionBottleCarrier", ) carrier.num_items_x = 2 carrier.num_items_y = 2 @@ -521,7 +521,7 @@ def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarri size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier", + model="6x_LargeDispenseHeadCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 @@ -560,7 +560,7 @@ def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: resource_size_y=adapter_diameter, name_prefix=name, ), - model="BIOYOND_PolymerStation_AdapterBlock", + model="AdapterBlock", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -608,7 +608,7 @@ def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="BIOYOND_PolymerStation_TipBox", + model="TipBox", ) carrier.num_items_x = 12 carrier.num_items_y = 8 diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index 22fc6b7..b5fb087 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -16,7 +16,7 @@ def BIOYOND_PolymerStation_Solid_Stock( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Solid_Stock", + model="Solid_Stock", ) @@ -34,7 +34,7 @@ def BIOYOND_PolymerStation_Solid_Vial( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Solid_Vial", + model="Solid_Vial", ) @@ -52,7 +52,7 @@ def BIOYOND_PolymerStation_Liquid_Vial( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Liquid_Vial", + model="Liquid_Vial", ) @@ -70,7 +70,7 @@ def BIOYOND_PolymerStation_Solution_Beaker( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Solution_Beaker", + model="Solution_Beaker", ) @@ -88,7 +88,7 @@ def BIOYOND_PolymerStation_Reagent_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Reagent_Bottle", + model="Reagent_Bottle", ) @@ -106,7 +106,7 @@ def BIOYOND_PolymerStation_100ml_Liquid_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_100ml_Liquid_Bottle", + model="100ml_Liquid_Bottle", ) @@ -124,7 +124,7 @@ def BIOYOND_PolymerStation_Liquid_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Liquid_Bottle", + model="Liquid_Bottle", ) @@ -142,7 +142,7 @@ def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle", + model="High_Viscosity_Liquid_Bottle", ) @@ -160,7 +160,7 @@ def BIOYOND_PolymerStation_Large_Dispense_Head( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Large_Dispense_Head", + model="Large_Dispense_Head", ) @@ -178,7 +178,7 @@ def BIOYOND_PolymerStation_5ml_Dispensing_Vial( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_5ml_Dispensing_Vial", + model="5ml_Dispensing_Vial", ) @@ -196,7 +196,7 @@ def BIOYOND_PolymerStation_20ml_Dispensing_Vial( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_20ml_Dispensing_Vial", + model="20ml_Dispensing_Vial", ) @@ -214,7 +214,7 @@ def BIOYOND_PolymerStation_Small_Solution_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Small_Solution_Bottle", + model="Small_Solution_Bottle", ) @@ -232,7 +232,7 @@ def BIOYOND_PolymerStation_Large_Solution_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Large_Solution_Bottle", + model="Large_Solution_Bottle", ) @@ -250,6 +250,6 @@ def BIOYOND_PolymerStation_Pipette_Tip( height=height, max_volume=max_volume, barcode=barcode, - model="BIOYOND_PolymerStation_Pipette_Tip", + model="Pipette_Tip", ) From 1af6ffafc675c3de4a2fcd7d32ac7f3b2e02e1d3 Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 23 Oct 2025 17:32:08 +0800 Subject: [PATCH 011/104] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E6=89=B9=E9=87=8F?= =?UTF-8?q?=E5=88=9B=E5=BB=BA=E5=9B=BA=E4=BD=93=E7=89=A9=E6=96=99=E5=92=8C?= =?UTF-8?q?=E4=BB=8ECSV=E6=96=87=E4=BB=B6=E5=85=A5=E5=BA=93=E7=9A=84?= =?UTF-8?q?=E5=8A=9F=E8=83=BD=EF=BC=9B=E6=9B=B4=E6=96=B0=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E6=96=87=E4=BB=B6=E4=B8=AD=E7=9A=84=20report=5Fip=20=E9=BB=98?= =?UTF-8?q?=E8=AE=A4=E5=80=BC=EF=BC=9B=E6=96=B0=E5=A2=9E=20solid=5Fmateria?= =?UTF-8?q?ls.csv=20=E6=96=87=E4=BB=B6=E4=BB=A5=E6=94=AF=E6=8C=81=E7=89=A9?= =?UTF-8?q?=E6=96=99=E5=90=8D=E7=A7=B0=E5=AF=BC=E5=85=A5=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 211 +++++++++++++++++- .../bioyond_cell/solid_materials.csv | 7 + .../workstation/bioyond_studio/config.py | 27 ++- 3 files changed, 243 insertions(+), 2 deletions(-) create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/solid_materials.csv diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index ac3ea5b..4a343e7 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -825,12 +825,221 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.warning("超时未找到成功的物料转移任务") return False + def create_solid_materials(self, material_names: List[str], type_id: str = "3a190ca0-b2f6-9aeb-8067-547e72c11469") -> List[Dict[str, Any]]: + """ + 批量创建固体物料 + + Args: + material_names: 物料名称列表 + type_id: 物料类型ID（默认为固体物料类型） + + Returns: + 创建的物料列表，每个元素包含物料信息和ID + """ + created_materials = [] + total = len(material_names) + + for i, name in enumerate(material_names, 1): + # 根据接口文档构建完整的请求体 + material_data = { + "typeId": type_id, + "name": name, + "unit": "g", # 添加单位 + "quantity": 1, # 添加数量（默认1） + "parameters": "" # 参数字段（空字符串表示无参数） + } + + logger.info(f"正在创建第 {i}/{total} 个固体物料: {name}") + result = self._post_lims("/api/lims/storage/material", material_data) + + if result and result.get("code") == 1: + # data 字段可能是字符串（物料ID）或字典（包含id字段） + data = result.get("data") + if isinstance(data, str): + # data 直接是物料ID字符串 + material_id = data + elif isinstance(data, dict): + # data 是字典，包含id字段 + material_id = data.get("id") + else: + material_id = None + + if material_id: + created_materials.append({ + "name": name, + "materialId": material_id, + "typeId": type_id + }) + logger.info(f"✓ 成功创建物料: {name}, ID: {material_id}") + else: + logger.error(f"✗ 创建物料失败: {name}, 未返回ID") + logger.error(f" 响应数据: {result}") + else: + error_msg = result.get("error") or result.get("message", "未知错误") + logger.error(f"✗ 创建物料失败: {name}") + logger.error(f" 错误信息: {error_msg}") + logger.error(f" 完整响应: {result}") + + # 避免请求过快 + time.sleep(0.3) + + logger.info(f"物料创建完成，成功创建 {len(created_materials)}/{total} 个固体物料") + return created_materials + + def create_and_inbound_materials_from_csv( + self, + csv_path: str = "solid_materials.csv", + type_id: str = "3a190ca0-b2f6-9aeb-8067-547e72c11469", + warehouse_name: str = "粉末加样头堆栈" + ) -> Dict[str, Any]: + """ + 从CSV文件读取物料列表，创建物料并批量入库到指定堆栈 + + Args: + csv_path: CSV文件路径 + type_id: 物料类型ID（默认为固体物料类型） + warehouse_name: 仓库名称（默认为"粉末加样头堆栈"） + + Returns: + 包含执行结果的字典 + """ + logger.info("=" * 60) + logger.info(f"开始执行：从CSV读取物料列表并批量创建入库到 {warehouse_name}") + logger.info("=" * 60) + + # 从配置中获取位置ID列表 + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", WAREHOUSE_MAPPING) + + if warehouse_name not in warehouse_mapping: + error_msg = f"配置中未找到仓库: {warehouse_name}" + logger.error(error_msg) + logger.info(f"可用的仓库: {list(warehouse_mapping.keys())}") + return {"success": False, "error": error_msg} + + warehouse_config = warehouse_mapping[warehouse_name] + site_uuids = warehouse_config.get("site_uuids", {}) + + if not site_uuids: + error_msg = f"仓库 {warehouse_name} 没有配置位置" + logger.error(error_msg) + return {"success": False, "error": error_msg} + + # 按顺序获取位置ID（A01, B01, C01...） + all_location_ids = [] + position_names = [] + for key in sorted(site_uuids.keys()): + all_location_ids.append(site_uuids[key]) + position_names.append(key) + + logger.info(f"✓ 从配置文件加载 {len(all_location_ids)} 个位置") + logger.info(f" 仓库: {warehouse_name}") + logger.info(f" 位置范围: {position_names[0]} ~ {position_names[-1]}") + + # 读取CSV文件 + csv_file_path = Path(csv_path) + material_names = [] + + try: + df_materials = pd.read_csv(csv_file_path) + if 'material_name' in df_materials.columns: + material_names = df_materials['material_name'].dropna().astype(str).str.strip().tolist() + logger.info(f"✓ 成功从CSV文件读取 {len(material_names)} 个物料名称") + logger.info(f" 文件路径: {csv_file_path}") + else: + logger.error(f"✗ CSV文件缺少 'material_name' 列") + return {"success": False, "error": "CSV文件缺少 'material_name' 列"} + except FileNotFoundError: + logger.error(f"✗ 未找到CSV文件: {csv_file_path}") + logger.info("请创建CSV文件，格式：") + logger.info(" material_name") + logger.info(" LiPF6") + logger.info(" LiDFOB") + logger.info(" ...") + return {"success": False, "error": f"未找到CSV文件: {csv_file_path}"} + except Exception as e: + logger.error(f"✗ 读取CSV文件失败: {e}") + return {"success": False, "error": f"读取CSV文件失败: {e}"} + + if not material_names: + logger.error("CSV文件中没有有效的物料名称") + return {"success": False, "error": "CSV文件中没有有效的物料名称"} + + # 检查物料数量 + if len(material_names) > len(all_location_ids): + logger.warning(f"物料数量({len(material_names)})超过可用位置数量({len(all_location_ids)})！") + logger.warning(f"将仅创建前 {len(all_location_ids)} 个物料") + material_names = material_names[:len(all_location_ids)] + + # 准备位置信息 + location_ids = all_location_ids[:len(material_names)] + selected_positions = position_names[:len(material_names)] + + # 步骤1: 创建固体物料 + logger.info(f"\n【步骤1/2】创建 {len(material_names)} 个固体物料...") + logger.info(f"物料类型ID: {type_id}") + logger.info(f"物料列表: {', '.join(material_names)}") + + created_materials = self.create_solid_materials( + material_names=material_names, + type_id=type_id + ) + + if len(created_materials) != len(material_names): + logger.warning(f"创建的物料数量({len(created_materials)})与计划数量({len(material_names)})不匹配！") + logger.warning("将仅对成功创建的物料进行入库操作") + + if not created_materials: + logger.error("没有成功创建任何物料") + return {"success": False, "error": "没有成功创建任何物料"} + + # 步骤2: 批量入库到指定位置 + logger.info(f"\n【步骤2/2】批量入库物料到 {warehouse_name}...") + inbound_items = [] + + for idx, material in enumerate(created_materials): + if idx < len(location_ids): + inbound_items.append({ + "materialId": material["materialId"], + "locationId": location_ids[idx] + }) + logger.info(f" - {material['name']} (ID: {material['materialId'][:8]}...) → 位置 {selected_positions[idx]}") + + logger.info(f"\n正在执行批量入库，共 {len(inbound_items)} 条记录...") + result = self.storage_batch_inbound(inbound_items) + + if result.get("code") == 1: + logger.info(f"✓ 批量入库成功！") + logger.info(f" 响应数据: {result.get('data', {})}") + else: + logger.error(f"✗ 批量入库失败！") + logger.error(f" 响应: {result}") + + logger.info("\n" + "=" * 60) + logger.info("固体物料创建和入库流程完成") + logger.info("=" * 60 + "\n") + + return { + "success": result.get("code") == 1, + "created_materials": created_materials, + "inbound_result": result, + "total_created": len(created_materials), + "total_inbound": len(inbound_items), + "warehouse": warehouse_name, + "positions": selected_positions + } + # -------------------------------- + + if __name__ == "__main__": ws = BioyondCellWorkstation() logger.info(ws.scheduler_start()) - #TODO：新建入库 + + # 从CSV文件读取物料列表并批量创建入库 + result = ws.create_and_inbound_materials_from_csv() + + # 继续后续流程 logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # 使用正斜杠或 Path 对象来指定文件路径 excel_path = Path("unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/solid_materials.csv b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/solid_materials.csv new file mode 100644 index 0000000..8db9a5c --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/solid_materials.csv @@ -0,0 +1,7 @@ +material_name +LiPF6 +LiDFOB +DTD +LiFSI +LiPO2F2 + diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index ed14f7b..9294300 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -25,7 +25,7 @@ BIOYOND_FULL_CONFIG = { # HTTP 服务配置 "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), - "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.57"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） + "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） # 调试模式 "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", @@ -112,6 +112,31 @@ WAREHOUSE_MAPPING = { "B3": "3a14198c-c2d0-725e-523d-34c037ac2440", "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" } + }, + "粉末加样头堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a19da56-1379-20c8-5886-f7c4fbcb5733", + "B01": "3a19da56-1379-2424-d751-fe6e94cef938", + "C01": "3a19da56-1379-271c-03e3-6bdb590e395e", + "D01": "3a19da56-1379-277f-2b1b-0d11f7cf92c6", + "E01": "3a19da56-1379-2f1c-a15b-e01db90eb39a", + "F01": "3a19da56-1379-3fa1-846b-088158ac0b3d", + "G01": "3a19da56-1379-5aeb-d0cd-d3b4609d66e1", + "H01": "3a19da56-1379-6077-8258-bdc036870b78", + "I01": "3a19da56-1379-863b-a120-f606baf04617", + "J01": "3a19da56-1379-8a74-74e5-35a9b41d4fd5", + "K01": "3a19da56-1379-b270-b7af-f18773918abe", + "L01": "3a19da56-1379-ba54-6d78-fd770a671ffc", + "M01": "3a19da56-1379-c22d-c96f-0ceb5eb54a04", + "N01": "3a19da56-1379-d64e-c6c5-c72ea4829888", + "O01": "3a19da56-1379-d887-1a3c-6f9cce90f90e", + "P01": "3a19da56-1379-e77d-0e65-7463b238a3b9", + "Q01": "3a19da56-1379-edf6-1472-802ddb628774", + "R01": "3a19da56-1379-f281-0273-e0ef78f0fd97", + "S01": "3a19da56-1379-f924-7f68-df1fa51489f4", + "T01": "3a19da56-1379-ff7c-1745-07e200b44ce2" + } } } From 9e850d8a81d1c34c5c175d508f7d18e80ff58d12 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Thu, 23 Oct 2025 17:42:10 +0800 Subject: [PATCH 012/104] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=BD=BD=E6=9E=B6?= =?UTF-8?q?=E7=BD=91=E6=A0=BC=E5=B8=83=E5=B1=80=EF=BC=9A5ml/20ml/=E9=85=8D?= =?UTF-8?q?=E6=B6=B2=E7=93=B6(=E5=B0=8F)=E6=9D=BF=E6=94=B9=E4=B8=BA4x2?= =?UTF-8?q?=EF=BC=8C=E5=8A=A0=E6=A0=B7=E5=A4=B4(=E5=A4=A7)=E6=9D=BF?= =?UTF-8?q?=E6=94=B9=E4=B8=BA1x1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/resources/bioyond/bottle_carriers.py | 54 +++++++++---------- 1 file changed, 26 insertions(+), 28 deletions(-) diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py index 87f84df..ab0b656 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/bottle_carriers.py @@ -283,7 +283,7 @@ def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: - """5ml分液瓶板 - 2x3布局，6个位置""" + """5ml分液瓶板 - 4x2布局，8个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -296,12 +296,12 @@ def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarri bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, - num_items_x=3, + num_items_x=4, num_items_y=2, dx=start_x, dy=start_y, @@ -323,17 +323,17 @@ def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarri sites=sites, model="6x5ml_DispensingVialCarrier", ) - carrier.num_items_x = 3 + carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] - for i in range(6): + ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] + for i in range(8): carrier[i] = BIOYOND_PolymerStation_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: - """20ml分液瓶板 - 2x3布局，6个位置""" + """20ml分液瓶板 - 4x2布局，8个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -346,12 +346,12 @@ def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarr bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, - num_items_x=3, + num_items_x=4, num_items_y=2, dx=start_x, dy=start_y, @@ -373,17 +373,17 @@ def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarr sites=sites, model="6x20ml_DispensingVialCarrier", ) - carrier.num_items_x = 3 + carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] - for i in range(6): + ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] + for i in range(8): carrier[i] = BIOYOND_PolymerStation_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: - """配液瓶(小)板 - 2x3布局，6个位置""" + """配液瓶(小)板 - 4x2布局，8个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -396,12 +396,12 @@ def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCar bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, - num_items_x=3, + num_items_x=4, num_items_y=2, dx=start_x, dy=start_y, @@ -423,11 +423,11 @@ def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCar sites=sites, model="6x_SmallSolutionBottleCarrier", ) - carrier.num_items_x = 3 + carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] - for i in range(6): + ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] + for i in range(8): carrier[i] = BIOYOND_PolymerStation_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") return carrier @@ -483,7 +483,7 @@ def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCar def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: - """加样头(大)板 - 2x3布局，6个位置""" + """加样头(大)板 - 1x1布局，1个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -496,13 +496,13 @@ def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarri bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, - num_items_x=3, - num_items_y=2, + num_items_x=1, + num_items_y=1, dx=start_x, dy=start_y, dz=5.0, @@ -523,12 +523,10 @@ def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarri sites=sites, model="6x_LargeDispenseHeadCarrier", ) - carrier.num_items_x = 3 - carrier.num_items_y = 2 + carrier.num_items_x = 1 + carrier.num_items_y = 1 carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] - for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_{ordering[i]}") + carrier[0] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_1") return carrier From fd737311308041fb5ecd0d2995448597c0a3eff2 Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 23 Oct 2025 18:02:49 +0800 Subject: [PATCH 013/104] =?UTF-8?q?=E5=A2=9E=E5=BC=BA=E6=89=B9=E9=87=8F?= =?UTF-8?q?=E5=85=A5=E5=BA=93=E5=8A=9F=E8=83=BD=EF=BC=8C=E6=B7=BB=E5=8A=A0?= =?UTF-8?q?=E7=89=A9=E6=96=99=E6=95=B0=E6=8D=AE=E5=90=8C=E6=AD=A5=E9=80=BB?= =?UTF-8?q?=E8=BE=91=EF=BC=9B=E4=BC=98=E5=8C=96=E6=97=A5=E5=BF=97=E8=AE=B0?= =?UTF-8?q?=E5=BD=95=E4=BB=A5=E6=8F=90=E4=BE=9B=E6=9B=B4=E8=AF=A6=E7=BB=86?= =?UTF-8?q?=E7=9A=84=E5=90=8C=E6=AD=A5=E7=8A=B6=E6=80=81=E4=BF=A1=E6=81=AF?= =?UTF-8?q?=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 37 ++++++++++++++++++- 1 file changed, 35 insertions(+), 2 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 4a343e7..3e4fcce 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -1007,9 +1007,42 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.info(f"\n正在执行批量入库，共 {len(inbound_items)} 条记录...") result = self.storage_batch_inbound(inbound_items) - if result.get("code") == 1: + inbound_success = result.get("code") == 1 + + if inbound_success: logger.info(f"✓ 批量入库成功！") logger.info(f" 响应数据: {result.get('data', {})}") + + # 步骤3: 同步物料数据 + logger.info(f"\n【步骤3/3】同步物料数据到系统...") + if hasattr(self, 'resource_synchronizer') and self.resource_synchronizer: + try: + # 尝试同步不同类型的物料 + # typeMode: 0=耗材, 1=样品, 2=试剂 + sync_success = False + for type_mode in [0, 1, 2]: + try: + logger.info(f" 尝试同步 typeMode={type_mode} 的物料...") + bioyond_data = self.hardware_interface.stock_material( + f'{{"typeMode": {type_mode}, "includeDetail": true}}' + ) + if bioyond_data: + logger.info(f" ✓ 获取到 {len(bioyond_data) if isinstance(bioyond_data, list) else 1} 条物料数据") + sync_success = True + except Exception as e: + logger.debug(f" typeMode={type_mode} 同步失败: {e}") + continue + + if sync_success: + logger.info(f"✓ 物料数据同步完成") + else: + logger.warning(f"⚠ 物料数据同步未获取到数据（这是正常的，新创建的物料可能需要时间才能查询到）") + + except Exception as e: + logger.warning(f"⚠ 物料数据同步出错: {e}") + logger.info(f" 提示：新创建的物料已成功入库，同步失败不影响使用") + else: + logger.warning("⚠ 资源同步器未初始化，跳过同步") else: logger.error(f"✗ 批量入库失败！") logger.error(f" 响应: {result}") @@ -1019,7 +1052,7 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.info("=" * 60 + "\n") return { - "success": result.get("code") == 1, + "success": inbound_success, "created_materials": created_materials, "inbound_result": result, "total_created": len(created_materials), From e2097f0b22a6659388c3030beec2515a519d1176 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Thu, 23 Oct 2025 21:41:28 +0800 Subject: [PATCH 014/104] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E6=96=B0=E7=89=A9?= =?UTF-8?q?=E6=96=99=E7=B1=BB=E5=9E=8B=E6=98=A0=E5=B0=84=EF=BC=9A=E5=8C=85?= =?UTF-8?q?=E6=8B=AC100ml=E6=B6=B2=E4=BD=93=E3=80=81=E6=B6=B2=E3=80=81?= =?UTF-8?q?=E9=AB=98=E7=B2=98=E6=B6=B2=E3=80=815ml/20ml=E5=88=86=E6=B6=B2?= =?UTF-8?q?=E7=93=B6=E3=80=81=E9=85=8D=E6=B6=B2=E7=93=B6=E3=80=81=E5=8A=A0?= =?UTF-8?q?=E6=A0=B7=E5=A4=B4=E3=80=81=E9=80=82=E9=85=8D=E5=99=A8=E5=9D=97?= =?UTF-8?q?=E3=80=81=E6=9E=AA=E5=A4=B4=E7=9B=92=E7=AD=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../workstation/bioyond_studio/config.py | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 9294300..dbf904b 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -26,7 +26,6 @@ BIOYOND_FULL_CONFIG = { "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） - # 调试模式 "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", } @@ -149,6 +148,22 @@ MATERIAL_TYPE_MAPPINGS = { "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "20ml分液瓶": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "100ml液体": ("BIOYOND_PolymerStation_100ml_Liquid_Bottle", "d37166b3-ecaa-481e-bd84-3032b795ba07"), + "液": ("BIOYOND_PolymerStation_Liquid_Bottle", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), + "高粘液": ("BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("BIOYOND_PolymerStation_Large_Dispense_Head", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "5ml分液瓶板": ("BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("BIOYOND_PolymerStation_5ml_Dispensing_Vial", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "配液瓶(小)板": ("BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("BIOYOND_PolymerStation_Small_Solution_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(大)板": ("BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)": ("BIOYOND_PolymerStation_Large_Solution_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "加样头(大)板": ("BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "适配器块": ("BIOYOND_PolymerStation_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("BIOYOND_PolymerStation_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("BIOYOND_PolymerStation_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), } # 步骤参数配置（各工作流的步骤UUID） From e92d93396809bd614876182e22c60fc9b942f990 Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 23 Oct 2025 22:36:21 +0800 Subject: [PATCH 015/104] =?UTF-8?q?refactor(bioyond=5Fcell=5Fworkstation):?= =?UTF-8?q?=20=E9=87=8D=E6=9E=84=E7=89=A9=E6=96=99=E5=88=9B=E5=BB=BA?= =?UTF-8?q?=E4=B8=8E=E5=85=A5=E5=BA=93=E9=80=BB=E8=BE=91-=20=E7=A7=BB?= =?UTF-8?q?=E9=99=A4=E4=BB=8ECSV=E8=AF=BB=E5=8F=96=E7=89=A9=E6=96=99?= =?UTF-8?q?=E5=90=8D=E7=A7=B0=E7=9A=84=E5=8A=9F=E8=83=BD=20-=20=E6=96=B0?= =?UTF-8?q?=E5=A2=9E=E9=80=9A=E8=BF=87=E5=8F=82=E6=95=B0=E4=BC=A0=E9=80=92?= =?UTF-8?q?=E7=89=A9=E6=96=99=E5=90=8D=E7=A7=B0=E5=88=97=E8=A1=A8=E7=9A=84?= =?UTF-8?q?=E6=96=B9=E5=BC=8F-=20=E6=8A=BD=E7=A6=BB=E4=BB=93=E5=BA=93?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE=E5=8A=A0=E8=BD=BD=E9=80=BB=E8=BE=91=E8=87=B3?= =?UTF-8?q?=E7=8B=AC=E7=AB=8B=E6=96=B9=E6=B3=95=20-=20=E7=AE=80=E5=8C=96?= =?UTF-8?q?=E7=89=A9=E6=96=99=E5=88=9B=E5=BB=BA=E4=B8=8E=E5=85=A5=E5=BA=93?= =?UTF-8?q?=E6=B5=81=E7=A8=8B-=20=E7=BB=9F=E4=B8=80=E4=BD=BF=E7=94=A8?= =?UTF-8?q?=E8=B5=84=E6=BA=90=E5=90=8C=E6=AD=A5=E5=99=A8=E8=BF=9B=E8=A1=8C?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=E5=90=8C=E6=AD=A5=20-=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E8=B0=83=E7=94=A8=E7=A4=BA=E4=BE=8B=E4=BB=A5=E9=80=82=E9=85=8D?= =?UTF-8?q?=E6=96=B0=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 280 ++++++++---------- 1 file changed, 116 insertions(+), 164 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 3e4fcce..3c0ec08 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -14,7 +14,7 @@ import socket from urllib3 import response from unilabos.devices.workstation.workstation_base import WorkstationBase -from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation +from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer from unilabos.devices.workstation.bioyond_studio.config import ( BIOYOND_FULL_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING ) @@ -886,180 +886,132 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.info(f"物料创建完成，成功创建 {len(created_materials)}/{total} 个固体物料") return created_materials - def create_and_inbound_materials_from_csv( - self, - csv_path: str = "solid_materials.csv", + def _sync_materials_safe(self) -> bool: + """仅使用 BioyondResourceSynchronizer 执行同步（与 station.py 保持一致）。""" + if hasattr(self, 'resource_synchronizer') and self.resource_synchronizer: + try: + return bool(self.resource_synchronizer.sync_from_external()) + except Exception as e: + logger.error(f"同步失败: {e}") + return False + logger.warning("资源同步器未初始化") + return False + + def _load_warehouse_locations(self, warehouse_name: str) -> tuple[List[str], List[str]]: + """从配置加载仓库位置信息 + + Args: + warehouse_name: 仓库名称 + + Returns: + (location_ids, position_names) 元组 + """ + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", WAREHOUSE_MAPPING) + + if warehouse_name not in warehouse_mapping: + raise ValueError(f"配置中未找到仓库: {warehouse_name}。可用: {list(warehouse_mapping.keys())}") + + site_uuids = warehouse_mapping[warehouse_name].get("site_uuids", {}) + if not site_uuids: + raise ValueError(f"仓库 {warehouse_name} 没有配置位置") + + # 按顺序获取位置ID和名称 + location_ids = [] + position_names = [] + for key in sorted(site_uuids.keys()): + location_ids.append(site_uuids[key]) + position_names.append(key) + + return location_ids, position_names + + + def create_and_inbound_materials( + self, + material_names: Optional[List[str]] = None, type_id: str = "3a190ca0-b2f6-9aeb-8067-547e72c11469", warehouse_name: str = "粉末加样头堆栈" ) -> Dict[str, Any]: """ - 从CSV文件读取物料列表，创建物料并批量入库到指定堆栈 - + 传参与默认列表方式创建物料并入库（不使用CSV）。 + Args: - csv_path: CSV文件路径 - type_id: 物料类型ID（默认为固体物料类型） - warehouse_name: 仓库名称（默认为"粉末加样头堆栈"） - + material_names: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2] + type_id: 物料类型ID + warehouse_name: 目标仓库名（用于取位置信息） + Returns: - 包含执行结果的字典 + 执行结果字典 """ logger.info("=" * 60) - logger.info(f"开始执行：从CSV读取物料列表并批量创建入库到 {warehouse_name}") + logger.info(f"开始执行：从参数创建物料并批量入库到 {warehouse_name}") logger.info("=" * 60) - - # 从配置中获取位置ID列表 - warehouse_mapping = self.bioyond_config.get("warehouse_mapping", WAREHOUSE_MAPPING) - - if warehouse_name not in warehouse_mapping: - error_msg = f"配置中未找到仓库: {warehouse_name}" - logger.error(error_msg) - logger.info(f"可用的仓库: {list(warehouse_mapping.keys())}") - return {"success": False, "error": error_msg} - - warehouse_config = warehouse_mapping[warehouse_name] - site_uuids = warehouse_config.get("site_uuids", {}) - - if not site_uuids: - error_msg = f"仓库 {warehouse_name} 没有配置位置" - logger.error(error_msg) - return {"success": False, "error": error_msg} - - # 按顺序获取位置ID（A01, B01, C01...） - all_location_ids = [] - position_names = [] - for key in sorted(site_uuids.keys()): - all_location_ids.append(site_uuids[key]) - position_names.append(key) - - logger.info(f"✓ 从配置文件加载 {len(all_location_ids)} 个位置") - logger.info(f" 仓库: {warehouse_name}") - logger.info(f" 位置范围: {position_names[0]} ~ {position_names[-1]}") - - # 读取CSV文件 - csv_file_path = Path(csv_path) - material_names = [] - + try: - df_materials = pd.read_csv(csv_file_path) - if 'material_name' in df_materials.columns: - material_names = df_materials['material_name'].dropna().astype(str).str.strip().tolist() - logger.info(f"✓ 成功从CSV文件读取 {len(material_names)} 个物料名称") - logger.info(f" 文件路径: {csv_file_path}") + # 1) 准备物料名称（默认值） + default_materials = ["LiPF6", "LiDFOB", "DTD", "LiFSI", "LiPO2F2"] + mat_names = [m.strip() for m in (material_names or default_materials) if str(m).strip()] + if not mat_names: + return {"success": False, "error": "物料名称列表为空"} + + # 2) 加载仓库位置信息 + all_location_ids, position_names = self._load_warehouse_locations(warehouse_name) + logger.info(f"✓ 加载 {len(all_location_ids)} 个位置 ({position_names[0]} ~ {position_names[-1]})") + + # 限制数量不超过可用位置 + if len(mat_names) > len(all_location_ids): + logger.warning(f"物料数量超出位置数量，仅处理前 {len(all_location_ids)} 个") + mat_names = mat_names[:len(all_location_ids)] + + # 3) 创建物料 + logger.info(f"\n【步骤1/3】创建 {len(mat_names)} 个固体物料...") + created_materials = self.create_solid_materials(mat_names, type_id) + if not created_materials: + return {"success": False, "error": "没有成功创建任何物料"} + + # 4) 批量入库 + logger.info(f"\n【步骤2/3】批量入库物料...") + location_ids = all_location_ids[:len(created_materials)] + selected_positions = position_names[:len(created_materials)] + + inbound_items = [ + {"materialId": mat["materialId"], "locationId": loc_id} + for mat, loc_id in zip(created_materials, location_ids) + ] + + for material, position in zip(created_materials, selected_positions): + logger.info(f" - {material['name']} → {position}") + + result = self.storage_batch_inbound(inbound_items) + if result.get("code") != 1: + logger.error(f"✗ 批量入库失败: {result}") + return {"success": False, "error": "批量入库失败", "created_materials": created_materials, "inbound_result": result} + + logger.info("✓ 批量入库成功") + + # 5) 同步 + logger.info(f"\n【步骤3/3】同步物料数据...") + if self._sync_materials_safe(): + logger.info("✓ 物料数据同步完成") else: - logger.error(f"✗ CSV文件缺少 'material_name' 列") - return {"success": False, "error": "CSV文件缺少 'material_name' 列"} - except FileNotFoundError: - logger.error(f"✗ 未找到CSV文件: {csv_file_path}") - logger.info("请创建CSV文件，格式：") - logger.info(" material_name") - logger.info(" LiPF6") - logger.info(" LiDFOB") - logger.info(" ...") - return {"success": False, "error": f"未找到CSV文件: {csv_file_path}"} + logger.warning("⚠ 物料数据同步未完成（可忽略，不影响已创建与入库的数据）") + + logger.info("\n" + "=" * 60) + logger.info("流程完成") + logger.info("=" * 60 + "\n") + + return { + "success": True, + "created_materials": created_materials, + "inbound_result": result, + "total_created": len(created_materials), + "total_inbound": len(inbound_items), + "warehouse": warehouse_name, + "positions": selected_positions + } + except Exception as e: - logger.error(f"✗ 读取CSV文件失败: {e}") - return {"success": False, "error": f"读取CSV文件失败: {e}"} - - if not material_names: - logger.error("CSV文件中没有有效的物料名称") - return {"success": False, "error": "CSV文件中没有有效的物料名称"} - - # 检查物料数量 - if len(material_names) > len(all_location_ids): - logger.warning(f"物料数量({len(material_names)})超过可用位置数量({len(all_location_ids)})！") - logger.warning(f"将仅创建前 {len(all_location_ids)} 个物料") - material_names = material_names[:len(all_location_ids)] - - # 准备位置信息 - location_ids = all_location_ids[:len(material_names)] - selected_positions = position_names[:len(material_names)] - - # 步骤1: 创建固体物料 - logger.info(f"\n【步骤1/2】创建 {len(material_names)} 个固体物料...") - logger.info(f"物料类型ID: {type_id}") - logger.info(f"物料列表: {', '.join(material_names)}") - - created_materials = self.create_solid_materials( - material_names=material_names, - type_id=type_id - ) - - if len(created_materials) != len(material_names): - logger.warning(f"创建的物料数量({len(created_materials)})与计划数量({len(material_names)})不匹配！") - logger.warning("将仅对成功创建的物料进行入库操作") - - if not created_materials: - logger.error("没有成功创建任何物料") - return {"success": False, "error": "没有成功创建任何物料"} - - # 步骤2: 批量入库到指定位置 - logger.info(f"\n【步骤2/2】批量入库物料到 {warehouse_name}...") - inbound_items = [] - - for idx, material in enumerate(created_materials): - if idx < len(location_ids): - inbound_items.append({ - "materialId": material["materialId"], - "locationId": location_ids[idx] - }) - logger.info(f" - {material['name']} (ID: {material['materialId'][:8]}...) → 位置 {selected_positions[idx]}") - - logger.info(f"\n正在执行批量入库，共 {len(inbound_items)} 条记录...") - result = self.storage_batch_inbound(inbound_items) - - inbound_success = result.get("code") == 1 - - if inbound_success: - logger.info(f"✓ 批量入库成功！") - logger.info(f" 响应数据: {result.get('data', {})}") - - # 步骤3: 同步物料数据 - logger.info(f"\n【步骤3/3】同步物料数据到系统...") - if hasattr(self, 'resource_synchronizer') and self.resource_synchronizer: - try: - # 尝试同步不同类型的物料 - # typeMode: 0=耗材, 1=样品, 2=试剂 - sync_success = False - for type_mode in [0, 1, 2]: - try: - logger.info(f" 尝试同步 typeMode={type_mode} 的物料...") - bioyond_data = self.hardware_interface.stock_material( - f'{{"typeMode": {type_mode}, "includeDetail": true}}' - ) - if bioyond_data: - logger.info(f" ✓ 获取到 {len(bioyond_data) if isinstance(bioyond_data, list) else 1} 条物料数据") - sync_success = True - except Exception as e: - logger.debug(f" typeMode={type_mode} 同步失败: {e}") - continue - - if sync_success: - logger.info(f"✓ 物料数据同步完成") - else: - logger.warning(f"⚠ 物料数据同步未获取到数据（这是正常的，新创建的物料可能需要时间才能查询到）") - - except Exception as e: - logger.warning(f"⚠ 物料数据同步出错: {e}") - logger.info(f" 提示：新创建的物料已成功入库，同步失败不影响使用") - else: - logger.warning("⚠ 资源同步器未初始化，跳过同步") - else: - logger.error(f"✗ 批量入库失败！") - logger.error(f" 响应: {result}") - - logger.info("\n" + "=" * 60) - logger.info("固体物料创建和入库流程完成") - logger.info("=" * 60 + "\n") - - return { - "success": inbound_success, - "created_materials": created_materials, - "inbound_result": result, - "total_created": len(created_materials), - "total_inbound": len(inbound_items), - "warehouse": warehouse_name, - "positions": selected_positions - } + logger.error(f"✗ 执行失败: {e}") + return {"success": False, "error": str(e)} # -------------------------------- @@ -1070,7 +1022,7 @@ if __name__ == "__main__": logger.info(ws.scheduler_start()) # 从CSV文件读取物料列表并批量创建入库 - result = ws.create_and_inbound_materials_from_csv() + result = ws.create_and_inbound_materials() # 继续后续流程 logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 From 7206e42bf1cf8df597487896724d193243fcf561 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Fri, 24 Oct 2025 11:37:36 +0800 Subject: [PATCH 016/104] =?UTF-8?q?xinyu1024=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 600 ++++++------------ .../workstation/bioyond_studio/config.py | 222 +++---- .../workstation/workstation_http_service.py | 8 +- unilabos/registry/resources/bioyond/deck.yaml | 2 +- unilabos/resources/bioyond/bottles.py | 2 +- unilabos/resources/bioyond/warehouses.py | 2 +- unilabos/resources/graphio.py | 2 + 7 files changed, 282 insertions(+), 556 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 3e4fcce..20dcaa9 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -9,14 +9,12 @@ import time from datetime import datetime, timedelta import re import threading -import os -import socket +import json from urllib3 import response -from unilabos.devices.workstation.workstation_base import WorkstationBase -from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation +from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer from unilabos.devices.workstation.bioyond_studio.config import ( - BIOYOND_FULL_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING + API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS ) from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService from unilabos.utils.log import logger @@ -43,32 +41,52 @@ class BioyondCellWorkstation(BioyondWorkstation): *args, **kwargs, ): - # 使用统一配置，支持自定义覆盖 - self.bioyond_config = bioyond_config or { - **BIOYOND_FULL_CONFIG, # 从 config.py 加载完整配置 - "workflow_mappings": WORKFLOW_MAPPINGS, + # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置 + self.bioyond_config = bioyond_config or { + **API_CONFIG, "material_type_mappings": MATERIAL_TYPE_MAPPINGS, "warehouse_mapping": WAREHOUSE_MAPPING - } + } + + # "material_type_mappings": MATERIAL_TYPE_MAPPINGS + # "warehouse_mapping": WAREHOUSE_MAPPING + + print(self.bioyond_config) self.debug_mode = self.bioyond_config["debug_mode"] - self.http_service_started = False + self.http_service_started = self.debug_mode deck = kwargs.pop("deck", None) self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation") super().__init__(bioyond_config=self.bioyond_config, deck=deck, station_resource=station_resource, *args, **kwargs) - # 步骤通量任务通知铃 - self._pending_events: dict[str, threading.Event] = {} + self.update_push_ip() #直接修改奔耀端的报送ip地址 + logger.info("已更新奔耀端推送 IP 地址") + + # 启动 HTTP 服务线程 + t = threading.Thread(target=self._start_http_service, daemon=True, name="unilab_http") + t.start() + logger.info("HTTP 服务线程已启动") + # 等到任务报送成功 + self.order_finish_event = threading.Event() + self.last_order_status = None + self.last_order_code = None logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") - # 实例化并在后台线程启动 HTTP 报送服务 - self.order_status = {} # 记录任务完成情况，用于接受bioyond post信息和反馈信息，尤其用于硬件查询和物料信息变化 + def _start_http_service(self): + """启动 HTTP 服务""" + host = self.bioyond_config.get("HTTP_host", "") + port = self.bioyond_config.get("HTTP_port", None) try: - logger.info("准备开始unilab_HTTP后台线程") - t = threading.Thread(target=self._start_http_service, daemon=True, name="unilab_http") - t.start() + self.service = WorkstationHTTPService(self, host=host, port=port) + self.service.start() + self.http_service_started = True + logger.info(f"WorkstationHTTPService 成功启动: {host}:{port}") + while True: + time.sleep(1) #一直挂着，直到进程退出 except Exception as e: - logger.error(f"unilab-HTTP后台线程启动失败: {e}") + self.http_service_started = False + logger.error(f"启动 WorkstationHTTPService 失败: {e}", exc_info=True) - # http报送服务 + + # http报送服务，返回数据部分 def process_step_finish_report(self, report_request): stepId = report_request.data.get("stepId") logger.info(f"步骤完成: stepId: {stepId}, stepName:{report_request.data.get('stepName')}") @@ -82,147 +100,65 @@ class BioyondCellWorkstation(BioyondWorkstation): order_code = report_request.data.get("orderCode") status = report_request.data.get("status") logger.info(f"report_request: {report_request}") - logger.info(f"任务完成: {order_code}, status={status}") - - # 记录订单状态码 - if order_code: - self.order_status[order_code] = status - - self._set_pending_event(order_code) + + # 保存完整报文 + self.last_order_report = report_request.data + # 如果是当前等待的订单，触发事件 + if self.last_order_code == order_code: + self.order_finish_event.set() + return {"status": "received"} - def _set_pending_event(self, taskname: Optional[str]) -> None: - if not taskname: - return - event = self._pending_events.get(taskname) - if event is None: - event = threading.Event() - self._pending_events[taskname] = event - event.set() - - def _wait_for_order_completion(self, order_code: Optional[str], timeout: int = 600) -> bool: + def wait_for_order_finish(self, order_code: str, timeout: int = 1800) -> Dict[str, Any]: + """ + 等待指定 orderCode 的 /report/order_finish 报送。 + Args: + order_code: 任务编号 + timeout: 超时时间（秒） + Returns: + 完整的报送数据 + 状态判断结果 + """ if not order_code: - logger.warning("无法等待任务完成：order_code 为空") - return False - event = self._pending_events.get(order_code) - if event is None: - event = threading.Event() - self._pending_events[order_code] = event - elif event.is_set(): - logger.info(f"任务 {order_code} 在等待之前已完成") - self._pending_events.pop(order_code, None) - return True - logger.info(f"等待任务 {order_code} 完成 (timeout={timeout}s)") - finished = event.wait(timeout) - if not finished: - logger.warning(f"等待任务 {order_code} 完成超时（{timeout}s）") - self._pending_events.pop(order_code, None) - return finished + logger.error("wait_for_order_finish() 被调用，但 order_code 为空！") + return {"status": "error", "message": "empty order_code"} - def _wait_for_response_orders(self, response: Dict[str, Any], context: str, timeout: int = 600) -> None: - order_codes = self._extract_order_codes(response) - if not order_codes: - logger.warning(f"{context} 响应中未找到 orderCode，无法跟踪任务完成") - return - for code in order_codes: - finished = self._wait_for_order_completion(code, timeout=timeout) - if finished: - # 检查订单返回码是否为30（正常完成） - status = self.order_status.get(code) - if status == 30 or status == "30": - logger.info(f"订单 {code} 成功完成，状态码: {status}") - else: - logger.warning(f"订单 {code} 完成但状态码异常: {status} (期望: 30, -11=异常停止, -12=人工停止)") - # 清理状态记录 - self.order_status.pop(code, None) - else: - logger.error(f"订单 {code} 等待超时，未收到完成通知") + self.last_order_code = order_code + self.last_order_report = None + self.order_finish_event.clear() - @staticmethod - def _extract_order_codes(response: Dict[str, Any]) -> List[str]: - order_codes: List[str] = [] - if not isinstance(response, dict): - return order_codes - data = response.get("data") - keys = ["orderCode", "order_code", "orderId", "order_id"] - if isinstance(data, dict): - for key in keys: - if key in data and data[key]: - order_codes.append(str(data[key])) - if not order_codes and "orders" in data and isinstance(data["orders"], list): - for order in data["orders"]: - if isinstance(order, dict): - for key in keys: - if key in order and order[key]: - order_codes.append(str(order[key])) - elif isinstance(data, list): - for item in data: - if isinstance(item, dict): - for key in keys: - if key in item and item[key]: - order_codes.append(str(item[key])) - elif isinstance(data, str): - if data: - order_codes.append(data) - meta = response.get("orderCode") - if meta: - order_codes.append(str(meta)) - # 去重 - seen = set() - unique_codes: List[str] = [] - for code in order_codes: - if code not in seen: - seen.add(code) - unique_codes.append(code) - return unique_codes + logger.info(f"等待任务完成报送: orderCode={order_code} (timeout={timeout}s)") + if not self.order_finish_event.wait(timeout=timeout): + logger.error(f"等待任务超时: orderCode={order_code}") + return {"status": "timeout", "orderCode": order_code} - def _start_http_service(self, host: Optional[str] = None, port: Optional[int] = None) -> None: - host = host or self.bioyond_config.get("HTTP_host", "") - port = port or self.bioyond_config.get("HTTP_port", ) + # 报送数据匹配验证 + report = self.last_order_report or {} + report_code = report.get("orderCode") + status = str(report.get("status", "")) + + if report_code != order_code: + logger.warning(f"收到的报送 orderCode 不匹配: {report_code} ≠ {order_code}") + return {"status": "mismatch", "report": report} + + if status == "30": + logger.info(f"任务成功完成 (orderCode={order_code})") + return {"status": "success", "report": report} + elif status == "-11": + logger.error(f"任务异常停止 (orderCode={order_code})") + return {"status": "abnormal_stop", "report": report} + elif status == "-12": + logger.warning(f"任务人工停止 (orderCode={order_code})") + return {"status": "manual_stop", "report": report} + else: + logger.warning(f"任务未知状态 ({status}) (orderCode={order_code})") + return {"status": f"unknown_{status}", "report": report} - logger.info("准备开始unilab_HTTP服务") - try: - self.service = WorkstationHTTPService(self, host=host, port=port) - logger.info("WorkstationHTTPService 实例化完成") - self.service.start() - self.http_service_started = True - logger.info(f"WorkstationHTTPService成功启动: {host}:{port}") - - # 启动成功后，上报本机推送地址（3.36） - try: - # 优先使用配置中的 report_ip - report_ip = self.bioyond_config.get("report_ip", "").strip() - - # 如果配置中没有指定 report_ip，且监听地址是 0.0.0.0，则自动检测 - if not report_ip and host in ("0.0.0.0", ""): - # 从 Bioyond 配置中提取服务器地址 - bioyond_server = self.bioyond_config.get("base_url", "") - if bioyond_server: - import urllib.parse - parsed = urllib.parse.urlparse(bioyond_server) - - elif not report_ip: - # 如果没有配置 report_ip，使用监听地址 - report_ip = host - - r = self.update_push_ip(report_ip, port) - logger.info(f"向 Bioyond 报送推送地址: {report_ip}:{port}, 结果: {r}") - except Exception as e: - logger.warning(f"调用更新推送IP接口失败: {e}") - - #一直挂着，直到进程退出 - while True: - time.sleep(1) - except Exception as e: - self.http_service_started = False # 调试用 - logger.error(f"启动WorkstationHTTPService失败: {e}", exc_info=True) # -------------------- 基础HTTP封装 -------------------- def _url(self, path: str) -> str: - - return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}" + return f"{self.bioyond_config['api_host'].rstrip('/')}/{path.lstrip('/')}" def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" @@ -236,9 +172,11 @@ class BioyondCellWorkstation(BioyondWorkstation): if self.debug_mode: # 模拟返回，不发真实请求 logger.info(f"[DEBUG] POST {path} with payload={payload}") + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} try: + logger.info(json.dumps(payload, ensure_ascii=False)) response = requests.post( self._url(path), json=payload, @@ -248,7 +186,7 @@ class BioyondCellWorkstation(BioyondWorkstation): response.raise_for_status() return response.json() except Exception as e: - logger.info(f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}") + logger.info(f"{self.bioyond_config['api_host'].rstrip('/')}/{path.lstrip('/')}") logger.error(f"POST {path} 失败: {e}") return {"error": str(e)} @@ -263,7 +201,7 @@ class BioyondCellWorkstation(BioyondWorkstation): if self.debug_mode: logger.info(f"[DEBUG] PUT {path} with payload={payload}") - return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + return {"debug_mode": True, "url": self._url(path), "payload": payload, "status": "ok"} try: response = requests.put( @@ -275,7 +213,7 @@ class BioyondCellWorkstation(BioyondWorkstation): response.raise_for_status() return response.json() except Exception as e: - logger.info(f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}") + logger.info(f"{self.bioyond_config['api_host'].rstrip('/')}/{path.lstrip('/')}") logger.error(f"PUT {path} 失败: {e}") return {"error": str(e)} @@ -310,11 +248,10 @@ class BioyondCellWorkstation(BioyondWorkstation): return self._post_lims("/api/lims/storage/batch-inbound", items) - def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx", + xlsx_path: Optional[str] = "unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\样品导入模板.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -443,9 +380,15 @@ class BioyondCellWorkstation(BioyondWorkstation): return {"code": 0, "message": "no valid items", "data": []} logger.info(items) response = self._post_lims("/api/lims/order/auto-feeding4to3", items) - self._wait_for_response_orders(response, "auto_feeding4to3") - return response + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("上料任务未返回有效 orderCode！") + return response + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + return result @@ -681,31 +624,17 @@ class BioyondCellWorkstation(BioyondWorkstation): } orders.append(order_data) - # print(orders) - while True: - time.sleep(5) - response = self._post_lims("/api/lims/order/orders", orders) - if response.get("data", []): - break - logger.info(f"等待配液实验创建完成") - - - # self.order_status[response["data"]["orderCode"]] = "running" - - # while True: - # time.sleep(5) - # if self.order_status.get(response["data"]["orderCode"], None) == "finished": - # logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运") - # break - # logger.info(f"等待配液实验完成") - - # self.transfer_3_to_2_to_1() - # self.wait_for_transfer_task() - # logger.info(f"3-2-1 转运完成，返回结果") - # return r321 - self._wait_for_response_orders(response, "create_orders", timeout=1800) - return response + response = self._post_lims("/api/lims/order/orders", orders) + print(response) + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("上料任务未返回有效 orderCode！") + return response + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + return result # 2.7 启动调度 def scheduler_start(self) -> Dict[str, Any]: @@ -726,6 +655,13 @@ class BioyondCellWorkstation(BioyondWorkstation): 请求体只包含 apiKey 和 requestTime """ return self._post_lims("/api/lims/scheduler/continue") + def scheduler_reset(self) -> Dict[str, Any]: + """ + 复位调度 (2.11) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/reset") + # 2.24 物料变更推送 def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: @@ -744,7 +680,16 @@ class BioyondCellWorkstation(BioyondWorkstation): } if source_wh_id: payload["sourceWHID"] = source_wh_id - return self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + + response = self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("上料任务未返回有效 orderCode！") + return response + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + return result # 3.35 1→2 物料转运 def transfer_1_to_2(self) -> Dict[str, Any]: @@ -753,7 +698,15 @@ class BioyondCellWorkstation(BioyondWorkstation): URL: /api/lims/order/transfer-task1To2 只需要 apiKey 和 requestTime """ - return self._post_lims("/api/lims/order/transfer-task1To2") + response = self._post_lims("/api/lims/order/transfer-task1To2") + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("上料任务未返回有效 orderCode！") + return response + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + return result # 2.5 批量查询实验报告(post过滤关键字查询) def order_list_v2(self, @@ -825,241 +778,38 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.warning("超时未找到成功的物料转移任务") return False - def create_solid_materials(self, material_names: List[str], type_id: str = "3a190ca0-b2f6-9aeb-8067-547e72c11469") -> List[Dict[str, Any]]: + def create_materials(self, mappings: Dict[str, Dict[str, Any]]) -> List[Dict[str, Any]]: """ - 批量创建固体物料 - - Args: - material_names: 物料名称列表 - type_id: 物料类型ID（默认为固体物料类型） - - Returns: - 创建的物料列表，每个元素包含物料信息和ID + 将 SOLID_LIQUID_MAPPINGS 中的所有物料逐个 POST 到 /api/lims/storage/material """ - created_materials = [] - total = len(material_names) - - for i, name in enumerate(material_names, 1): - # 根据接口文档构建完整的请求体 - material_data = { - "typeId": type_id, - "name": name, - "unit": "g", # 添加单位 - "quantity": 1, # 添加数量（默认1） - "parameters": "" # 参数字段（空字符串表示无参数） - } - - logger.info(f"正在创建第 {i}/{total} 个固体物料: {name}") - result = self._post_lims("/api/lims/storage/material", material_data) - - if result and result.get("code") == 1: - # data 字段可能是字符串（物料ID）或字典（包含id字段） - data = result.get("data") - if isinstance(data, str): - # data 直接是物料ID字符串 - material_id = data - elif isinstance(data, dict): - # data 是字典，包含id字段 - material_id = data.get("id") - else: - material_id = None - - if material_id: - created_materials.append({ - "name": name, - "materialId": material_id, - "typeId": type_id - }) - logger.info(f"✓ 成功创建物料: {name}, ID: {material_id}") - else: - logger.error(f"✗ 创建物料失败: {name}, 未返回ID") - logger.error(f" 响应数据: {result}") - else: - error_msg = result.get("error") or result.get("message", "未知错误") - logger.error(f"✗ 创建物料失败: {name}") - logger.error(f" 错误信息: {error_msg}") - logger.error(f" 完整响应: {result}") - - # 避免请求过快 - time.sleep(0.3) - - logger.info(f"物料创建完成，成功创建 {len(created_materials)}/{total} 个固体物料") - return created_materials + results = [] + + for name, data in mappings.items(): + data = { + "typeId": data["typeId"], + "code": data.get("code", ""), + "barCode": data.get("barCode", ""), + "name": data["name"], + "unit": data.get("unit", "g"), + "parameters": data.get("parameters", ""), + "quantity": data.get("quantity", ""), + "warningQuantity": data.get("warningQuantity", ""), + "details": data.get("details", []) + } + + logger.info(f"正在 POST 创建物料: {name}") + try: + # ✅ 真正执行 POST + result = self._post_lims("/api/lims/storage/material", data) + logger.info(f"响应: {result}") + except Exception as e: + logger.error(f"✗ 创建物料失败: {name}, 错误: {e}") + results.append({name: {"error": str(e)}}) + time.sleep(0.3) # 避免请求过快 + return results + + - def create_and_inbound_materials_from_csv( - self, - csv_path: str = "solid_materials.csv", - type_id: str = "3a190ca0-b2f6-9aeb-8067-547e72c11469", - warehouse_name: str = "粉末加样头堆栈" - ) -> Dict[str, Any]: - """ - 从CSV文件读取物料列表，创建物料并批量入库到指定堆栈 - - Args: - csv_path: CSV文件路径 - type_id: 物料类型ID（默认为固体物料类型） - warehouse_name: 仓库名称（默认为"粉末加样头堆栈"） - - Returns: - 包含执行结果的字典 - """ - logger.info("=" * 60) - logger.info(f"开始执行：从CSV读取物料列表并批量创建入库到 {warehouse_name}") - logger.info("=" * 60) - - # 从配置中获取位置ID列表 - warehouse_mapping = self.bioyond_config.get("warehouse_mapping", WAREHOUSE_MAPPING) - - if warehouse_name not in warehouse_mapping: - error_msg = f"配置中未找到仓库: {warehouse_name}" - logger.error(error_msg) - logger.info(f"可用的仓库: {list(warehouse_mapping.keys())}") - return {"success": False, "error": error_msg} - - warehouse_config = warehouse_mapping[warehouse_name] - site_uuids = warehouse_config.get("site_uuids", {}) - - if not site_uuids: - error_msg = f"仓库 {warehouse_name} 没有配置位置" - logger.error(error_msg) - return {"success": False, "error": error_msg} - - # 按顺序获取位置ID（A01, B01, C01...） - all_location_ids = [] - position_names = [] - for key in sorted(site_uuids.keys()): - all_location_ids.append(site_uuids[key]) - position_names.append(key) - - logger.info(f"✓ 从配置文件加载 {len(all_location_ids)} 个位置") - logger.info(f" 仓库: {warehouse_name}") - logger.info(f" 位置范围: {position_names[0]} ~ {position_names[-1]}") - - # 读取CSV文件 - csv_file_path = Path(csv_path) - material_names = [] - - try: - df_materials = pd.read_csv(csv_file_path) - if 'material_name' in df_materials.columns: - material_names = df_materials['material_name'].dropna().astype(str).str.strip().tolist() - logger.info(f"✓ 成功从CSV文件读取 {len(material_names)} 个物料名称") - logger.info(f" 文件路径: {csv_file_path}") - else: - logger.error(f"✗ CSV文件缺少 'material_name' 列") - return {"success": False, "error": "CSV文件缺少 'material_name' 列"} - except FileNotFoundError: - logger.error(f"✗ 未找到CSV文件: {csv_file_path}") - logger.info("请创建CSV文件，格式：") - logger.info(" material_name") - logger.info(" LiPF6") - logger.info(" LiDFOB") - logger.info(" ...") - return {"success": False, "error": f"未找到CSV文件: {csv_file_path}"} - except Exception as e: - logger.error(f"✗ 读取CSV文件失败: {e}") - return {"success": False, "error": f"读取CSV文件失败: {e}"} - - if not material_names: - logger.error("CSV文件中没有有效的物料名称") - return {"success": False, "error": "CSV文件中没有有效的物料名称"} - - # 检查物料数量 - if len(material_names) > len(all_location_ids): - logger.warning(f"物料数量({len(material_names)})超过可用位置数量({len(all_location_ids)})！") - logger.warning(f"将仅创建前 {len(all_location_ids)} 个物料") - material_names = material_names[:len(all_location_ids)] - - # 准备位置信息 - location_ids = all_location_ids[:len(material_names)] - selected_positions = position_names[:len(material_names)] - - # 步骤1: 创建固体物料 - logger.info(f"\n【步骤1/2】创建 {len(material_names)} 个固体物料...") - logger.info(f"物料类型ID: {type_id}") - logger.info(f"物料列表: {', '.join(material_names)}") - - created_materials = self.create_solid_materials( - material_names=material_names, - type_id=type_id - ) - - if len(created_materials) != len(material_names): - logger.warning(f"创建的物料数量({len(created_materials)})与计划数量({len(material_names)})不匹配！") - logger.warning("将仅对成功创建的物料进行入库操作") - - if not created_materials: - logger.error("没有成功创建任何物料") - return {"success": False, "error": "没有成功创建任何物料"} - - # 步骤2: 批量入库到指定位置 - logger.info(f"\n【步骤2/2】批量入库物料到 {warehouse_name}...") - inbound_items = [] - - for idx, material in enumerate(created_materials): - if idx < len(location_ids): - inbound_items.append({ - "materialId": material["materialId"], - "locationId": location_ids[idx] - }) - logger.info(f" - {material['name']} (ID: {material['materialId'][:8]}...) → 位置 {selected_positions[idx]}") - - logger.info(f"\n正在执行批量入库，共 {len(inbound_items)} 条记录...") - result = self.storage_batch_inbound(inbound_items) - - inbound_success = result.get("code") == 1 - - if inbound_success: - logger.info(f"✓ 批量入库成功！") - logger.info(f" 响应数据: {result.get('data', {})}") - - # 步骤3: 同步物料数据 - logger.info(f"\n【步骤3/3】同步物料数据到系统...") - if hasattr(self, 'resource_synchronizer') and self.resource_synchronizer: - try: - # 尝试同步不同类型的物料 - # typeMode: 0=耗材, 1=样品, 2=试剂 - sync_success = False - for type_mode in [0, 1, 2]: - try: - logger.info(f" 尝试同步 typeMode={type_mode} 的物料...") - bioyond_data = self.hardware_interface.stock_material( - f'{{"typeMode": {type_mode}, "includeDetail": true}}' - ) - if bioyond_data: - logger.info(f" ✓ 获取到 {len(bioyond_data) if isinstance(bioyond_data, list) else 1} 条物料数据") - sync_success = True - except Exception as e: - logger.debug(f" typeMode={type_mode} 同步失败: {e}") - continue - - if sync_success: - logger.info(f"✓ 物料数据同步完成") - else: - logger.warning(f"⚠ 物料数据同步未获取到数据（这是正常的，新创建的物料可能需要时间才能查询到）") - - except Exception as e: - logger.warning(f"⚠ 物料数据同步出错: {e}") - logger.info(f" 提示：新创建的物料已成功入库，同步失败不影响使用") - else: - logger.warning("⚠ 资源同步器未初始化，跳过同步") - else: - logger.error(f"✗ 批量入库失败！") - logger.error(f" 响应: {result}") - - logger.info("\n" + "=" * 60) - logger.info("固体物料创建和入库流程完成") - logger.info("=" * 60 + "\n") - - return { - "success": inbound_success, - "created_materials": created_materials, - "inbound_result": result, - "total_created": len(created_materials), - "total_inbound": len(inbound_items), - "warehouse": warehouse_name, - "positions": selected_positions - } # -------------------------------- @@ -1067,20 +817,24 @@ class BioyondCellWorkstation(BioyondWorkstation): if __name__ == "__main__": ws = BioyondCellWorkstation() - logger.info(ws.scheduler_start()) + logger.info(ws.scheduler_stop()) + + results = ws.create_materials(SOLID_LIQUID_MAPPINGS) + for r in results: + logger.info(r) # 从CSV文件读取物料列表并批量创建入库 - result = ws.create_and_inbound_materials_from_csv() + # logger.info(ws.create_and_inbound_materials_from_csv()) # 继续后续流程 - logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 - # 使用正斜杠或 Path 对象来指定文件路径 - excel_path = Path("unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") - logger.info(ws.create_orders(excel_path)) - logger.info(ws.transfer_3_to_2_to_1()) - - logger.info(ws.transfer_1_to_2()) + # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + # # 使用正斜杠或 Path 对象来指定文件路径 + # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + # logger.info(ws.create_orders(excel_path)) + # logger.info(ws.transfer_3_to_2_to_1()) + # logger.info(ws.transfer_1_to_2()) + # logger.info(ws.scheduler_start()) while True: diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 9294300..55080d4 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -5,17 +5,13 @@ import os # ==================== API 基础配置 ==================== -# 支持通过环境变量覆盖默认值 -API_CONFIG = { - "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"), -} + # ==================== 完整的 Bioyond 配置 ==================== # BioyondCellWorkstation 默认配置（包含所有必需参数） -BIOYOND_FULL_CONFIG = { +API_CONFIG = { # API 连接配置 - "base_url": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"), + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"), "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), @@ -23,96 +19,15 @@ BIOYOND_FULL_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） - "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), - "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） + "HTTP_host": os.getenv("unilab_HTTP_HOST", "172.21.32.164"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） + "HTTP_port": int(os.getenv("unilab_HTTP_PORT", "8080")), # 调试模式 - "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", -} - -# 工作流映射配置 -WORKFLOW_MAPPINGS = { - "reactor_taken_out": "", - "reactor_taken_in": "", - "Solid_feeding_vials": "", - "Liquid_feeding_vials(non-titration)": "", - "Liquid_feeding_solvents": "", - "Liquid_feeding(titration)": "", - "liquid_feeding_beaker": "", - "Drip_back": "", -} - -# 工作流名称到DisplaySectionName的映射 -WORKFLOW_TO_SECTION_MAP = { - 'reactor_taken_in': '反应器放入', - 'liquid_feeding_beaker': '液体投料-烧杯', - 'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）', - 'Liquid_feeding_solvents': '液体投料-溶剂', - 'Solid_feeding_vials': '固体投料-小瓶', - 'Liquid_feeding(titration)': '液体投料-滴定', - 'reactor_taken_out': '反应器取出' + "debug_mode": False, } # 库位映射配置 WAREHOUSE_MAPPING = { - "粉末堆栈": { - "uuid": "", - "site_uuids": { - # 样品板 - "A1": "3a14198e-6929-31f0-8a22-0f98f72260df", - "A2": "3a14198e-6929-4379-affa-9a2935c17f99", - "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af", - "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54", - "B1": "3a14198e-6929-f525-9a1b-1857552b28ee", - "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d", - "B3": "3a14198e-6929-2d86-a468-602175a2b5aa", - "B4": "3a14198e-6929-1a98-ae57-e97660c489ad", - # 分装板 - "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a", - "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95", - "C3": "3a14198e-6929-72ac-32ce-9b50245682b8", - "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118", - "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2", - "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf", - "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963", - "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884" - } - }, - "溶液堆栈": { - "uuid": "", - "site_uuids": { - "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383", - "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791", - "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6", - "A4": "3a14198e-d724-df6d-5e32-5483b3cab583", - "B1": "3a14198e-d724-d818-6d4f-5725191a24b5", - "B2": "3a14198e-d724-be8a-5e0b-012675e195c6", - "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8", - "B4": "3a14198e-d724-1e28-c885-574c3df468d0", - "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31", - "C2": "3a14198e-d724-ab4e-48cb-817c3c146707", - "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33", - "C4": "3a14198e-d724-28a2-a760-baa896f46b66", - "D1": "3a14198e-d724-d378-d266-2508a224a19f", - "D2": "3a14198e-d724-f56e-468b-0110a8feb36a", - "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c", - "D4": "3a14198e-d724-0ddd-9654-f9352a421de9" - } - }, - "试剂堆栈": { - "uuid": "", - "site_uuids": { - "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36", - "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f", - "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", - "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f", - "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", - "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4", - "B3": "3a14198c-c2d0-725e-523d-34c037ac2440", - "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" - } - }, "粉末加样头堆栈": { "uuid": "", "site_uuids": { @@ -142,44 +57,99 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), +"20ml分液瓶": ("YB_6x20ml_DispensingVialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "100ml液体": ("BIOYOND_PolymerStation_100ml_Liquid_Bottle", "d37166b3-ecaa-481e-bd84-3032b795ba07"), + "液": ("BIOYOND_PolymerStation_Liquid_Bottle", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), + "高粘液": ("BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("BIOYOND_PolymerStation_Large_Dispense_Head", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "5ml分液瓶板": ("BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("BIOYOND_PolymerStation_5ml_Dispensing_Vial", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "配液瓶(小)板": ("BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("BIOYOND_PolymerStation_Small_Solution_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(大)板": ("BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)": ("BIOYOND_PolymerStation_Large_Solution_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "加样头(大)板": ("BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "适配器块": ("BIOYOND_PolymerStation_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("BIOYOND_PolymerStation_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("BIOYOND_PolymerStation_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), + # YB信息 } -# 步骤参数配置（各工作流的步骤UUID） -WORKFLOW_STEP_IDS = { - "reactor_taken_in": { - "config": "" +SOLID_LIQUID_MAPPINGS = { + # 固体 + "LiDFOB": { + "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", + "code": "", + "barCode": "", + "name": "LiDFOB", + "unit": "g", + "parameters": "", + "quantity": "2", + "warningQuantity": "1", + "details": [] }, - "liquid_feeding_beaker": { - "liquid": "", - "observe": "" - }, - "liquid_feeding_vials_non_titration": { - "liquid": "", - "observe": "" - }, - "liquid_feeding_solvents": { - "liquid": "", - "observe": "" - }, - "solid_feeding_vials": { - "feeding": "", - "observe": "" - }, - "liquid_feeding_titration": { - "liquid": "", - "observe": "" - }, - "drip_back": { - "liquid": "", - "observe": "" - } + # "LiPF6": { + # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", + # "code": "", + # "barCode": "", + # "name": "LiPF6", + # "unit": "g", + # "parameters": "", + # "quantity": 2, + # "warningQuantity": 1, + # "details": [] + # }, + # "LiFSI": { + # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", + # "code": "", + # "barCode": "", + # "name": "LiFSI", + # "unit": "g", + # "parameters": {"Density": "1.533"}, + # "quantity": 2, + # "warningQuantity": 1, + # "details": [{}] + # }, + # "DTC": { + # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", + # "code": "", + # "barCode": "", + # "name": "DTC", + # "unit": "g", + # "parameters": {"Density": "1.533"}, + # "quantity": 2, + # "warningQuantity": 1, + # "details": [{}] + # }, + # "LiPO2F2": { + # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", + # "code": "", + # "barCode": "", + # "name": "LiPO2F2", + # "unit": "g", + # "parameters": {"Density": "1.533"}, + # "quantity": 2, + # "warningQuantity": 1, + # "details": [{}] + # }, + # 液体 + # "SA": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "EC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "VC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "AND": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "HTCN": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "DENE": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "TMSP": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "TMSB": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "EP": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "DEC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "EMC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "SN": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "DMC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "FEC": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), } +WORKFLOW_MAPPINGS = {} + LOCATION_MAPPING = {} \ No newline at end of file diff --git a/unilabos/devices/workstation/workstation_http_service.py b/unilabos/devices/workstation/workstation_http_service.py index 12eb926..4565ede 100644 --- a/unilabos/devices/workstation/workstation_http_service.py +++ b/unilabos/devices/workstation/workstation_http_service.py @@ -71,11 +71,11 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler): if content_length > 0: post_data = self.rfile.read(content_length) request_data = json.loads(post_data.decode('utf-8')) - else: request_data = {} - logger.info(f"收到工作站报送: {endpoint} 收到接受数据：{request_data}") - # logger.info(f"收到的json数据: {request_data}") + + logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}") + # 统一的报送端点路由（基于LIMS协议规范） if endpoint == '/report/step_finish': response = self._handle_step_finish_report(request_data) @@ -668,7 +668,7 @@ __all__ = [ if __name__ == "__main__": # 简单测试HTTP服务 - class BioyondWorkstation: + class DummyWorkstation: device_id = "WS-001" def process_step_finish_report(self, report_request): diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index 140dc5f..ef93705 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,7 +22,7 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_Deck15: +YB_Deck16: category: - deck class: diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index b5fb087..40cb9ef 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -12,7 +12,7 @@ def BIOYOND_PolymerStation_Solid_Stock( """创建粉末瓶""" return Bottle( name=name, - diameter=diameter, + diameter=diameter,# 未知 height=height, max_volume=max_volume, barcode=barcode, diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index 22be38b..c546759 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -48,7 +48,7 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse: item_dx=137.0, item_dy=96.0, item_dz=120.0, - category="warehouse", + category="YB_warehouse", ) def bioyond_warehouse_10x1x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index ada7e8d..bca92c9 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -624,6 +624,8 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st Returns: pylabrobot 格式的物料列表 """ + print("1:bioyond_materials:",bioyond_materials) + # print("2:type_mapping:",type_mapping) plr_materials = [] for material in bioyond_materials: From 01adf7ca9265affef5faad4b908387f54f883210 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Fri, 24 Oct 2025 13:49:48 +0800 Subject: [PATCH 017/104] =?UTF-8?q?refactor:=20=E5=B0=86=20BIOYOND=5FPolym?= =?UTF-8?q?erStation=5F=20=E5=89=8D=E7=BC=80=E7=BB=9F=E4=B8=80=E6=94=B9?= =?UTF-8?q?=E4=B8=BA=20YB=5F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 重命名 bottles.py 中所有工厂函数：BIOYOND_PolymerStation_* -> YB_* - 重命名 bottle_carriers.py 中所有载具工厂函数和导入 - 更新 registry YAML 文件中的 module 引用 - 更新 MATERIAL_TYPE_MAPPINGS 配置中的类型字符串 - 更新测试文件和样例 JSON 中的类型引用 - 添加 YB_* 别名条目到 registry 以支持双键访问 --- .../experiments/reaction_station_bioyond.json | 14 +- .../reaction_station_bioyond_test.json | 6 +- test/resources/test_bottle_carrier.py | 8 +- test/resources/test_converter_bioyond.py | 14 +- test/resources/test_resourcetreeset.py | 14 +- .../workstation/bioyond_studio/config.py | 31 +++- .../resources/bioyond/bottle_carriers.yaml | 22 +-- .../registry/resources/bioyond/bottles.yaml | 169 ++++++++++++++++-- unilabos/resources/bioyond/bottle_carriers.py | 70 ++++---- unilabos/resources/bioyond/bottles.py | 28 +-- 10 files changed, 266 insertions(+), 110 deletions(-) diff --git a/test/experiments/reaction_station_bioyond.json b/test/experiments/reaction_station_bioyond.json index 013855e..ca8bd68 100644 --- a/test/experiments/reaction_station_bioyond.json +++ b/test/experiments/reaction_station_bioyond.json @@ -24,13 +24,13 @@ "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" }, "material_type_mappings": { - "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"], - "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""], - "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"], - "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"], - "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"], - "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"], - "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"] + "烧杯": ["YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"], + "试剂瓶": ["YB_1BottleCarrier", ""], + "样品板": ["YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"], + "分装板": ["YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"], + "样品瓶": ["YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"], + "90%分装小瓶": ["YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"], + "10%分装小瓶": ["YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"] } }, "deck": { diff --git a/test/experiments/reaction_station_bioyond_test.json b/test/experiments/reaction_station_bioyond_test.json index 8446373..67a0d46 100644 --- a/test/experiments/reaction_station_bioyond_test.json +++ b/test/experiments/reaction_station_bioyond_test.json @@ -24,9 +24,9 @@ "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" }, "material_type_mappings": { - "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier", - "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier", - "样品板": "BIOYOND_PolymerStation_6VialCarrier" + "烧杯": "YB_1FlaskCarrier", + "试剂瓶": "YB_1BottleCarrier", + "样品板": "YB_6VialCarrier" } }, "deck": { diff --git a/test/resources/test_bottle_carrier.py b/test/resources/test_bottle_carrier.py index c981eee..f0a2749 100644 --- a/test/resources/test_bottle_carrier.py +++ b/test/resources/test_bottle_carrier.py @@ -1,7 +1,7 @@ import pytest from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier -from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle +from unilabos.resources.bioyond.bottles import YB_Solid_Vial, YB_Solution_Beaker, YB_Reagent_Bottle def test_bottle_carrier() -> "BottleCarrier": @@ -16,9 +16,9 @@ def test_bottle_carrier() -> "BottleCarrier": print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}") # 创建瓶子和烧杯 - powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01") - solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01") - reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01") + powder_bottle = YB_Solid_Vial("powder_bottle_01") + solution_beaker = YB_Solution_Beaker("solution_beaker_01") + reagent_bottle = YB_Reagent_Bottle("reagent_bottle_01") print(f"\n创建的物料:") print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL") diff --git a/test/resources/test_converter_bioyond.py b/test/resources/test_converter_bioyond.py index 068a053..d87415b 100644 --- a/test/resources/test_converter_bioyond.py +++ b/test/resources/test_converter_bioyond.py @@ -12,13 +12,13 @@ lab_registry.setup() type_mapping = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), + "试剂瓶": ("YB_1BottleCarrier", ""), + "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), + "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), + "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), + "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), } diff --git a/test/resources/test_resourcetreeset.py b/test/resources/test_resourcetreeset.py index 1ba9ab2..ff5cfd0 100644 --- a/test/resources/test_resourcetreeset.py +++ b/test/resources/test_resourcetreeset.py @@ -13,13 +13,13 @@ lab_registry.setup() type_mapping = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), + "试剂瓶": ("YB_1BottleCarrier", ""), + "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), + "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), + "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), + "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), } diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 9294300..9a27320 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -26,7 +26,6 @@ BIOYOND_FULL_CONFIG = { "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） - # 调试模式 "debug_mode": os.getenv("BIOYOND_DEBUG_MODE", "False").lower() == "true", } @@ -142,13 +141,29 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), + "试剂瓶": ("YB_1BottleCarrier", ""), + "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), + "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), + "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), + "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), + "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "20ml分液瓶": ("YB_20ml_Dispensing_Vial", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "100ml液体": ("YB_100ml_Liquid_Bottle", "d37166b3-ecaa-481e-bd84-3032b795ba07"), + "液": ("YB_Liquid_Bottle", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), + "高粘液": ("YB_High_Viscosity_Liquid_Bottle", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("YB_Large_Dispense_Head", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("YB_5ml_Dispensing_Vial", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("YB_Small_Solution_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)": ("YB_Large_Solution_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "加样头(大)板": ("YB_6x_LargeDispenseHeadCarrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), } # 步骤参数配置（各工作流的步骤UUID） diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index 5889bcc..0e40c9c 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -2,7 +2,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_1BottleCarrier type: pylabrobot description: 1BottleCarrier handles: [] @@ -14,7 +14,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_1FlaskCarrier type: pylabrobot description: 1FlaskCarrier handles: [] @@ -26,7 +26,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6StockCarrier type: pylabrobot description: 6StockCarrier handles: [] @@ -38,7 +38,7 @@ category: - bottle_carriers class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6VialCarrier type: pylabrobot description: 6VialCarrier handles: [] @@ -50,7 +50,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x5ml_DispensingVialCarrier type: pylabrobot description: 6x5ml_DispensingVialCarrier handles: [] @@ -62,7 +62,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x20ml_DispensingVialCarrier type: pylabrobot description: 6x20ml_DispensingVialCarrier handles: [] @@ -74,7 +74,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x_SmallSolutionBottleCarrier type: pylabrobot description: 6x_SmallSolutionBottleCarrier handles: [] @@ -86,7 +86,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_4x_LargeSolutionBottleCarrier type: pylabrobot description: 4x_LargeSolutionBottleCarrier handles: [] @@ -98,7 +98,7 @@ category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_6x_LargeDispenseHeadCarrier type: pylabrobot description: 6x_LargeDispenseHeadCarrier handles: [] @@ -110,7 +110,7 @@ AdapterBlock: category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_AdapterBlock + module: unilabos.resources.bioyond.bottle_carriers:YB_AdapterBlock type: pylabrobot description: AdapterBlock handles: [] @@ -122,7 +122,7 @@ TipBox: category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox + module: unilabos.resources.bioyond.bottle_carriers:YB_TipBox type: pylabrobot description: TipBox handles: [] diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 8d71f28..af6718a 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -2,7 +2,7 @@ Liquid_Vial: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial + module: unilabos.resources.bioyond.bottles:YB_Liquid_Vial type: pylabrobot handles: [] icon: '' @@ -12,7 +12,7 @@ Reagent_Bottle: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle + module: unilabos.resources.bioyond.bottles:YB_Reagent_Bottle type: pylabrobot handles: [] icon: '' @@ -22,7 +22,7 @@ Solid_Stock: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock + module: unilabos.resources.bioyond.bottles:YB_Solid_Stock type: pylabrobot handles: [] icon: '' @@ -32,7 +32,7 @@ Solid_Vial: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial + module: unilabos.resources.bioyond.bottles:YB_Solid_Vial type: pylabrobot handles: [] icon: '' @@ -42,7 +42,7 @@ Solution_Beaker: category: - bottles class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker + module: unilabos.resources.bioyond.bottles:YB_Solution_Beaker type: pylabrobot handles: [] icon: '' @@ -52,7 +52,7 @@ Solution_Beaker: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_100ml_Liquid_Bottle + module: unilabos.resources.bioyond.bottles:YB_100ml_Liquid_Bottle type: pylabrobot handles: [] icon: '' @@ -62,7 +62,7 @@ Liquid_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Bottle + module: unilabos.resources.bioyond.bottles:YB_Liquid_Bottle type: pylabrobot handles: [] icon: '' @@ -72,7 +72,7 @@ High_Viscosity_Liquid_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle + module: unilabos.resources.bioyond.bottles:YB_High_Viscosity_Liquid_Bottle type: pylabrobot handles: [] icon: '' @@ -82,7 +82,7 @@ Large_Dispense_Head: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Dispense_Head + module: unilabos.resources.bioyond.bottles:YB_Large_Dispense_Head type: pylabrobot handles: [] icon: '' @@ -92,7 +92,7 @@ Large_Dispense_Head: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_5ml_Dispensing_Vial + module: unilabos.resources.bioyond.bottles:YB_5ml_Dispensing_Vial type: pylabrobot handles: [] icon: '' @@ -102,7 +102,7 @@ Large_Dispense_Head: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_20ml_Dispensing_Vial + module: unilabos.resources.bioyond.bottles:YB_20ml_Dispensing_Vial type: pylabrobot handles: [] icon: '' @@ -112,7 +112,7 @@ Small_Solution_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Small_Solution_Bottle + module: unilabos.resources.bioyond.bottles:YB_Small_Solution_Bottle type: pylabrobot handles: [] icon: '' @@ -122,7 +122,7 @@ Large_Solution_Bottle: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Solution_Bottle + module: unilabos.resources.bioyond.bottles:YB_Large_Solution_Bottle type: pylabrobot handles: [] icon: '' @@ -132,9 +132,150 @@ Pipette_Tip: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Pipette_Tip + module: unilabos.resources.bioyond.bottles:YB_Pipette_Tip type: pylabrobot handles: [] icon: '' init_param_schema: {} version: 1.0.0 + +YB_Liquid_Vial: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Liquid_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Reagent_Bottle: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Reagent_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Solid_Stock: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Solid_Stock + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Solid_Vial: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Solid_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Solution_Beaker: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:YB_Solution_Beaker + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_100ml_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_100ml_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_High_Viscosity_Liquid_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_High_Viscosity_Liquid_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Large_Dispense_Head: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Large_Dispense_Head + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_5ml_Dispensing_Vial: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_5ml_Dispensing_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_20ml_Dispensing_Vial: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_20ml_Dispensing_Vial + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Small_Solution_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Small_Solution_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Large_Solution_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Large_Solution_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_Pipette_Tip: + category: + - yb3 + class: + module: unilabos.resources.bioyond.bottles:YB_Pipette_Tip + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py index ab0b656..76e3a93 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/bottle_carriers.py @@ -2,17 +2,17 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou from unilabos.resources.itemized_carrier import Bottle, BottleCarrier from unilabos.resources.bioyond.bottles import ( - BIOYOND_PolymerStation_Solid_Stock, - BIOYOND_PolymerStation_Solid_Vial, - BIOYOND_PolymerStation_Liquid_Vial, - BIOYOND_PolymerStation_Solution_Beaker, - BIOYOND_PolymerStation_Reagent_Bottle, - BIOYOND_PolymerStation_5ml_Dispensing_Vial, - BIOYOND_PolymerStation_20ml_Dispensing_Vial, - BIOYOND_PolymerStation_Small_Solution_Bottle, - BIOYOND_PolymerStation_Large_Solution_Bottle, - BIOYOND_PolymerStation_Large_Dispense_Head, - BIOYOND_PolymerStation_Pipette_Tip + YB_Solid_Stock, + YB_Solid_Vial, + YB_Liquid_Vial, + YB_Solution_Beaker, + YB_Reagent_Bottle, + YB_5ml_Dispensing_Vial, + YB_20ml_Dispensing_Vial, + YB_Small_Solution_Bottle, + YB_Large_Solution_Bottle, + YB_Large_Dispense_Head, + YB_Pipette_Tip ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -63,7 +63,7 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_y = 2 carrier.num_items_z = 1 for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}") + carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") return carrier @@ -100,11 +100,11 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1") + carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") return carrier -def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier: +def YB_6StockCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) @@ -151,11 +151,11 @@ def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier: +def YB_6VialCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) @@ -202,13 +202,13 @@ def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 for i in range(3): - carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}") + carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") for i in range(3, 6): - carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") + carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier: +def YB_1BottleCarrier(name: str) -> BottleCarrier: """1瓶载架 - 单个中央位置""" # 载架尺寸 (mm) @@ -241,11 +241,11 @@ def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1") + carrier[0] = YB_Reagent_Bottle(f"{name}_flask_1") return carrier -def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: +def YB_1FlaskCarrier(name: str) -> BottleCarrier: """1瓶载架 - 单个中央位置""" # 载架尺寸 (mm) @@ -278,11 +278,11 @@ def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1") + carrier[0] = YB_Reagent_Bottle(f"{name}_bottle_1") return carrier -def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: +def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: """5ml分液瓶板 - 4x2布局，8个位置""" # 载架尺寸 (mm) @@ -328,11 +328,11 @@ def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarri carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = BIOYOND_PolymerStation_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: +def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: """20ml分液瓶板 - 4x2布局，8个位置""" # 载架尺寸 (mm) @@ -378,11 +378,11 @@ def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarr carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = BIOYOND_PolymerStation_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: +def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: """配液瓶(小)板 - 4x2布局，8个位置""" # 载架尺寸 (mm) @@ -428,11 +428,11 @@ def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCar carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = BIOYOND_PolymerStation_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: +def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: """配液瓶(大)板 - 2x2布局，4个位置""" # 载架尺寸 (mm) @@ -478,11 +478,11 @@ def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCar carrier.num_items_z = 1 ordering = ["A1", "A2", "B1", "B2"] for i in range(4): - carrier[i] = BIOYOND_PolymerStation_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") return carrier -def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: +def YB_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: """加样头(大)板 - 1x1布局，1个位置""" # 载架尺寸 (mm) @@ -526,11 +526,11 @@ def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarri carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_1") + carrier[0] = YB_Large_Dispense_Head(f"{name}_head_1") return carrier -def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: +def YB_AdapterBlock(name: str) -> BottleCarrier: """适配器块 - 单个中央位置""" # 载架尺寸 (mm) @@ -567,7 +567,7 @@ def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: return carrier -def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: +def YB_TipBox(name: str) -> BottleCarrier: """枪头盒 - 8x12布局，96个位置""" # 载架尺寸 (mm) @@ -615,6 +615,6 @@ def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: for i in range(96): row = chr(65 + i // 12) # A-H col = (i % 12) + 1 # 1-12 - carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}") + carrier[i] = YB_Pipette_Tip(f"{name}_tip_{row}{col}") return carrier diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index b5fb087..efabea2 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -2,7 +2,7 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier # 工厂函数 -def BIOYOND_PolymerStation_Solid_Stock( +def YB_Solid_Stock( name: str, diameter: float = 20.0, height: float = 100.0, @@ -20,7 +20,7 @@ def BIOYOND_PolymerStation_Solid_Stock( ) -def BIOYOND_PolymerStation_Solid_Vial( +def YB_Solid_Vial( name: str, diameter: float = 25.0, height: float = 60.0, @@ -38,7 +38,7 @@ def BIOYOND_PolymerStation_Solid_Vial( ) -def BIOYOND_PolymerStation_Liquid_Vial( +def YB_Liquid_Vial( name: str, diameter: float = 25.0, height: float = 60.0, @@ -56,7 +56,7 @@ def BIOYOND_PolymerStation_Liquid_Vial( ) -def BIOYOND_PolymerStation_Solution_Beaker( +def YB_Solution_Beaker( name: str, diameter: float = 60.0, height: float = 70.0, @@ -74,7 +74,7 @@ def BIOYOND_PolymerStation_Solution_Beaker( ) -def BIOYOND_PolymerStation_Reagent_Bottle( +def YB_Reagent_Bottle( name: str, diameter: float = 70.0, height: float = 120.0, @@ -92,7 +92,7 @@ def BIOYOND_PolymerStation_Reagent_Bottle( ) -def BIOYOND_PolymerStation_100ml_Liquid_Bottle( +def YB_100ml_Liquid_Bottle( name: str, diameter: float = 50.0, height: float = 80.0, @@ -110,7 +110,7 @@ def BIOYOND_PolymerStation_100ml_Liquid_Bottle( ) -def BIOYOND_PolymerStation_Liquid_Bottle( +def YB_Liquid_Bottle( name: str, diameter: float = 40.0, height: float = 70.0, @@ -128,7 +128,7 @@ def BIOYOND_PolymerStation_Liquid_Bottle( ) -def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( +def YB_High_Viscosity_Liquid_Bottle( name: str, diameter: float = 45.0, height: float = 75.0, @@ -146,7 +146,7 @@ def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( ) -def BIOYOND_PolymerStation_Large_Dispense_Head( +def YB_Large_Dispense_Head( name: str, diameter: float = 35.0, height: float = 90.0, @@ -164,7 +164,7 @@ def BIOYOND_PolymerStation_Large_Dispense_Head( ) -def BIOYOND_PolymerStation_5ml_Dispensing_Vial( +def YB_5ml_Dispensing_Vial( name: str, diameter: float = 15.0, height: float = 45.0, @@ -182,7 +182,7 @@ def BIOYOND_PolymerStation_5ml_Dispensing_Vial( ) -def BIOYOND_PolymerStation_20ml_Dispensing_Vial( +def YB_20ml_Dispensing_Vial( name: str, diameter: float = 20.0, height: float = 65.0, @@ -200,7 +200,7 @@ def BIOYOND_PolymerStation_20ml_Dispensing_Vial( ) -def BIOYOND_PolymerStation_Small_Solution_Bottle( +def YB_Small_Solution_Bottle( name: str, diameter: float = 35.0, height: float = 60.0, @@ -218,7 +218,7 @@ def BIOYOND_PolymerStation_Small_Solution_Bottle( ) -def BIOYOND_PolymerStation_Large_Solution_Bottle( +def YB_Large_Solution_Bottle( name: str, diameter: float = 55.0, height: float = 90.0, @@ -236,7 +236,7 @@ def BIOYOND_PolymerStation_Large_Solution_Bottle( ) -def BIOYOND_PolymerStation_Pipette_Tip( +def YB_Pipette_Tip( name: str, diameter: float = 10.0, height: float = 50.0, From 55b678cd37cc287a9f2b1ee1a89883155c1131bf Mon Sep 17 00:00:00 2001 From: calvincao Date: Fri, 24 Oct 2025 14:22:39 +0800 Subject: [PATCH 018/104] fix: update report IP address in configuration and clean up parameters in SOLID_LIQUID_MAPPINGS --- .../devices/workstation/bioyond_studio/config.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 90e22bc..fb8ef92 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -21,7 +21,7 @@ API_CONFIG = { # HTTP 服务配置 "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), - "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） + "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.22"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） # 调试模式 "debug_mode": False, } @@ -112,10 +112,10 @@ SOLID_LIQUID_MAPPINGS = { # "barCode": "", # "name": "LiFSI", # "unit": "g", - # "parameters": {"Density": "1.533"}, + # "parameters": "", # "quantity": 2, # "warningQuantity": 1, - # "details": [{}] + # "details": [] # }, # "DTC": { # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", @@ -123,10 +123,10 @@ SOLID_LIQUID_MAPPINGS = { # "barCode": "", # "name": "DTC", # "unit": "g", - # "parameters": {"Density": "1.533"}, + # "parameters": "", # "quantity": 2, # "warningQuantity": 1, - # "details": [{}] + # "details": [] # }, # "LiPO2F2": { # "typeId": "3a190ca0-b2f6-9aeb-8067-547e72c11469", @@ -134,10 +134,10 @@ SOLID_LIQUID_MAPPINGS = { # "barCode": "", # "name": "LiPO2F2", # "unit": "g", - # "parameters": {"Density": "1.533"}, + # "parameters": "", # "quantity": 2, # "warningQuantity": 1, - # "details": [{}] + # "details": [] # }, # 液体 # "SA": ("BIOYOND_PolymerStation_Solid_Stock", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), From 6ad0157b50af933f5588612679bc3f2af25ec7b6 Mon Sep 17 00:00:00 2001 From: calvincao Date: Fri, 24 Oct 2025 16:37:11 +0800 Subject: [PATCH 019/104] feat: add new warehouse configurations and update site UUIDs in bioyond_studio config --- .../workstation/bioyond_studio/config.py | 86 ++++++++++++++++++- 1 file changed, 84 insertions(+), 2 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index fb8ef92..4e2fddd 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -31,7 +31,7 @@ WAREHOUSE_MAPPING = { "粉末加样头堆栈": { "uuid": "", "site_uuids": { - "A01": "3a19da56-1379-20c8-5886-f7c4fbcb5733", + "A01": "3a19da56-1379-ff7c-1745-07e200b44ce2", "B01": "3a19da56-1379-2424-d751-fe6e94cef938", "C01": "3a19da56-1379-271c-03e3-6bdb590e395e", "D01": "3a19da56-1379-277f-2b1b-0d11f7cf92c6", @@ -52,7 +52,89 @@ WAREHOUSE_MAPPING = { "S01": "3a19da56-1379-f924-7f68-df1fa51489f4", "T01": "3a19da56-1379-ff7c-1745-07e200b44ce2" } - } + }, + "配液站内试剂仓库": { + "uuid": "", + "site_uuids": { + "A01": "3a19da43-57b5-294f-d663-154a1cc32270", + "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2", + "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f", + "A02": "3a19da43-57b5-8441-db94-b4d3875a4b6c", + "B02": "3a19da43-57b5-3e41-c181-5119dddaf50c", + "C02": "3a19da43-57b5-269b-282d-fba61fe8ce96", + "A03": "3a19da43-57b5-7c1e-d02e-c40e8c33f8a1", + "B03": "3a19da43-57b5-659f-621f-1dcf3f640363", + "C03": "3a19da43-57b5-855a-6e71-f398e376dee1", + } + }, + "试剂替换仓库": { + "uuid": "", + "site_uuids": { + "A01": "3a19da51-8f4e-30f3-ea08-4f8498e9b097", + "B01": "3a19da51-8f4e-1da7-beb0-80a4a01e67a8", + "C01": "3a19da51-8f4e-337d-2675-bfac46880b06", + "D01": "3a19da51-8f4e-e514-b92c-9c44dc5e489d", + "E01": "3a19da51-8f4e-22d1-dd5b-9774ddc80402", + "F01": "3a19da51-8f4e-273a-4871-dff41c29bfd9", + "G01": "3a19da51-8f4e-b32f-454f-74bc1a665653", + "H01": "3a19da51-8f4e-8c93-68c9-0b4382320f59", + "I01": "3a19da51-8f4e-360c-0149-291b47c6089b", + "J01": "3a19da51-8f4e-4152-9bca-8d64df8c1af0" + } + }, + "自动堆栈-左": { + "uuid": "", + "site_uuids": { + "A01": "3a19debc-84b5-4c1c-d3a1-26830cf273ff", + "A02": "3a19debc-84b5-033b-b31f-6b87f7c2bf52", + "B01": "3a19debc-84b5-3924-172f-719ab01b125c", + "B02": "3a19debc-84b5-aad8-70c6-b8c6bb2d8750" + } + }, + "自动堆栈-右": { + "uuid": "", + "site_uuids": { + "A01": "3a19debe-5200-7df2-1dd9-7d202f158864", + "A02": "3a19debe-5200-573b-6120-8b51f50e1e50", + "B01": "3a19debe-5200-7cd8-7666-851b0a97e309", + "B02": "3a19debe-5200-e6d3-96a3-baa6e3d5e484" + } + }, + "手动堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", + "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe", + "A03": "3a19deae-2c7a-5876-c454-6b7e224ca927", + "B01": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "B02": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "B03": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a", + "C01": "3a19deae-2c7a-32bc-768e-556647e292f3", + "C02": "3a19deae-2c7a-e97a-8484-f5a4599447c4", + "C03": "3a19deae-2c7a-3056-6504-10dc73fbc276", + "D01": "3a19deae-2c7a-ffad-875e-8c4cda61d440", + "D02": "3a19deae-2c7a-61be-601c-b6fb5610499a", + "D03": "3a19deae-2c7a-c0f7-05a7-e3fe2491e560", + "E01": "3a19deae-2c7a-a6f4-edd1-b436a7576363", + "E02": "3a19deae-2c7a-4367-96dd-1ca2186f4910", + "E03": "3a19deae-2c7a-b163-2219-23df15200311", + "F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a", + "F02": "3a19deae-2c7a-a194-ea63-8b342b8d8679", + "F03": "3a19deae-2c7a-f7c4-12bd-425799425698", + "G01": "3a19deae-2c7a-0b56-72f1-8ab86e53b955", + "G02": "3a19deae-2c7a-204e-95ed-1f1950f28343", + "G03": "3a19deae-2c7a-392b-62f1-4907c66343f8", + "H01": "3a19deae-2c7a-5602-e876-d27aca4e3201", + "H02": "3a19deae-2c7a-f15c-70e0-25b58a8c9702", + "H03": "3a19deae-2c7a-780b-8965-2e1345f7e834", + "I01": "3a19deae-2c7a-8849-e172-07de14ede928", + "I02": "3a19deae-2c7a-4772-a37f-ff99270bafc0", + "I03": "3a19deae-2c7a-cce7-6e4a-25ea4a2068c4", + "J01": "3a19deae-2c7a-1848-de92-b5d5ed054cc6", + "J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205", + "J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9" + } + }, } # 物料类型配置 From 2901d72b4b730a7c4f0dd030a8d9d62d4dbc63f2 Mon Sep 17 00:00:00 2001 From: calvincao Date: Sat, 25 Oct 2025 13:50:41 +0800 Subject: [PATCH 020/104] feat: add button battery assembly station resources and configuration files - Introduced new Python modules for button battery assembly, including resource classes and configurations. - Added JSON and CSV files for resource definitions and device configurations. - Created initial setup for the coin cell assembly workstation, including material handling and resource management. --- .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1006 ++ .../button_battery_station_big.py | 1412 ++ ..._battery_station_resources_unilab_big.json | 1895 ++ .../coin_cell_assembly/cellconfig.py | 114 + .../coin_cell_assembly/celljson.json | 1332 ++ .../coin_cell_assembly/coin_cell_assembly.py | 1163 ++ .../coin_cell_assembly_0910.csv | 44 + .../coin_cell_assembly_a.csv | 46 + .../coin_cell_assembly_old.py | 1149 ++ .../coin_cell_assembly_system_wuliao.py | 135 + .../coin_cell_assembly/new_cellconfig.json | 1925 ++ .../coin_cell_assembly/new_cellconfig2.json | 1925 ++ .../coin_cell_assembly/new_cellconfig3.json | 1925 ++ .../coin_cell_assembly/new_cellconfig3a.json | 1956 +++ .../coin_cell_assembly/new_cellconfig3b.json | 2589 +++ .../coin_cell_assembly/new_cellconfig3c.json | 691 + .../coin_cell_assembly/new_cellconfig4.json | 14472 ++++++++++++++++ .../workstation/coin_cell_assembly/test.ipynb | 750 + .../coin_cell_assembly/work_station.yaml | 6674 +++++++ 20 files changed, 41203 insertions(+) create mode 100644 unilabos/devices/workstation/coin_cell_assembly/__init__.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/cellconfig.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/celljson.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig2.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3a.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3b.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/test.ipynb create mode 100644 unilabos/devices/workstation/coin_cell_assembly/work_station.yaml diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py new file mode 100644 index 0000000..eae09b8 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py @@ -0,0 +1,1006 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=0, + depth=0, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +import json + +if __name__ == "__main__": + #electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck(size_x=1000, + size_y=1000, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) +# + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + + + + #liaopan.children[3].assign_child_resource(jipian, location=None) + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" + BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py new file mode 100644 index 0000000..765328f --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py @@ -0,0 +1,1412 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + if len(self.children) >= self._unilabos_state["max_sheets"]: + raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + + + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + children: List[ElectrodeSheet] = [] + def __init__( + self, + name: str, + diameter: float, + depth: float, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片 + + 根据洞的深度和极片的厚度来判断是否可以添加极片 + """ + # 检查极片直径是否适合洞的直径 + if sheet._unilabos_state["diameter"] > self.diameter: + return False + + # 计算当前已添加极片的总厚度 + current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) + + # 检查添加新极片后总厚度是否超过洞的深度 + if current_thickness + sheet._unilabos_state["thickness"] > self.depth: + return False + + return True + + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate] = None, + reassign: bool = True, + ): + """放置极片到洞位中 + + Args: + resource: 要放置的极片 + location: 极片在洞位中的位置（对于洞位，通常为None） + reassign: 是否允许重新分配 + """ + # 检查是否可以添加极片 + if not self.can_add_sheet(resource): + raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") + + # 调用父类方法实际执行分配 + super().assign_child_resource(resource, location, reassign) + + def unassign_child_resource(self, resource: ElectrodeSheet): + """从洞位中移除极片 + + Args: + resource: 要移除的极片 + """ + if resource not in self.children: + raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") + + # 调用父类方法实际执行移除 + super().unassign_child_resource(resource) + + + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self.children), + "sheets": [sheet.serialize() for sheet in self.children], + } +class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有4个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=2, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +# TODO: 这个要改 +class ClipMagazine(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + + electrolyte_name: str + electrolyte_volume: float + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState() + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + # 记录网格参数用于前端渲染 + self._grid_params = { + "num_items_x": 8, + "num_items_y": 8, + "dx": 8.0, + "dy": 8.0, + "item_dx": 9.0, + "item_dy": 9.0, + } + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + def serialize(self) -> dict: + return { + **super().serialize(), + **self._grid_params, + } + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + position_spacing: float + name_to_index: dict + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Resource] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + num_items_x: int = 3, + num_items_y: int = 4, + position_spacing: float = 35.0, + orientation: str = "horizontal", + padding_x: float = 20.0, + padding_y: float = 20.0, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # 初始化状态 + self._unilabos_state: BottleRackState = BottleRackState( + bottle_diameter=30.0, + bottle_height=100.0, + position_spacing=position_spacing, + name_to_index={}, + ) + # 基于网格生成瓶位坐标映射（居中摆放） + # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） + origin_x = padding_x + origin_y = padding_y + self.index_to_pos = {} + for j in range(num_items_y): + for i in range(num_items_x): + idx = j * num_items_x + i + if orientation == "vertical": + # 纵向：沿 y 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + j * position_spacing, + y=origin_y + i * position_spacing, + z=0, + ) + else: + # 横向（默认）：沿 x 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + i * position_spacing, + y=origin_y + j * position_spacing, + z=0, + ) + self.name_to_index = {} + self.name_to_pos = {} + self.num_items_x = num_items_x + self.num_items_y = num_items_y + self.orientation = orientation + self.padding_x = padding_x + self.padding_y = padding_y + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update( + self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): + capacity = self.num_items_x * self.num_items_y + assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = self.index_to_pos.get(index, Coordinate.zero()) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource(self, resource: Resource, index: int): + capacity = self.num_items_x * self.num_items_y + assert 0 <= index < capacity, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + def serialize(self) -> dict: + return { + **super().serialize(), + "num_items_x": self.num_items_x, + "num_items_y": self.num_items_y, + "position_spacing": self._unilabos_state.get("position_spacing", 35.0), + "orientation": self.orientation, + "padding_x": self.padding_x, + "padding_y": self.padding_y, + } + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +def create_a_liaopan(): + liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + return liaopan + +def create_a_coin_cell_deck(): + deck = Deck(size_x=1200, + size_y=800, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) + + print(deck) + + return deck + + +def create_a_full_coin_cell_deck(): + deck = CoincellDeck() + """======================================子弹夹============================================""" + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + """======================================子弹夹============================================""" + #liaopan = TipBox64(name="liaopan") + """======================================物料板============================================""" + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + #liaopan.children[3].assign_child_resource(jipian, location=None) + """======================================物料板============================================""" + """======================================瓶架，移液枪============================================""" + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + """======================================瓶架，移液枪============================================""" + print(deck) + return deck + + + + +import json + +if __name__ == "__main__": + electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck() + """======================================子弹夹============================================""" + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + """======================================子弹夹============================================""" + #liaopan = TipBox64(name="liaopan") + """======================================物料板============================================""" + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + #liaopan.children[3].assign_child_resource(jipian, location=None) + """======================================物料板============================================""" + """======================================瓶架，移液枪============================================""" + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + """======================================瓶架，移液枪============================================""" + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + + # 检查序列化后的资源 + + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json new file mode 100644 index 0000000..9468817 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json @@ -0,0 +1,1895 @@ +{ + "nodes": [ + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2" + ], + "parent": null, + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1620.0, + "size_y": 1270.0, + 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"barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "liaopan2_materialhole_3_3", + "name": "liaopan2_materialhole_3_3", + "sample_id": null, + "children": [], + "parent": "liaopan2", + "type": "container", + "class": "", + "position": { + "x": 84.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py b/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py new file mode 100644 index 0000000..957f62d --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python +#coding=utf-8 + +ENV = 'pro'#'test' +class MQConfig: + """MQTT 配置类""" + lab_id: str = '9F05593C' + instance_id: str = 'mqtt-cn-dsr48m6jy02' + + group_id: str = 'GID_prod' + broker_url: str = 'mqtt-cn-dsr48m6jy02.mqtt.aliyuncs.com' + port: int = 8883 + ca_content: str = '''-----BEGIN CERTIFICATE----- +MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda +Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi +MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 +NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC +VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr +erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L +0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz +ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB +AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME +fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ +BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE +CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN +BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK +9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 +4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 +bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I +lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d +SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== +-----END CERTIFICATE----- +''' + cert_content: str = '''-----BEGIN CERTIFICATE----- +MIIDlTCCAn2gAwIBAgIUa/ce6dpJ8K7XNvT0LknVmLgfJMIwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA4MTMwNDQ0MDVa +Fw0yNjEyMjYwNDQ0MDVaMHoxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxDDAKBgNVBAoMA0RQVDENMAsGA1UECwwETVFUVDEhMB8GCSqGSIb3 +DQEJARYSaHVhaGFpbWluZ0BkcC50ZWNoMREwDwYDVQQDDAg0NzJBMjZBQzCCASIw +DQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAPc4NHXcwaFX3jSN6DnDYoY7ON6c +AeVIlcQp3CMHnulh4t3I3Fnsyelpc809s7l5vEpAjMIuZ40DJKZQmV9ckmeylMiY +bAk851+i8YcRQPeYYY7Ggt0sfkY3TWIIqptZtlIhXtkTCWw6xpHAPkYxqNTiUN/0 +vwQWwiBS7WqD8NVjNhhHootYLsMjnQYc162L8nUwzG2pjB3UYqOldC3FkHXvBkG2 +Oeex8VM8Urblv0huCmoFRyuMmNol0QWqp+6nwAgdvf89Z38NJByPI9VHaBB/VV1F +HiAZe3H8Ph7wzgUSXBuVHJ4BaeJbg4+ax6BccpaQn26jgpJGUEj+YR+NwdMCAwEA +AaNCMEAwDAYDVR0TAQH/BAIwADAOBgNVHQ8BAf8EBAMCAvQwIAYDVR0lAQH/BBYw +FAYIKwYBBQUHAwIGCCsGAQUFBwMBMA0GCSqGSIb3DQEBCwUAA4IBAQAZaF8puP0/ +OcRM7Gcd4LrF8H/WG0Q7WM0T9BWGvee6A+Fcd4ajBC0S0tIfdsfYat0+g4U57jrr +vaQeZGFKc4YKVui8vSuth82fcsFk5fpyhz4JJRggzeoby+0gNx9eYDJwLIvbVy4Y +2LKGq+rsO07QF54jtwB4WpDNFnEIadXyjPBsMy/0Ssbetp827WYZygXYyAcUlCfN +Wns7K0phfZJwIMQgPs3d4mGwCC+xaRIB3GGjUGFXV1sFItjkTUHCvm+phw/MTpRp +pauplyDcWYux7z1dKhbuHElzCEqxZNwyI0nGJlRFP13Oo+jnuDO7gQh2lyz/AFyX +KyTA3xFZduHO +-----END CERTIFICATE----- +-----BEGIN CERTIFICATE----- +MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL +BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G +A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda +Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG +A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi +MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 +NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC +VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr +erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L +0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz +ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB +AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME +fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ +BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE +CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN +BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK +9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 +4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 +bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I +lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d +SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== +-----END CERTIFICATE----- +''' + key_content: str = '''-----BEGIN RSA PRIVATE KEY----- +MIIEpAIBAAKCAQEA9zg0ddzBoVfeNI3oOcNihjs43pwB5UiVxCncIwee6WHi3cjc +WezJ6WlzzT2zuXm8SkCMwi5njQMkplCZX1ySZ7KUyJhsCTznX6LxhxFA95hhjsaC +3Sx+RjdNYgiqm1m2UiFe2RMJbDrGkcA+RjGo1OJQ3/S/BBbCIFLtaoPw1WM2GEei +i1guwyOdBhzXrYvydTDMbamMHdRio6V0LcWQde8GQbY557HxUzxStuW/SG4KagVH +K4yY2iXRBaqn7qfACB29/z1nfw0kHI8j1UdoEH9VXUUeIBl7cfw+HvDOBRJcG5Uc +ngFp4luDj5rHoFxylpCfbqOCkkZQSP5hH43B0wIDAQABAoIBAAPzz0ZUcqmR1Eva +5PH98gQzp2wB9snLY86HY3Z/JVAPf5Ht9sbAUWHhT8PVoWpIasSmFbuJxz6DRk3S +M8VVVipxxgcTWqo/JOD4HZiCNfcRru6+5dHxZ4p2B/n4EWfoy+KyEZkgd5jQFONj +jIX+rDR3qZzFqoBRhQSHLuD+i66eZ7l1LOqsnk51r3nTCnGmdyV8fll56MMB5D6+ +8LN2rwbmSYX/UIBBqHUthgEt2onFNaetTLgSa3RSNGZ3xEZt4N32vw1SARxItuso +npAAY77POMUwWe3666fETI+yr/gJuppvTF4sQUXy7I4iz7I18n2SYivHabdgnk6H +7y1TcGECgYEA/NbBLFz1YPOQiT6TsuitIlfWcFWXYI4yHh/Mwwm/heHV683HrUti +RSHWbFxggW70BYJbGAQprEe9UIRVdP9YNi3aPeN5WNfnTFHlN2HRiKenlETM1tw9 +yaSWjNbAyc2ka+l1EblMJy92xoCkErS8riEPW83o+3+LqJwnjsJ8tVECgYEA+k93 +AyNpXuOZldAoqSHF3wHgzgd2jhfVdQcNlz9sLfT8TAdoR01mdBtdytcYAH+FHplW +wlkCfpT1RPf3fEd0Asy727pJnL9v/QfY/BB+vfgWKUQg9CWNIevwItCaTNOSekis +lKl5dxNGOyouU7rPbTj9BC26OHA50Z3vLMKmi+MCgYEAy0Sb6N6TJ26pNK1qcNs+ +1e1oKMem+6lWAYHvTJ35q9jz8q9taJTCXHHnwRZDP8vDwuoZ8iTmm+rQ+HprebQP +Zv9WBYtrc1GgUmtErFGn8wVWZI0rYVGPGx2HK5M7SwJYvajixW0DHD28b7ncLm2/ +gv5xKo1QUWEpFlT0OIGDYQECgYEA8WRlH6+s1Iel++ZM8B7T1ibXh5mG6a1ue3eb +0bqmNwPFtASIugqYvWwO3ajlSsWvuTyjgLWaRDye9C42i7HU3UZX/KUAjJvKAjjp +Nt0pfUadCJrdNNZp7sa8RLbrtx9qaWdgl9WAgCckWbZqCvFjTK/iwX7f0cHY4J/w +ojftqYUCgYARM6YaEJuBJEBmZV1I0rweiguqWssZz2j1awSlsfYxckwnci4VtSMI +D/sp0Wp0yn2N4cgqp49BFD0rCQCTsASVICEf9HWdMQXsUhzWsz4SjVEhjWWC1VAk +sEL+BOcbsHy3qMbV2uKBHrhuZShDdy5KtCm9TB+7zTWyDVHwE24nig== +-----END RSA PRIVATE KEY----- +''' + +# HTTP配置 +class HTTPConfig: + remote_addr = "https://uni-lab.test.bohrium.com/api/v1" diff --git a/unilabos/devices/workstation/coin_cell_assembly/celljson.json b/unilabos/devices/workstation/coin_cell_assembly/celljson.json new file mode 100644 index 0000000..ad90417 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/celljson.json @@ -0,0 +1,1332 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "coin_cell_deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", + "protocol_type": [], + "station_resource": { + "data": { + "_resource_child_name": "coin_cell_deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "ban_cao_wei" + ], + "parent": "BatteryStation", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1620.0, + "size_y": 1270.0, + "size_z": 500.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "ban_cao_wei", + "name": "ban_cao_wei", + "sample_id": null, + "children": [ + "plate_1" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PlateSlot", + "size_x": 0, + "size_y": 0, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "plate_slot", + "model": null, + "barcode": null, + "max_plates": 8 + }, + "data": {} + }, + { + "id": "plate_1", + "name": "plate_1", + "sample_id": null, + "children": [ + "plate_1_materialhole_0_0", + "plate_1_materialhole_0_1", + "plate_1_materialhole_0_2", + "plate_1_materialhole_0_3", + "plate_1_materialhole_1_0", + "plate_1_materialhole_1_1", + "plate_1_materialhole_1_2", + "plate_1_materialhole_1_3", + "plate_1_materialhole_2_0", + "plate_1_materialhole_2_1", + "plate_1_materialhole_2_2", + "plate_1_materialhole_2_3", + "plate_1_materialhole_3_0", + "plate_1_materialhole_3_1", + "plate_1_materialhole_3_2", + "plate_1_materialhole_3_3" + ], + "parent": "ban_cao_wei", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "plate_1_materialhole_0_0", + "B1": "plate_1_materialhole_0_1", + "C1": "plate_1_materialhole_0_2", + "D1": "plate_1_materialhole_0_3", + "A2": "plate_1_materialhole_1_0", + "B2": "plate_1_materialhole_1_1", + "C2": "plate_1_materialhole_1_2", + "D2": "plate_1_materialhole_1_3", + "A3": "plate_1_materialhole_2_0", + "B3": "plate_1_materialhole_2_1", + "C3": "plate_1_materialhole_2_2", + "D3": "plate_1_materialhole_2_3", + "A4": "plate_1_materialhole_3_0", + "B4": "plate_1_materialhole_3_1", + "C4": "plate_1_materialhole_3_2", + "D4": "plate_1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "plate_1_materialhole_0_0", + "name": "plate_1_materialhole_0_0", + "sample_id": null, + "children": [ + "hole_0_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_0_sheet_1", + "name": "hole_0_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_0_1", + "name": "plate_1_materialhole_0_1", + "sample_id": null, + "children": [ + "hole_1_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_1_sheet_1", + "name": "hole_1_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_0_2", + "name": "plate_1_materialhole_0_2", + "sample_id": null, + "children": [ + "hole_2_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_2_sheet_1", + "name": "hole_2_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_0_3", + "name": "plate_1_materialhole_0_3", + "sample_id": null, + "children": [ + "hole_3_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -29.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_3_sheet_1", + "name": "hole_3_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_0_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_0", + "name": "plate_1_materialhole_1_0", + "sample_id": null, + "children": [ + "hole_4_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_4_sheet_1", + "name": "hole_4_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_1", + "name": "plate_1_materialhole_1_1", + "sample_id": null, + "children": [ + "hole_5_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_5_sheet_1", + "name": "hole_5_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_2", + "name": "plate_1_materialhole_1_2", + "sample_id": null, + "children": [ + "hole_6_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_6_sheet_1", + "name": "hole_6_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_1_3", + "name": "plate_1_materialhole_1_3", + "sample_id": null, + "children": [ + "hole_7_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": -9.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_7_sheet_1", + "name": "hole_7_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_1_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_0", + "name": "plate_1_materialhole_2_0", + "sample_id": null, + "children": [ + "hole_8_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_8_sheet_1", + "name": "hole_8_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_1", + "name": "plate_1_materialhole_2_1", + "sample_id": null, + "children": [ + "hole_9_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_9_sheet_1", + "name": "hole_9_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_2", + "name": "plate_1_materialhole_2_2", + "sample_id": null, + "children": [ + "hole_10_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_10_sheet_1", + "name": "hole_10_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_2_3", + "name": "plate_1_materialhole_2_3", + "sample_id": null, + "children": [ + "hole_11_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 10.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_11_sheet_1", + "name": "hole_11_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_2_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_0", + "name": "plate_1_materialhole_3_0", + "sample_id": null, + "children": [ + "hole_12_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": 30.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_12_sheet_1", + "name": "hole_12_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_1", + "name": "plate_1_materialhole_3_1", + "sample_id": null, + "children": [ + "hole_13_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": 10.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_13_sheet_1", + "name": "hole_13_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_2", + "name": "plate_1_materialhole_3_2", + "sample_id": null, + "children": [ + "hole_14_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": -9.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_14_sheet_1", + "name": "hole_14_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + }, + { + "id": "plate_1_materialhole_3_3", + "name": "plate_1_materialhole_3_3", + "sample_id": null, + "children": [ + "hole_15_sheet_1" + ], + "parent": "plate_1", + "type": "container", + "class": "", + "position": { + "x": 30.5, + "y": -29.5, + "z": 1 + }, + "config": { + "type": "MaterialHole", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "depth": 1.0, + "diameter": 14, + "info": "", + "max_sheets": 1 + } + }, + { + "id": "hole_15_sheet_1", + "name": "hole_15_sheet_1", + "sample_id": null, + "children": [], + "parent": "plate_1_materialhole_3_3", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 1, + "size_y": 1, + "size_z": 1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "info": "NMC", + "mass": 5.0, + "material_type": "positive_electrode", + "thickness": 0.1 + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py new file mode 100644 index 0000000..eb23be5 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -0,0 +1,1163 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import Resource as PLRResource +from unilabos_msgs.msg import Resource +from unilabos.device_comms.modbus_plc.client import ModbusTcpClient +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 工站的配置 """ + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) + self.success = False + self.allow_data_read = False #允许读取函数运行标志位 + self.csv_export_thread = None + self.csv_export_running = False + self.csv_export_file = None + self.coin_num_N = 0 #已组装电池数量 + #创建一个物料台面，包含两个极片板 + #self.deck = create_a_coin_cell_deck() + + #self._ros_node.update_resource(self.deck) + + #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + # "resources": [self.deck] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num): + bottle_num = int(bottle_num) + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num) -> bool: + """UNILAB写参数""" + while (self.request_rec_msg_status) == False: + print("wait for request_rec_msg_status to True") + time.sleep(1) + self.success = False + #self._unilab_send_msg_electrolyte_num(elec_num) + time.sleep(1) + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + print("data_open_circuit_voltage", data_open_circuit_voltage) + print("data_pole_weight", data_pole_weight) + print("data_assembly_time", data_assembly_time) + print("data_assembly_pressure", data_assembly_pressure) + print("data_electrolyte_volume", data_electrolyte_volume) + print("data_coin_num", data_coin_num) + print("data_electrolyte_code", data_electrolyte_code) + print("data_coin_cell_code", data_coin_cell_code) + #接收完信息后，读取完毕标志位置True + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + #把物料解绑后放到另一盘上 + battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) + battery._unilabos_state = { + "electrolyte_name": data_coin_cell_code, + "data_electrolyte_code": data_electrolyte_code, + "open_circuit_voltage": data_open_circuit_voltage, + "assembly_pressure": data_assembly_pressure, + "electrolyte_volume": data_electrolyte_volume + } + liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num = int(elec_num), int(elec_use_num) + summary_csv_file = os.path.join(file_path, "duandian.csv") + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 + if read_status_flag == False: + pass + #初始化 + #self.func_pack_device_init() + #切换自动 + #self.func_pack_device_auto() + #启动，小车收回 + #self.func_pack_device_start() + #发送电解液瓶数量，启动搬运,多搬运没事 + #self.func_pack_send_bottle_num(elec_num) + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + #第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + time.sleep(1) + # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 + + + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + self.coin_num_N = coin_num_N + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + for i in range(16): + battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) + battery._unilabos_state = { + "diameter": 20.0, + "height": 20.0, + "assembly_pressure": i, + "electrolyte_volume": 20.0, + "electrolyte_name": f"DP{i}" + } + liaopan3.children[i].assign_child_resource(battery, location=None) + + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + time.sleep(4) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 + if self.csv_export_running: + return False, "读取已在运行中" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # TODO:#把电解液从瓶中取到电池夹子中 + # battery_site = deck.get_resource("battery_press_1") + # clip_magazine_battery = deck.get_resource("clip_magazine_battery") + # if battery_site.has_battery(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +if __name__ == "__main__": + from pylabrobot.resources import Resource + Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + #Coin_Cell.func_pack_device_init() + #Coin_Cell.func_pack_device_auto() + #Coin_Cell.func_pack_device_start() + #Coin_Cell.func_pack_send_bottle_num(2) + #Coin_Cell.func_pack_send_msg_cmd(2) + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_send_finished_cmd() +# + #Coin_Cell.func_allpack_cmd(3, 2) + #print(Coin_Cell.data_stack_vision_code) + #print("success") + #创建一个物料台面 + + deck = create_a_coin_cell_deck() + #deck = create_a_full_coin_cell_deck() + + + ##在台面上找到料盘和极片 + #liaopan1 = deck.get_resource("liaopan1") + #liaopan2 = deck.get_resource("liaopan2") + #jipian1 = liaopan1.children[1].children[0] +## + #print(jipian1) + ##把物料解绑后放到另一盘上 + #jipian1.parent.unassign_child_resource(jipian1) + #liaopan2.children[1].assign_child_resource(jipian1, location=None) + ##print(jipian2.parent) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: + # bioyond_resources_unilab = json.load(f) + #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") + #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) + #print(f"转换结果类型: {type(ulab_resources)}") + #print(ulab_resources) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv new file mode 100644 index 0000000..e840715 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv @@ -0,0 +1,44 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address +COIL_SYS_START_CMD,BOOL,,豸,,coil,8010 +COIL_SYS_STOP_CMD,BOOL,,豸ֹͣ,,coil,8020 +COIL_SYS_RESET_CMD,BOOL,,豸λ,,coil,8030 +COIL_SYS_HAND_CMD,BOOL,,豸ֶģʽ,,coil,8040 +COIL_SYS_AUTO_CMD,BOOL,,豸Զģʽ,,coil,8050 +COIL_SYS_INIT_CMD,BOOL,,豸ʼģʽ,,coil,8060 +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,UNILAB䷽,,coil,8700 +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,UNILABܲ,,coil,8710 +COIL_SYS_START_STATUS,BOOL,,豸,,coil,8210 +COIL_SYS_STOP_STATUS,BOOL,,豸ֹͣ,,coil,8220 +COIL_SYS_RESET_STATUS,BOOL,,豸λ,,coil,8230 +COIL_SYS_HAND_STATUS,BOOL,,豸ֶģʽ,,coil,8240 +COIL_SYS_AUTO_STATUS,BOOL,,豸Զģʽ,,coil,8250 +COIL_SYS_INIT_STATUS,BOOL,,豸ʼ,,coil,8260 +COIL_REQUEST_REC_MSG_STATUS,BOOL,,豸䷽,,coil,8510 +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,豸Ͳ,,coil,8500 +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,ƿҺʹô,,hold_register,11000 +REG_MSG_ELECTROLYTE_NUM,INT16,,Һʹƿ,,hold_register,11002 +REG_MSG_ELECTROLYTE_VOLUME,INT16,,Һȡ,,hold_register,11004 +REG_MSG_ASSEMBLY_TYPE,INT16,,װƬѵʽ,,hold_register,11006 +REG_MSG_ASSEMBLY_PRESSURE,INT16,,װѹ,,hold_register,11008 +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,ǰװ,,hold_register,10000 +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,ǰصѹ,,hold_register,10002 +REG_DATA_AXIS_X_POS,FLOAT32,,ҺXᵱǰλ,,hold_register,10004 +REG_DATA_AXIS_Y_POS,FLOAT32,,ҺZᵱǰλ,,hold_register,10006 +REG_DATA_AXIS_Z_POS,FLOAT32,,ҺYᵱǰλ,,hold_register,10008 +REG_DATA_POLE_WEIGHT,FLOAT32,,ǰƬ,,hold_register,10010 +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,ǰŵװʱ,,hold_register,10012 +REG_DATA_ASSEMBLY_PRESSURE,INT16,,ǰװѹ,,hold_register,10014 +REG_DATA_ELECTROLYTE_VOLUME,INT16,,ǰҺע,,hold_register,10016 +REG_DATA_COIN_NUM,INT16,,ǰ,,hold_register,10018 +REG_DATA_ELECTROLYTE_CODE,STRING,,Һάк,,hold_register,10020 +REG_DATA_COIN_CELL_CODE,STRING,,ضάк,,hold_register,10030 +REG_DATA_STACK_VISON_CODE,STRING,,϶ѵͼƬ,,hold_register,12004 +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,ѹ,,hold_register,10050 +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,ˮ,,hold_register,10052 +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054 +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilabȷѷ͵Һƿź,,coil,8720 +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,UnilabɽܵҺƿ,,coil,8520 +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,Һװƽ,,hold_register,496 +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,ǰװƽ,,hold_register,10000 +UNILAB_SEND_FINISHED_CMD,BOOL,,Unilabյź,,coil,8730 +UNILAB_RECE_FINISHED_CMD,BOOL,,֪unilabź,,coil,8530 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv new file mode 100644 index 0000000..149a683 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -0,0 +1,46 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, +COIL_SYS_START_CMD,BOOL,,,,coil,8010, +COIL_SYS_STOP_CMD,BOOL,,,,coil,8020, +COIL_SYS_RESET_CMD,BOOL,,,,coil,8030, +COIL_SYS_HAND_CMD,BOOL,,,,coil,8040, +COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050, +COIL_SYS_INIT_CMD,BOOL,,,,coil,8060, +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700, +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd +COIL_SYS_START_STATUS,BOOL,,,,coil,8210, +COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220, +COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230, +COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240, +COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250, +COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260, +COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500, +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000, +REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num +REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol +REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type +REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage +REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004, +REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006, +REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008, +REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time +REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure +REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume +REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num +REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code() +REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code() +REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code() +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720, +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520, +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496, +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, +UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, +UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, +REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 +COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py new file mode 100644 index 0000000..ac61948 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py @@ -0,0 +1,1149 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import Resource as PLRResource +from unilabos_msgs.msg import Resource +from unilabos.device_comms.modbus_plc.client import ModbusTcpClient +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 工站的配置 """ + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) + self.success = False + self.allow_data_read = False #允许读取函数运行标志位 + self.csv_export_thread = None + self.csv_export_running = False + self.csv_export_file = None + #创建一个物料台面，包含两个极片板 + #self.deck = create_a_coin_cell_deck() + + #self._ros_node.update_resource(self.deck) + + #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + # "resources": [self.deck] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num: int): + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num) -> bool: + """UNILAB写参数""" + while (self.request_rec_msg_status) == False: + print("wait for request_rec_msg_status to True") + time.sleep(1) + self.success = False + #self._unilab_send_msg_electrolyte_num(elec_num) + time.sleep(1) + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + print("data_open_circuit_voltage", data_open_circuit_voltage) + print("data_pole_weight", data_pole_weight) + print("data_assembly_time", data_assembly_time) + print("data_assembly_pressure", data_assembly_pressure) + print("data_electrolyte_volume", data_electrolyte_volume) + print("data_coin_num", data_coin_num) + print("data_electrolyte_code", data_electrolyte_code) + print("data_coin_cell_code", data_coin_cell_code) + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num = int(elec_num), int(elec_use_num) + summary_csv_file = os.path.join(file_path, "duandian.csv") + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 + if read_status_flag == False: + #初始化 + self.func_pack_device_init() + #切换自动 + self.func_pack_device_auto() + #启动，小车收回 + self.func_pack_device_start() + #发送电解液瓶数量，启动搬运,多搬运没事 + self.func_pack_send_bottle_num(elec_num) + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + #第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + time.sleep(1) + # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 + liaopan1 = self.station_resource.get_resource("liaopan1") + liaopan2 = self.station_resource.get_resource("liaopan2") + jipian1 = liaopan1.children[coin_num_N].children[0] + + #print(jipian1) + #把物料解绑后放到另一盘上 + jipian1.parent.unassign_child_resource(jipian1) + liaopan2.children[coin_num_N].assign_child_resource(jipian1, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan1 = self.station_resource.get_resource("liaopan1") + liaopan2 = self.station_resource.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + time.sleep(10) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 + if self.csv_export_running: + return False, "读取已在运行中" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # TODO:#把电解液从瓶中取到电池夹子中 + # battery_site = deck.get_resource("battery_press_1") + # clip_magazine_battery = deck.get_resource("clip_magazine_battery") + # if battery_site.has_battery(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +if __name__ == "__main__": + from pylabrobot.resources import Resource + Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + #Coin_Cell.func_pack_device_init() + #Coin_Cell.func_pack_device_auto() + #Coin_Cell.func_pack_device_start() + #Coin_Cell.func_pack_send_bottle_num(2) + #Coin_Cell.func_pack_send_msg_cmd(2) + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_send_finished_cmd() +# + #Coin_Cell.func_allpack_cmd(3, 2) + #print(Coin_Cell.data_stack_vision_code) + #print("success") + #创建一个物料台面 + + #deck = create_a_coin_cell_deck() + deck = create_a_full_coin_cell_deck() + + + ##在台面上找到料盘和极片 + #liaopan1 = deck.get_resource("liaopan1") + #liaopan2 = deck.get_resource("liaopan2") + #jipian1 = liaopan1.children[1].children[0] +## + #print(jipian1) + ##把物料解绑后放到另一盘上 + #jipian1.parent.unassign_child_resource(jipian1) + #liaopan2.children[1].assign_child_resource(jipian1, location=None) + ##print(jipian2.parent) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: + # bioyond_resources_unilab = json.load(f) + #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") + #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) + #print(f"转换结果类型: {type(ulab_resources)}") + #print(ulab_resources) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py new file mode 100644 index 0000000..6abdc38 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py @@ -0,0 +1,135 @@ +import json +import re +from pymodbus.client import ModbusTcpClient +from unilabos.device_comms.modbus_plc.modbus import WorderOrder, Coil, DiscreteInputs, HoldRegister, InputRegister, DataType +from pymodbus.constants import Endian +import time +import threading +import csv +import os +from datetime import datetime +from typing import Callable +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder + +class Coin_Cell_Assembly: + + +if __name__ == '__main__': + coin_cell_assmbly = Coin_Cell_Assembly(address="192.168.1.20", port="502") + + #params = { + # "elec_num": 32 + #} + #str_data = json.dumps(params, ensure_ascii=False) + #print('param:', coin_cell_assmbly.func_pack_device_write_batch_elec_param(params)) + #time.sleep(1) + + print(coin_cell_assmbly.func_pack_device_write_per_elec_param( + elec_use_num=4, + elec_num=5, + elec_vol=55, + assembly_type=25, + assembly_pressure=550)) + time.sleep(1) + + +''' + print('start:', coin_cell_assmbly.func_pack_device_start()) + time.sleep(1) + + + + + + + + + print('start:', coin_cell_assmbly.func_pack_device_start()) + time.sleep(1) + + print('stop:', coin_cell_assmbly.func_pack_device_stop()) + time.sleep(1) + + while True: + # cmd coil + print('start cmd:', coin_cell_assmbly.sys_start_cmd(True)) + time.sleep(1) + print('stop cmd:', coin_cell_assmbly.sys_stop_cmd(False)) + time.sleep(1) + print('reset cmd:', coin_cell_assmbly.sys_reset_cmd(True)) + time.sleep(1) + print('hand cmd:', coin_cell_assmbly.sys_hand_cmd(False)) + time.sleep(1) + print('auto cmd:', coin_cell_assmbly.sys_auto_cmd(True)) + time.sleep(1) + print('init cmd:', coin_cell_assmbly.sys_init_cmd(False)) + time.sleep(1) + print('send msg succ cmd:', coin_cell_assmbly.unilab_send_msg_succ_cmd(False)) + time.sleep(1) + print('rec msg succ cmd:', coin_cell_assmbly.unilab_rec_msg_succ_cmd(True)) + time.sleep(1) + + # cmd reg + print('elec use num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_use_num(8)) + time.sleep(1) + print('elec num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_num(4)) + time.sleep(1) + print('elec vol msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_vol(3.3)) + time.sleep(1) + print('assembly type msg:', coin_cell_assmbly.unilab_send_msg_assembly_type(1)) + time.sleep(1) + print('assembly pressure msg:', coin_cell_assmbly.unilab_send_msg_assembly_pressure(1)) + time.sleep(1) + + # status coil + print('start status:',coin_cell_assmbly.sys_start_status) + time.sleep(1) + print('stop status:',coin_cell_assmbly.sys_stop_status) + time.sleep(1) + print('reset status:',coin_cell_assmbly.sys_reset_status) + time.sleep(1) + print('hand status:',coin_cell_assmbly.sys_hand_status) + time.sleep(1) + print('auto status:', coin_cell_assmbly.sys_auto_status) + time.sleep(1) + print('init ok:', coin_cell_assmbly.sys_init_status) + time.sleep(1) + print('request rec msg:', coin_cell_assmbly.request_rec_msg_status) + time.sleep(1) + print('request send msg:', coin_cell_assmbly.request_send_msg_status) + time.sleep(1) + + # status reg + print('assembly coin cell num:', coin_cell_assmbly.data_assembly_coin_cell_num) + time.sleep(1) + print('assembly coin assembly per time:', coin_cell_assmbly.data_assembly_time) + time.sleep(1) + print('open circuit vol:', coin_cell_assmbly.data_open_circuit_voltage) + time.sleep(1) + print('axis x pos:', coin_cell_assmbly.data_axis_x_pos) + time.sleep(1) + print('axis y pos:', coin_cell_assmbly.data_axis_y_pos) + time.sleep(1) + print('axis z pos:', coin_cell_assmbly.data_axis_z_pos) + time.sleep(1) + print('pole weight:', coin_cell_assmbly.data_pole_weight) + time.sleep(1) + print('assembly pressure:', coin_cell_assmbly.data_assembly_coin_cell_num) + time.sleep(1) + print('assembly electrolyte vol:', coin_cell_assmbly.data_electrolyte_volume) + time.sleep(1) + print('assembly coin num:', coin_cell_assmbly.data_coin_num) + time.sleep(1) + print('coin cell code:', coin_cell_assmbly.data_coin_cell_code) + time.sleep(1) + print('elec code:', coin_cell_assmbly.data_electrolyte_code) + time.sleep(1) + print('glove box pressure:', coin_cell_assmbly.data_glove_box_pressure) + time.sleep(1) + print('glove box o2:', coin_cell_assmbly.data_glove_box_o2_content) + time.sleep(1) + print('glove box water:', coin_cell_assmbly.data_glove_box_water_content) + time.sleep(1) + +''' \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json new file mode 100644 index 0000000..31fb003 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json @@ -0,0 +1,1925 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", + "protocol_type": [], + "station_resource": { + "data": { + "_resource_child_name": "deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "deck", + "name": "deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2" + ], + "parent": null, + "type": "deck", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "Deck", + "size_x": 1200, + "size_y": 800, + "size_z": 900, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null + }, + "data": {} + }, + { + "id": "liaopan1", + "name": "liaopan1", + "sample_id": null, + "children": [ + "liaopan1_materialhole_0_0", + "liaopan1_materialhole_0_1", + "liaopan1_materialhole_0_2", + "liaopan1_materialhole_0_3", + "liaopan1_materialhole_1_0", + "liaopan1_materialhole_1_1", + "liaopan1_materialhole_1_2", + "liaopan1_materialhole_1_3", + "liaopan1_materialhole_2_0", + "liaopan1_materialhole_2_1", + "liaopan1_materialhole_2_2", + "liaopan1_materialhole_2_3", + "liaopan1_materialhole_3_0", + "liaopan1_materialhole_3_1", + "liaopan1_materialhole_3_2", + "liaopan1_materialhole_3_3" + ], + "parent": "deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 120.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "liaopan1_materialhole_0_0", + "B1": "liaopan1_materialhole_0_1", + "C1": "liaopan1_materialhole_0_2", + "D1": "liaopan1_materialhole_0_3", + "A2": "liaopan1_materialhole_1_0", + "B2": "liaopan1_materialhole_1_1", + "C2": "liaopan1_materialhole_1_2", + "D2": "liaopan1_materialhole_1_3", + "A3": "liaopan1_materialhole_2_0", + "B3": "liaopan1_materialhole_2_1", + "C3": "liaopan1_materialhole_2_2", + "D3": "liaopan1_materialhole_2_3", + "A4": "liaopan1_materialhole_3_0", + "B4": "liaopan1_materialhole_3_1", + "C4": "liaopan1_materialhole_3_2", + "D4": "liaopan1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "liaopan1_materialhole_0_0", + "name": "liaopan1_materialhole_0_0", + "sample_id": null, + "children": [ + "jipian_0" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, 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"tip_box_64_tipspot_7_1", + "name": "tip_box_64_tipspot_7_1", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 62.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_2", + "name": "tip_box_64_tipspot_7_2", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 53.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_3", + "name": "tip_box_64_tipspot_7_3", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 44.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_4", + "name": "tip_box_64_tipspot_7_4", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 35.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_5", + "name": "tip_box_64_tipspot_7_5", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 26.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_6", + "name": "tip_box_64_tipspot_7_6", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 17.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "tip_box_64_tipspot_7_7", + "name": "tip_box_64_tipspot_7_7", + "sample_id": null, + "children": [], + "parent": "tip_box_64", + "type": "container", + "class": "", + "position": { + "x": 71.0, + "y": 8.0, + "z": 0.0 + }, + "config": { + "type": "TipSpot", + "size_x": 10, + "size_y": 10, + "size_z": 0.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 20.0, + "has_filter": false, + "maximal_volume": 1000, + "fitting_depth": 8.0 + } + } + }, + { + "id": "waste_tip_box", + "name": "waste_tip_box", + "sample_id": null, + "children": [], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 300, + "y": 200, + "z": 0 + }, + "config": { + "type": "WasteTipBox", + "size_x": 127.8, + "size_y": 85.5, + "size_z": 60.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "waste_tip_box", + "model": null, + "barcode": null, + "max_volume": "Infinity", + "material_z_thickness": 0, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb new file mode 100644 index 0000000..76c07d7 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb @@ -0,0 +1,750 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 22, + "id": "80bc9500", + "metadata": {}, + "outputs": [], + "source": [ + "from __future__ import annotations\n", + "\n", + "from collections import OrderedDict\n", + "from typing import Any, Dict, List, Optional, TypedDict, Union, cast\n", + "\n", + "from pylabrobot.resources.coordinate import Coordinate\n", + "from pylabrobot.resources.container import Container\n", + "from pylabrobot.resources.deck import Deck\n", + "from pylabrobot.resources.itemized_resource import ItemizedResource\n", + "from pylabrobot.resources.resource import Resource\n", + "from pylabrobot.resources.resource_stack import ResourceStack\n", + "from pylabrobot.resources.tip_rack import TipRack, TipSpot\n", + "from pylabrobot.resources.trash import Trash\n", + "from pylabrobot.resources.utils import create_ordered_items_2d" + ] + }, + { + "cell_type": "markdown", + "id": "498a9159", + "metadata": {}, + "source": [ + "物料类型构建" + ] + }, + { + "cell_type": "code", + "execution_count": 23, + "id": "f4a27241", + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "class ElectrodeSheetState(TypedDict):\n", + " diameter: float # 直径 (mm)\n", + " thickness: float # 厚度 (mm)\n", + " mass: float # 质量 (g)\n", + " material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class ElectrodeSheet(Resource):\n", + " \"\"\"极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料\"\"\"\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str = \"极片\",\n", + " size_x=10,\n", + " size_y=10,\n", + " size_z=10,\n", + " category: str = \"electrode_sheet\",\n", + " model: Optional[str] = None,\n", + " ):\n", + " \"\"\"初始化极片\n", + "\n", + " Args:\n", + " name: 极片名称\n", + " category: 类别\n", + " model: 型号\n", + " \"\"\"\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " category=category,\n", + " model=model,\n", + " )\n", + " self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(\n", + " diameter=14,\n", + " thickness=0.1,\n", + " mass=0.5,\n", + " material_type=\"copper\",\n", + " info=None\n", + " )\n", + "\n", + " # TODO: 这个还要不要？给self._unilabos_state赋值的？\n", + " def load_state(self, state: Dict[str, Any]) -> None:\n", + " \"\"\"格式不变\"\"\"\n", + " super().load_state(state)\n", + " self._unilabos_state = state\n", + " #序列化\n", + " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", + " \"\"\"格式不变\"\"\"\n", + " data = super().serialize_state()\n", + " data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）\n", + " return data\n" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "id": "830f052e", + "metadata": {}, + "outputs": [], + "source": [ + "# TODO: 这个应该只能放一个极片\n", + "class MaterialHoleState(TypedDict):\n", + " diameter: int\n", + " depth: int\n", + " max_sheets: int\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class MaterialHole(Resource):\n", + " \"\"\"料板洞位类\"\"\"\n", + " children: List[ElectrodeSheet] = []\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str,\n", + " size_x: float,\n", + " size_y: float,\n", + " size_z: float,\n", + " category: str = \"material_hole\",\n", + " **kwargs\n", + " ):\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " category=category,\n", + " )\n", + " self._unilabos_state: MaterialHoleState = MaterialHoleState(\n", + " diameter=20,\n", + " depth=10,\n", + " max_sheets=1,\n", + " info=None\n", + " )\n", + "\n", + " def get_all_sheet_info(self):\n", + " info_list = []\n", + " for sheet in self.children:\n", + " info_list.append(sheet._unilabos_state[\"info\"])\n", + " return info_list\n", + " \n", + " #这个函数函数好像没用，一般不会集中赋值质量\n", + " def set_all_sheet_mass(self):\n", + " for sheet in self.children:\n", + " sheet._unilabos_state[\"mass\"] = 0.5 # 示例：设置质量为0.5g\n", + "\n", + " def load_state(self, state: Dict[str, Any]) -> None:\n", + " \"\"\"格式不变\"\"\"\n", + " super().load_state(state)\n", + " self._unilabos_state = state\n", + "\n", + " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", + " \"\"\"格式不变\"\"\"\n", + " data = super().serialize_state()\n", + " data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）\n", + " return data\n", + " #移动极片前先取出对象\n", + " def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:\n", + " for sheet in self.children:\n", + " if sheet.name == name:\n", + " return sheet\n", + " return None\n", + "\n", + " def has_electrode_sheet(self) -> bool:\n", + " \"\"\"检查洞位是否有极片\"\"\"\n", + " return len(self.children) > 0\n", + "\n", + " def assign_child_resource(\n", + " self,\n", + " resource: ElectrodeSheet,\n", + " location: Optional[Coordinate],\n", + " reassign: bool = True,\n", + " ):\n", + " \"\"\"放置极片\"\"\"\n", + " # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题\n", + " if resource._unilabos_state[\"diameter\"] > self._unilabos_state[\"diameter\"]:\n", + " raise ValueError(f\"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}\")\n", + " if len(self.children) >= self._unilabos_state[\"max_sheets\"]:\n", + " raise ValueError(f\"洞位已满，无法放置更多极片\")\n", + " super().assign_child_resource(resource, location, reassign)\n", + "\n", + " # 根据children的编号取物料对象。\n", + " def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:\n", + " return self.children[index]\n", + "\n", + "\n", + "#料板\n", + "class MaterialPlateState(TypedDict):\n", + " hole_spacing_x: float\n", + " hole_spacing_y: float\n", + " hole_diameter: float\n", + " info: Optional[str] # 附加信息\n", + "\n", + "class MaterialPlate(ItemizedResource[MaterialHole]):\n", + " \"\"\"料板类 - 4x4个洞位，每个洞位放1个极片\"\"\"\n", + " \n", + " children: List[MaterialHole]\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str,\n", + " size_x: float,\n", + " size_y: float,\n", + " size_z: float,\n", + " ordered_items: Optional[Dict[str, MaterialHole]] = None,\n", + " ordering: Optional[OrderedDict[str, str]] = None,\n", + " category: str = \"material_plate\",\n", + " model: Optional[str] = None,\n", + " fill: bool = False\n", + " ):\n", + " \"\"\"初始化料板\n", + "\n", + " Args:\n", + " name: 料板名称\n", + " size_x: 长度 (mm)\n", + " size_y: 宽度 (mm)\n", + " size_z: 高度 (mm)\n", + " hole_diameter: 洞直径 (mm)\n", + " hole_depth: 洞深度 (mm)\n", + " hole_spacing_x: X方向洞位间距 (mm)\n", + " hole_spacing_y: Y方向洞位间距 (mm)\n", + " number: 编号\n", + " category: 类别\n", + " model: 型号\n", + " \"\"\"\n", + " self._unilabos_state: MaterialPlateState = MaterialPlateState(\n", + " hole_spacing_x=24.0,\n", + " hole_spacing_y=24.0,\n", + " hole_diameter=20.0,\n", + " info=\"\",\n", + " )\n", + " # 创建4x4的洞位\n", + " # TODO: 这里要改，对应不同形状\n", + " holes = create_ordered_items_2d(\n", + " klass=MaterialHole,\n", + " num_items_x=4,\n", + " num_items_y=4,\n", + " dx=(size_x - 4 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", + " dy=(size_y - 4 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", + " dz=size_z,\n", + " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", + " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", + " size_x = 16,\n", + " size_y = 16,\n", + " size_z = 16,\n", + " )\n", + " if fill:\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " ordered_items=holes,\n", + " category=category,\n", + " model=model,\n", + " )\n", + " else:\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " ordered_items=ordered_items,\n", + " ordering=ordering,\n", + " category=category,\n", + " model=model,\n", + " )\n", + "\n", + " def update_locations(self):\n", + " # TODO:调多次相加\n", + " holes = create_ordered_items_2d(\n", + " klass=MaterialHole,\n", + " num_items_x=4,\n", + " num_items_y=4,\n", + " dx=(self._size_x - 3 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", + " dy=(self._size_y - 3 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", + " dz=self._size_z,\n", + " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", + " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", + " size_x = 1,\n", + " size_y = 1,\n", + " size_z = 1,\n", + " )\n", + " for item, original_item in zip(holes.items(), self.children):\n", + " original_item.location = item[1].location" + ] + }, + { + "cell_type": "code", + "execution_count": 25, + "id": "8318ccca", + "metadata": {}, + "outputs": [], + "source": [ + "class CoincellDeck(Deck):\n", + " \"\"\"纽扣电池组装工作站台面类\"\"\"\n", + "\n", + " def __init__(\n", + " self,\n", + " name: str = \"coin_cell_deck\",\n", + " size_x: float = 1620.0, # 3.66m\n", + " size_y: float = 1270.0, # 1.23m\n", + " size_z: float = 500.0,\n", + " origin: Coordinate = Coordinate(0, 0, 0),\n", + " category: str = \"coin_cell_deck\",\n", + " ):\n", + " \"\"\"初始化纽扣电池组装工作站台面\n", + "\n", + " Args:\n", + " name: 台面名称\n", + " size_x: 长度 (mm) - 3.66m\n", + " size_y: 宽度 (mm) - 1.23m\n", + " size_z: 高度 (mm)\n", + " origin: 原点坐标\n", + " category: 类别\n", + " \"\"\"\n", + " super().__init__(\n", + " name=name,\n", + " size_x=size_x,\n", + " size_y=size_y,\n", + " size_z=size_z,\n", + " origin=origin,\n", + " category=category,\n", + " )" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "c73bae21", + "metadata": {}, + "outputs": [], + "source": [ + "import json" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "3369a1dd", + "metadata": {}, + "outputs": [], + "source": [ + "def upload_resources_to_unilab(wuliao: List[Resource]):\n", + " from unilabos.resources.graphio import convert_resources_from_type\n", + " from unilabos.config.config import BasicConfig \n", + " BasicConfig.ak = \"beb0c15f-2279-46a1-aba5-00eaf89aef55\"\n", + " BasicConfig.sk = \"15d4f25e-3512-4f9c-9bfb-43ab85e7b561\"\n", + " from unilabos.app.web.client import http_client\n", + " resources = convert_resources_from_type(wuliao, [Resource])\n", + " json.dump({\"nodes\": resources, \"links\": []}, open(\"button_battery_station_resources_unilab.json\", \"w\"), indent=2)\n", + " \n", + " #print(resources)\n", + " http_client.remote_addr = \"https://uni-lab.test.bohrium.com/api/v1\"\n", + " \n", + " http_client.resource_add(resources)" + ] + }, + { + "cell_type": "code", + "execution_count": 29, + "id": "1543ddab", + "metadata": {}, + "outputs": [], + "source": [ + "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "id": "b732754a", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=None)\n" + ] + } + ], + "source": [ + "print(liaopan1)" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "7e6e7252", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[MaterialHole(name=liaopan1_materialhole_0_0, location=Coordinate(012.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_1, location=Coordinate(012.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_2, location=Coordinate(012.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_3, location=Coordinate(012.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_0, location=Coordinate(036.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_1, location=Coordinate(036.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_2, location=Coordinate(036.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_3, location=Coordinate(036.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_0, location=Coordinate(060.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_1, location=Coordinate(060.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_2, location=Coordinate(060.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_3, location=Coordinate(060.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_0, location=Coordinate(084.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_1, location=Coordinate(084.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_2, location=Coordinate(084.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_3, location=Coordinate(084.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole)]\n" + ] + } + ], + "source": [ + "print(liaopan1.children)" + ] + }, + { + "cell_type": "code", + "execution_count": 26, + "id": "836ff68d", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:15:08,950]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "CoincellDeck(name=coin_cell_deck, location=Coordinate(000.000, 000.000, 000.000), size_x=1620.0, size_y=1270.0, size_z=500.0, category=coin_cell_deck)\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:15:09,218]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + } + ], + "source": [ + "deck = CoincellDeck()\n", + "#创建一个4*4的物料板\n", + "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", + "#把物料板放到桌子上\n", + "deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))\n", + "#创建一个极片\n", + "for i in range(16):\n", + " jipian = ElectrodeSheet(name=f\"jipian_{i}\", size_x= 12, size_y=12, size_z=0.1)\n", + " liaopan1.children[i].assign_child_resource(jipian, location=None)\n", + "#创建一个4*4的物料板\n", + "liaopan2 = MaterialPlate(name=\"liaopan2\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", + "#把物料板放到桌子上\n", + "deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))\n", + "#liaopan.children[3].assign_child_resource(jipian, location=None)\n", + "print(deck)\n", + "\n", + "upload_resources_to_unilab([deck])" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "id": "00aab9cf", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=Coordinate(000.000, 000.000, 000.000))\n" + ] + } + ], + "source": [ + "liaopan1 = deck.get_resource(\"liaopan1\")\n", + "print(liaopan1)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7409969c", + "metadata": {}, + "outputs": [], + "source": [ + "liaopan1 = deck.get_resource(\"liaopan1\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "096dde04", + "metadata": {}, + "outputs": [], + "source": [ + "print()" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "id": "5528df96", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:17:44,322]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "ElectrodeSheet(name=jipian_1, location=None, size_x=12, size_y=12, size_z=0.1, category=electrode_sheet)\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [15:17:44,599]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + } + ], + "source": [ + "#在台面上找到料盘和极片\n", + "liaopan1 = deck.get_resource(\"liaopan1\")\n", + "liaopan2 = deck.get_resource(\"liaopan2\")\n", + "jipian1 = liaopan1.children[1].children[0]\n", + "#\n", + "print(jipian1)\n", + "#把物料解绑后放到另一盘上\n", + "jipian1.parent.unassign_child_resource(jipian1)\n", + "liaopan2.children[1].assign_child_resource(jipian1, location=None)\n", + "#print(jipian2.parent)\n", + "upload_resources_to_unilab([deck])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "43736700", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [14:31:50,027]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_hole\n", + "转换pylabrobot的时候，出现未知类型 material_plate\n", + "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[37m25-09-22 [14:31:50,358]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" + ] + }, + { + "data": { + "text/plain": [ + "" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "unilab", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.11" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml new file mode 100644 index 0000000..29e8437 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml @@ -0,0 +1,6674 @@ +bettery_station_registry: + category: + - work_station + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + elec_num: null + elec_use_num: null + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + elec_num: + type: string + elec_use_num: + type: string + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: integer + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + elec_use_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + elec_use_num: + type: string + required: + - elec_use_num + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 192.168.1.20 + type: string + debug_mode: + default: true + type: boolean + port: + default: '502' + type: string + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + version: 1.0.0 +workstation: + category: + - work_station + class: + action_value_mappings: + AGVTransferProtocol: + feedback: {} + goal: + from_repo: from_repo + from_repo_position: from_repo_position + to_repo: to_repo + to_repo_position: to_repo_position + goal_default: + from_repo: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + from_repo_position: '' + to_repo: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + to_repo_position: '' + handles: {} + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: AGVTransfer_Feedback + type: object + goal: + properties: + from_repo: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_repo + type: object + from_repo_position: + type: string + to_repo: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_repo + type: object + to_repo_position: + type: string + required: + - from_repo + - from_repo_position + - to_repo + - to_repo_position + title: AGVTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: AGVTransfer_Result + type: object + required: + - goal + title: AGVTransfer + type: object + type: AGVTransfer + AddProtocol: + feedback: {} + goal: + amount: amount + equiv: equiv + event: event + mass: mass + mol: mol + purpose: purpose + rate_spec: rate_spec + ratio: ratio + reagent: reagent + stir: stir + stir_speed: stir_speed + time: time + vessel: vessel + viscous: viscous + volume: volume + goal_default: + amount: '' + equiv: '' + event: '' + mass: '' + mol: '' + purpose: '' + rate_spec: '' + ratio: '' + reagent: '' + stir: false + stir_speed: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + viscous: false + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: Add_Feedback + type: object + goal: + properties: + amount: + type: string + equiv: + type: string + event: + type: string + mass: + type: string + mol: + type: string + purpose: + type: string + rate_spec: + type: string + ratio: + type: string + reagent: + type: string + stir: + type: boolean + stir_speed: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + viscous: + type: boolean + volume: + type: string + required: + - vessel + - reagent + - volume + - mass + - amount + - time + - stir + - stir_speed + - viscous + - purpose + - event + - mol + - rate_spec + - equiv + - ratio + title: Add_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Add_Result + type: object + required: + - goal + title: Add + type: object + type: Add + AdjustPHProtocol: + feedback: {} + goal: + ph_value: ph_value + reagent: reagent + settling_time: settling_time + stir: stir + stir_speed: stir_speed + stir_time: stir_time + vessel: vessel + volume: volume + goal_default: + ph_value: 0.0 + reagent: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: AdjustPH_Feedback + type: object + goal: + properties: + ph_value: + type: number + reagent: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - ph_value + - reagent + title: AdjustPH_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: AdjustPH_Result + type: object + required: + - goal + title: AdjustPH + type: object + type: AdjustPH + CentrifugeProtocol: + feedback: {} + goal: + speed: speed + temp: temp + time: time + vessel: vessel + goal_default: + speed: 0.0 + temp: 0.0 + time: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + current_temp: + type: number + progress: + type: number + required: + - progress + - current_speed + - current_temp + - current_status + title: Centrifuge_Feedback + type: object + goal: + properties: + speed: + type: number + temp: + type: number + time: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - speed + - time + - temp + title: Centrifuge_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Centrifuge_Result + type: object + required: + - goal + title: Centrifuge + type: object + type: Centrifuge + CleanProtocol: + feedback: {} + goal: + repeats: repeats + solvent: solvent + temp: temp + vessel: vessel + volume: volume + goal_default: + repeats: 0 + solvent: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Clean_Feedback + type: object + goal: + properties: + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + solvent: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - solvent + - volume + - temp + - repeats + title: Clean_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Clean_Result + type: object + required: + - goal + title: Clean + type: object + type: Clean + CleanVesselProtocol: + feedback: {} + goal: + repeats: repeats + solvent: solvent + temp: temp + vessel: vessel + volume: volume + goal_default: + repeats: 0 + solvent: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: CleanVessel_Feedback + type: object + goal: + properties: + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + solvent: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - solvent + - volume + - temp + - repeats + title: CleanVessel_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: CleanVessel_Result + type: object + required: + - goal + title: CleanVessel + type: object + type: CleanVessel + DissolveProtocol: + feedback: {} + goal: + amount: amount + event: event + mass: mass + mol: mol + reagent: reagent + solvent: solvent + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + volume: volume + goal_default: + amount: '' + event: '' + mass: '' + mol: '' + reagent: '' + solvent: '' + stir_speed: 0.0 + temp: '' + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + - data_key: reagent + data_source: handle + data_type: resource + handler_key: reagent + label: Reagent + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Dissolve_Feedback + type: object + goal: + properties: + amount: + type: string + event: + type: string + mass: + type: string + mol: + type: string + reagent: + type: string + solvent: + type: string + stir_speed: + type: number + temp: + type: string + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + required: + - vessel + - solvent + - volume + - amount + - temp + - time + - stir_speed + - mass + - mol + - reagent + - event + title: Dissolve_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Dissolve_Result + type: object + required: + - goal + title: Dissolve + type: object + type: Dissolve + DryProtocol: + feedback: {} + goal: + compound: compound + vessel: vessel + goal_default: + compound: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Dry_Feedback + type: object + goal: + properties: + compound: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - compound + - vessel + title: Dry_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Dry_Result + type: object + required: + - goal + title: Dry + type: object + type: Dry + EvacuateAndRefillProtocol: + feedback: {} + goal: + gas: gas + vessel: vessel + goal_default: + gas: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: EvacuateAndRefill_Feedback + type: object + goal: + properties: + gas: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - gas + title: EvacuateAndRefill_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: EvacuateAndRefill_Result + type: object + required: + - goal + title: EvacuateAndRefill + type: object + type: EvacuateAndRefill + EvaporateProtocol: + feedback: {} + goal: + pressure: pressure + solvent: solvent + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + goal_default: + pressure: 0.0 + solvent: '' + stir_speed: 0.0 + temp: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Evaporation Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Eluting Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: VesselOut + label: Evaporation Vessel + placeholder_keys: + vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: Evaporate_Feedback + type: object + goal: + properties: + pressure: + type: number + solvent: + type: string + stir_speed: + type: number + temp: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - pressure + - temp + - time + - stir_speed + - solvent + title: Evaporate_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: Evaporate_Result + type: object + required: + - goal + title: Evaporate + type: object + type: Evaporate + FilterProtocol: + feedback: {} + goal: + continue_heatchill: continue_heatchill + filtrate_vessel: filtrate_vessel + stir: stir + stir_speed: stir_speed + temp: temp + vessel: vessel + volume: volume + goal_default: + continue_heatchill: false + filtrate_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: filtrate_vessel + data_source: handle + data_type: resource + handler_key: FiltrateVessel + label: Filtrate Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + - data_key: filtrate_vessel + data_source: executor + data_type: resource + handler_key: FiltrateOut + label: Filtrate Vessel + placeholder_keys: + filtrate_vessel: unilabos_resources + vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + current_temp: + type: number + filtered_volume: + type: number + progress: + type: number + required: + - progress + - current_temp + - filtered_volume + - current_status + title: Filter_Feedback + type: object + goal: + properties: + continue_heatchill: + type: boolean + filtrate_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filtrate_vessel + type: object + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: number + required: + - vessel + - filtrate_vessel + - stir + - stir_speed + - temp + - continue_heatchill + - volume + title: Filter_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Filter_Result + type: object + required: + - goal + title: Filter + type: object + type: Filter + FilterThroughProtocol: + feedback: {} + goal: + eluting_repeats: eluting_repeats + eluting_solvent: eluting_solvent + eluting_volume: eluting_volume + filter_through: filter_through + from_vessel: from_vessel + residence_time: residence_time + to_vessel: to_vessel + goal_default: + eluting_repeats: 0 + eluting_solvent: '' + eluting_volume: 0.0 + filter_through: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + residence_time: 0.0 + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Eluting Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_resources + to_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: FilterThrough_Feedback + type: object + goal: + properties: + eluting_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + eluting_solvent: + type: string + eluting_volume: + type: number + filter_through: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filter_through + type: object + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + residence_time: + type: number + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + required: + - from_vessel + - to_vessel + - filter_through + - eluting_solvent + - eluting_volume + - eluting_repeats + - residence_time + title: FilterThrough_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: FilterThrough_Result + type: object + required: + - goal + title: FilterThrough + type: object + type: FilterThrough + HeatChillProtocol: + feedback: {} + goal: + pressure: pressure + purpose: purpose + reflux_solvent: reflux_solvent + stir: stir + stir_speed: stir_speed + temp: temp + temp_spec: temp_spec + time: time + time_spec: time_spec + vessel: vessel + goal_default: + pressure: '' + purpose: '' + reflux_solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + temp_spec: '' + time: '' + time_spec: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChill_Feedback + type: object + goal: + properties: + pressure: + type: string + purpose: + type: string + reflux_solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + temp_spec: + type: string + time: + type: string + time_spec: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - temp + - time + - temp_spec + - time_spec + - pressure + - reflux_solvent + - stir + - stir_speed + - purpose + title: HeatChill_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: HeatChill_Result + type: object + required: + - goal + title: HeatChill + type: object + type: HeatChill + HeatChillStartProtocol: + feedback: {} + goal: + purpose: purpose + temp: temp + vessel: vessel + goal_default: + purpose: '' + temp: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStart_Feedback + type: object + goal: + properties: + purpose: + type: string + temp: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - temp + - purpose + title: HeatChillStart_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStart_Result + type: object + required: + - goal + title: HeatChillStart + type: object + type: HeatChillStart + HeatChillStopProtocol: + feedback: {} + goal: + vessel: vessel + goal_default: + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: HeatChillStop_Feedback + type: object + goal: + properties: + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + title: HeatChillStop_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: HeatChillStop_Result + type: object + required: + - goal + title: HeatChillStop + type: object + type: HeatChillStop + HydrogenateProtocol: + feedback: {} + goal: + temp: temp + time: time + vessel: vessel + goal_default: + temp: '' + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Hydrogenate_Feedback + type: object + goal: + properties: + temp: + type: string + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - temp + - time + - vessel + title: Hydrogenate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Hydrogenate_Result + type: object + required: + - goal + title: Hydrogenate + type: object + type: Hydrogenate + PumpTransferProtocol: + feedback: {} + goal: + amount: amount + event: event + flowrate: flowrate + from_vessel: from_vessel + rate_spec: rate_spec + rinsing_repeats: rinsing_repeats + rinsing_solvent: rinsing_solvent + rinsing_volume: rinsing_volume + solid: solid + through: through + time: time + to_vessel: to_vessel + transfer_flowrate: transfer_flowrate + viscous: viscous + volume: volume + goal_default: + amount: '' + event: '' + flowrate: 0.0 + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + rate_spec: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + through: '' + time: 0.0 + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + transfer_flowrate: 0.0 + viscous: false + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Rinsing Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_nodes + to_vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_device: + type: string + status: + type: string + time_remaining: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_remaining + type: object + time_spent: + properties: + nanosec: + maximum: 4294967295 + minimum: 0 + type: integer + sec: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - sec + - nanosec + title: time_spent + type: object + required: + - status + - current_device + - time_spent + - time_remaining + title: PumpTransfer_Feedback + type: object + goal: + properties: + amount: + type: string + event: + type: string + flowrate: + type: number + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + rate_spec: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + through: + type: string + time: + type: number + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + transfer_flowrate: + type: number + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + - flowrate + - transfer_flowrate + - rate_spec + - event + - through + title: PumpTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: PumpTransfer_Result + type: object + required: + - goal + title: PumpTransfer + type: object + type: PumpTransfer + RecrystallizeProtocol: + feedback: {} + goal: + ratio: ratio + solvent1: solvent1 + solvent2: solvent2 + vessel: vessel + volume: volume + goal_default: + ratio: '' + solvent1: '' + solvent2: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent1 + data_source: handle + data_type: resource + handler_key: solvent1 + label: Solvent 1 + - data_key: solvent2 + data_source: handle + data_type: resource + handler_key: solvent2 + label: Solvent 2 + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Recrystallize_Feedback + type: object + goal: + properties: + ratio: + type: string + solvent1: + type: string + solvent2: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + required: + - ratio + - solvent1 + - solvent2 + - vessel + - volume + title: Recrystallize_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Recrystallize_Result + type: object + required: + - goal + title: Recrystallize + type: object + type: Recrystallize + ResetHandlingProtocol: + feedback: {} + goal: + solvent: solvent + goal_default: + solvent: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: [] + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: ResetHandling_Feedback + type: object + goal: + properties: + solvent: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - solvent + - vessel + title: ResetHandling_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: ResetHandling_Result + type: object + required: + - goal + title: ResetHandling + type: object + type: ResetHandling + RunColumnProtocol: + feedback: {} + goal: + column: column + from_vessel: from_vessel + to_vessel: to_vessel + goal_default: + column: '' + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + pct1: '' + pct2: '' + ratio: '' + rf: '' + solvent1: '' + solvent2: '' + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + column: unilabos_devices + from_vessel: unilabos_resources + to_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: RunColumn_Feedback + type: object + goal: + properties: + column: + type: string + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + pct1: + type: string + pct2: + type: string + ratio: + type: string + rf: + type: string + solvent1: + type: string + solvent2: + type: string + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + required: + - from_vessel + - to_vessel + - column + - rf + - pct1 + - pct2 + - solvent1 + - solvent2 + - ratio + title: RunColumn_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: RunColumn_Result + type: object + required: + - goal + title: RunColumn + type: object + type: RunColumn + SeparateProtocol: + feedback: {} + goal: + from_vessel: from_vessel + product_phase: product_phase + purpose: purpose + repeats: repeats + separation_vessel: separation_vessel + settling_time: settling_time + solvent: solvent + solvent_volume: solvent_volume + stir_speed: stir_speed + stir_time: stir_time + through: through + to_vessel: to_vessel + waste_phase_to_vessel: waste_phase_to_vessel + goal_default: + from_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + product_phase: '' + product_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + purpose: '' + repeats: 0 + separation_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + settling_time: 0.0 + solvent: '' + solvent_volume: '' + stir_speed: 0.0 + stir_time: 0.0 + through: '' + to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + waste_phase_to_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + waste_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_resources + to_vessel: unilabos_resources + waste_phase_to_vessel: unilabos_resources + waste_vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: Separate_Feedback + type: object + goal: + properties: + from_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: from_vessel + type: object + product_phase: + type: string + product_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: product_vessel + type: object + purpose: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + separation_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: separation_vessel + type: object + settling_time: + type: number + solvent: + type: string + solvent_volume: + type: string + stir_speed: + type: number + stir_time: + type: number + through: + type: string + to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to_vessel + type: object + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + waste_phase_to_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: waste_phase_to_vessel + type: object + waste_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: waste_vessel + type: object + required: + - vessel + - purpose + - product_phase + - from_vessel + - separation_vessel + - to_vessel + - waste_phase_to_vessel + - product_vessel + - waste_vessel + - solvent + - solvent_volume + - volume + - through + - repeats + - stir_time + - stir_speed + - settling_time + title: Separate_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Separate_Result + type: object + required: + - goal + title: Separate + type: object + type: Separate + StartStirProtocol: + feedback: {} + goal: + purpose: purpose + stir_speed: stir_speed + vessel: vessel + goal_default: + purpose: '' + stir_speed: 0.0 + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_speed: + type: number + current_status: + type: string + progress: + type: number + required: + - progress + - current_speed + - current_status + title: StartStir_Feedback + type: object + goal: + properties: + purpose: + type: string + stir_speed: + type: number + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - stir_speed + - purpose + title: StartStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StartStir_Result + type: object + required: + - goal + title: StartStir + type: object + type: StartStir + StirProtocol: + feedback: {} + goal: + event: event + settling_time: settling_time + stir_speed: stir_speed + stir_time: stir_time + time: time + time_spec: time_spec + vessel: vessel + goal_default: + event: '' + settling_time: '' + stir_speed: 0.0 + stir_time: 0.0 + time: '' + time_spec: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: Stir_Feedback + type: object + goal: + properties: + event: + type: string + settling_time: + type: string + stir_speed: + type: number + stir_time: + type: number + time: + type: string + time_spec: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + - time + - event + - time_spec + - stir_time + - stir_speed + - settling_time + title: Stir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Stir_Result + type: object + required: + - goal + title: Stir + type: object + type: Stir + StopStirProtocol: + feedback: {} + goal: + vessel: vessel + goal_default: + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + output: + - data_key: vessel + data_source: executor + data_type: resource + handler_key: VesselOut + label: Vessel + placeholder_keys: + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + required: + - progress + - current_status + title: StopStir_Feedback + type: object + goal: + properties: + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + required: + - vessel + title: StopStir_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: StopStir_Result + type: object + required: + - goal + title: StopStir + type: object + type: StopStir + TransferProtocol: + feedback: {} + goal: + amount: amount + from_vessel: from_vessel + rinsing_repeats: rinsing_repeats + rinsing_solvent: rinsing_solvent + rinsing_volume: rinsing_volume + solid: solid + time: time + to_vessel: to_vessel + viscous: viscous + volume: volume + goal_default: + amount: '' + from_vessel: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + time: 0.0 + to_vessel: '' + viscous: false + volume: 0.0 + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVessel + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVessel + label: To Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Rinsing Solvent + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: FromVesselOut + label: From Vessel + - data_key: vessel + data_source: executor + data_type: resource + handler_key: ToVesselOut + label: To Vessel + placeholder_keys: + from_vessel: unilabos_nodes + to_vessel: unilabos_nodes + result: {} + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + transferred_volume: + type: number + required: + - progress + - transferred_volume + - current_status + title: Transfer_Feedback + type: object + goal: + properties: + amount: + type: string + from_vessel: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + time: + type: number + to_vessel: + type: string + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + title: Transfer_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Transfer_Result + type: object + required: + - goal + title: Transfer + type: object + type: Transfer + WashSolidProtocol: + feedback: {} + goal: + filtrate_vessel: filtrate_vessel + repeats: repeats + solvent: solvent + stir: stir + stir_speed: stir_speed + temp: temp + time: time + vessel: vessel + volume: volume + goal_default: + event: '' + filtrate_vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + mass: '' + repeats: 0 + repeats_spec: '' + solvent: '' + stir: false + stir_speed: 0.0 + temp: 0.0 + time: '' + vessel: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + volume: '' + volume_spec: '' + handles: + input: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: Vessel + label: Vessel + - data_key: solvent + data_source: handle + data_type: resource + handler_key: solvent + label: Solvent + - data_key: filtrate_vessel + data_source: handle + data_type: resource + handler_key: filtrate_vessel + label: Filtrate Vessel + output: + - data_key: vessel + data_source: handle + data_type: resource + handler_key: VesselOut + label: Vessel Out + - data_key: filtrate_vessel + data_source: executor + data_type: resource + handler_key: filtrate_vessel_out + label: Filtrate Vessel + placeholder_keys: + filtrate_vessel: unilabos_resources + vessel: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: + progress: + type: number + status: + type: string + required: + - status + - progress + title: WashSolid_Feedback + type: object + goal: + properties: + event: + type: string + filtrate_vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: filtrate_vessel + type: object + mass: + type: string + repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + repeats_spec: + type: string + solvent: + type: string + stir: + type: boolean + stir_speed: + type: number + temp: + type: number + time: + type: string + vessel: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: vessel + type: object + volume: + type: string + volume_spec: + type: string + required: + - vessel + - solvent + - volume + - filtrate_vessel + - temp + - stir + - stir_speed + - time + - repeats + - volume_spec + - repeats_spec + - mass + - event + title: WashSolid_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: WashSolid_Result + type: object + required: + - goal + title: WashSolid + type: object + type: WashSolid + auto-create_ros_action_server: + feedback: {} + goal: {} + goal_default: + action_name: null + action_value_mapping: null + handles: {} + result: {} + schema: + description: create_ros_action_server的参数schema + properties: + feedback: {} + goal: + properties: + action_name: + type: string + action_value_mapping: + type: string + required: + - action_name + - action_value_mapping + type: object + result: {} + required: + - goal + title: create_ros_action_server参数 + type: object + type: UniLabJsonCommand + auto-execute_single_action: + feedback: {} + goal: {} + goal_default: + action_kwargs: null + action_name: null + device_id: null + handles: {} + result: {} + schema: + description: execute_single_action的参数schema + properties: + feedback: {} + goal: + properties: + action_kwargs: + type: string + action_name: + type: string + device_id: + type: string + required: + - device_id + - action_name + - action_kwargs + type: object + result: {} + required: + - goal + title: execute_single_action参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize_device: + feedback: {} + goal: {} + goal_default: + device_config: null + device_id: null + handles: {} + result: {} + schema: + description: initialize_device的参数schema + properties: + feedback: {} + goal: + properties: + device_config: + type: string + device_id: + type: string + required: + - device_id + - device_config + type: object + result: {} + required: + - goal + title: initialize_device参数 + type: object + type: UniLabJsonCommand + module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode + status_types: {} + type: ros2 + config_info: [] + description: Workstation + handles: [] + icon: '' + init_param_schema: + config: + properties: + action_value_mappings: + type: object + children: + type: object + device_id: + type: string + driver_instance: + type: string + hardware_interface: + type: object + print_publish: + default: true + type: string + protocol_type: + items: + type: string + type: array + resource_tracker: + type: string + status_types: + type: object + required: + - protocol_type + - children + - driver_instance + - device_id + - status_types + - action_value_mappings + - hardware_interface + type: object + data: + properties: {} + required: [] + type: object + version: 1.0.0 +workstation.example: + category: + - work_station + class: + action_value_mappings: {} + module: unilabos.devices.workstation.workstation_base:WorkstationExample + status_types: {} + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: {} + required: [] + type: object + version: 1.0.0 From 190b2d251837fdef5a26b17cae865edee8fb7469 Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 27 Oct 2025 11:43:03 +0800 Subject: [PATCH 021/104] =?UTF-8?q?=E6=B8=85=E7=90=86=E6=89=A3=E7=94=B5?= =?UTF-8?q?=E4=B8=8D=E5=BF=85=E8=A6=81=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1006 -- .../button_battery_station_big.py | 1412 -- ..._battery_station_resources_unilab_big.json | 1895 -- .../coin_cell_assembly/cellconfig.py | 114 - .../coin_cell_assembly/celljson.json | 1332 -- .../coin_cell_assembly/coin_cell_assembly.py | 1163 -- .../coin_cell_assembly_0910.csv | 44 - .../coin_cell_assembly_a.csv | 46 - .../coin_cell_assembly_old.py | 1149 -- .../coin_cell_assembly_system_wuliao.py | 135 - .../coin_cell_assembly/new_cellconfig.json | 1925 -- .../coin_cell_assembly/new_cellconfig2.json | 1925 -- .../coin_cell_assembly/new_cellconfig3.json | 1925 -- .../coin_cell_assembly/new_cellconfig3a.json | 1956 --- .../coin_cell_assembly/new_cellconfig3b.json | 2589 --- .../coin_cell_assembly/new_cellconfig3c.json | 691 - .../coin_cell_assembly/new_cellconfig4.json | 14472 ---------------- .../workstation/coin_cell_assembly/test.ipynb | 750 - .../coin_cell_assembly/work_station.yaml | 6674 ------- 20 files changed, 41203 deletions(-) delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/__init__.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/cellconfig.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/celljson.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig2.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3a.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3b.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/test.ipynb delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/work_station.yaml diff --git a/unilabos/devices/workstation/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py deleted file mode 100644 index eae09b8..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py +++ /dev/null @@ -1,1006 +0,0 @@ -""" -纽扣电池组装工作站物料类定义 -Button Battery Assembly Station Resource Classes -""" - -from __future__ import annotations - -from collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - height: float - electrolyte_name: str - data_electrolyte_code: str - open_circuit_voltage: float - assembly_pressure: float - electrolyte_volume: float - - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - # TODO: 这个还要不要？给self._unilabos_state赋值的？ - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - #if len(self.children) >= self._unilabos_state["max_sheets"]: - # raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - - def __init__( - self, - name: str, - diameter: float, - depth: float, - max_sheets: int = 100, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - max_sheets: 最大极片数量 - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - self.max_sheets = max_sheets - self._sheets: List[ElectrodeSheet] = [] - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片""" - return (len(self._sheets) < self.max_sheets and - sheet.diameter <= self.diameter) - - def add_sheet(self, sheet: ElectrodeSheet) -> None: - """添加极片""" - if not self.can_add_sheet(sheet): - raise ValueError(f"无法向洞位 {self.name} 添加极片") - self._sheets.append(sheet) - - def take_sheet(self) -> ElectrodeSheet: - """取出极片""" - if len(self._sheets) == 0: - raise ValueError(f"洞位 {self.name} 没有极片") - return self._sheets.pop() - - def get_sheet_count(self) -> int: - """获取极片数量""" - return len(self._sheets) - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self._sheets), - "sheets": [sheet.serialize() for sheet in self._sheets], - } - -# TODO: 这个要改 -class ClipMagazine(Resource): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=0, - depth=0, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - assembly_pressure: float - electrolyte_volume: float - electrolyte_name: str - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x=1, - size_y=1, - size_z=1, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState( - diameter = 1.0, - height = 1.0, - assembly_pressure = 1.0, - electrolyte_volume = 1.0, - electrolyte_name = "DP001" - ) - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #这个应该没用，不会有加了后再加的事情 - def add_electrolyte(self, name: str, volume: float) -> bool: - """添加电解液信息""" - if name != self._unilabos_state["electrolyte_name"]: - return False - self._unilabos_state["electrolyte_volume"] += volume - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# 电解液作为属性放进去 - -class BatteryPressSlotState(TypedDict): - """电池状态字典""" - diameter: float =20.0 - depth: float = 4.0 - -class BatteryPressSlot(Resource): - """电池压制槽类 - 设备，可容纳一个电池""" - children: List[Battery] = [] - - def __init__( - self, - name: str = "BatteryPressSlot", - category: str = "battery_press_slot", - ): - """初始化电池压制槽 - - Args: - name: 压制槽名称 - diameter: 直径 (mm) - depth: 深度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=10, - size_y=12, - size_z=13, - category=category, - ) - self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() - - def has_battery(self) -> bool: - """检查是否有电池""" - return len(self.children) > 0 - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - def assign_child_resource( - self, - resource: Battery, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 让高京看下槽位只有一个电池时是否这么写。 - if self.has_battery(): - raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_battery_info(self, index: int) -> Battery: - return self.children[0] - -# TODO:这个移液枪架子看一下从哪继承 -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - - -class WasteTipBoxstate(TypedDict): - """"废枪头盒状态字典""" - max_tips: int = 100 - tip_count: int = 0 - -#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 -class WasteTipBox(Trash): - """废枪头盒类 - 100个枪头容量""" - - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "waste_tip_box", - model: Optional[str] = None, - ): - """初始化废枪头盒 - - Args: - name: 废枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - max_tips: 最大枪头容量 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - - def add_tip(self) -> None: - """添加废枪头""" - if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: - raise ValueError(f"废枪头盒 {self.name} 已满") - self._unilabos_state["tip_count"] += 1 - - def get_tip_count(self) -> int: - """获取枪头数量""" - return self._unilabos_state["tip_count"] - - def empty(self) -> None: - """清空废枪头盒""" - self._unilabos_state["tip_count"] = 0 - - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - name_to_index: dict - - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Bottle] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # TODO: 添加瓶位坐标映射 - self.index_to_pos = { - 0: Coordinate.zero(), - 1: Coordinate(x=1, y=2, z=3) # 添加 - } - self.name_to_index = {} - self.name_to_pos = {} - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): - assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource_by_index(self, resource: Bottle, index: int): - assert 0 <= index < 12, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - # def serialize(self): - # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) - # return super().serialize() - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class CoincellDeck(Deck): - """纽扣电池组装工作站台面类""" - - def __init__( - self, - name: str = "coin_cell_deck", - size_x: float = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """初始化纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -import json - -if __name__ == "__main__": - #electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck(size_x=1000, - size_y=1000, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) -# - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) - - - - #liaopan.children[3].assign_child_resource(jipian, location=None) - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" - BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py deleted file mode 100644 index 765328f..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_big.py +++ /dev/null @@ -1,1412 +0,0 @@ -""" -纽扣电池组装工作站物料类定义 -Button Battery Assembly Station Resource Classes -""" - -from __future__ import annotations - -from collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - # TODO: 这个还要不要？给self._unilabos_state赋值的？ - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - if len(self.children) >= self._unilabos_state["max_sheets"]: - raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - - - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - children: List[ElectrodeSheet] = [] - def __init__( - self, - name: str, - diameter: float, - depth: float, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片 - - 根据洞的深度和极片的厚度来判断是否可以添加极片 - """ - # 检查极片直径是否适合洞的直径 - if sheet._unilabos_state["diameter"] > self.diameter: - return False - - # 计算当前已添加极片的总厚度 - current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) - - # 检查添加新极片后总厚度是否超过洞的深度 - if current_thickness + sheet._unilabos_state["thickness"] > self.depth: - return False - - return True - - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate] = None, - reassign: bool = True, - ): - """放置极片到洞位中 - - Args: - resource: 要放置的极片 - location: 极片在洞位中的位置（对于洞位，通常为None） - reassign: 是否允许重新分配 - """ - # 检查是否可以添加极片 - if not self.can_add_sheet(resource): - raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") - - # 调用父类方法实际执行分配 - super().assign_child_resource(resource, location, reassign) - - def unassign_child_resource(self, resource: ElectrodeSheet): - """从洞位中移除极片 - - Args: - resource: 要移除的极片 - """ - if resource not in self.children: - raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") - - # 调用父类方法实际执行移除 - super().unassign_child_resource(resource) - - - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self.children), - "sheets": [sheet.serialize() for sheet in self.children], - } -class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有4个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=2, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -# TODO: 这个要改 -class ClipMagazine(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - - electrolyte_name: str - electrolyte_volume: float - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState() - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #这个应该没用，不会有加了后再加的事情 - def add_electrolyte(self, name: str, volume: float) -> bool: - """添加电解液信息""" - if name != self._unilabos_state["electrolyte_name"]: - return False - self._unilabos_state["electrolyte_volume"] += volume - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# 电解液作为属性放进去 - -class BatteryPressSlotState(TypedDict): - """电池状态字典""" - diameter: float =20.0 - depth: float = 4.0 - -class BatteryPressSlot(Resource): - """电池压制槽类 - 设备，可容纳一个电池""" - children: List[Battery] = [] - - def __init__( - self, - name: str = "BatteryPressSlot", - category: str = "battery_press_slot", - ): - """初始化电池压制槽 - - Args: - name: 压制槽名称 - diameter: 直径 (mm) - depth: 深度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=10, - size_y=12, - size_z=13, - category=category, - ) - self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() - - def has_battery(self) -> bool: - """检查是否有电池""" - return len(self.children) > 0 - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - def assign_child_resource( - self, - resource: Battery, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 让高京看下槽位只有一个电池时是否这么写。 - if self.has_battery(): - raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_battery_info(self, index: int) -> Battery: - return self.children[0] - -# TODO:这个移液枪架子看一下从哪继承 -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - # 记录网格参数用于前端渲染 - self._grid_params = { - "num_items_x": 8, - "num_items_y": 8, - "dx": 8.0, - "dy": 8.0, - "item_dx": 9.0, - "item_dy": 9.0, - } - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - def serialize(self) -> dict: - return { - **super().serialize(), - **self._grid_params, - } - - - -class WasteTipBoxstate(TypedDict): - """"废枪头盒状态字典""" - max_tips: int = 100 - tip_count: int = 0 - -#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 -class WasteTipBox(Trash): - """废枪头盒类 - 100个枪头容量""" - - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "waste_tip_box", - model: Optional[str] = None, - ): - """初始化废枪头盒 - - Args: - name: 废枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - max_tips: 最大枪头容量 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - - def add_tip(self) -> None: - """添加废枪头""" - if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: - raise ValueError(f"废枪头盒 {self.name} 已满") - self._unilabos_state["tip_count"] += 1 - - def get_tip_count(self) -> int: - """获取枪头数量""" - return self._unilabos_state["tip_count"] - - def empty(self) -> None: - """清空废枪头盒""" - self._unilabos_state["tip_count"] = 0 - - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - position_spacing: float - name_to_index: dict - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Resource] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - num_items_x: int = 3, - num_items_y: int = 4, - position_spacing: float = 35.0, - orientation: str = "horizontal", - padding_x: float = 20.0, - padding_y: float = 20.0, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # 初始化状态 - self._unilabos_state: BottleRackState = BottleRackState( - bottle_diameter=30.0, - bottle_height=100.0, - position_spacing=position_spacing, - name_to_index={}, - ) - # 基于网格生成瓶位坐标映射（居中摆放） - # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） - origin_x = padding_x - origin_y = padding_y - self.index_to_pos = {} - for j in range(num_items_y): - for i in range(num_items_x): - idx = j * num_items_x + i - if orientation == "vertical": - # 纵向：沿 y 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + j * position_spacing, - y=origin_y + i * position_spacing, - z=0, - ) - else: - # 横向（默认）：沿 x 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + i * position_spacing, - y=origin_y + j * position_spacing, - z=0, - ) - self.name_to_index = {} - self.name_to_pos = {} - self.num_items_x = num_items_x - self.num_items_y = num_items_y - self.orientation = orientation - self.padding_x = padding_x - self.padding_y = padding_y - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update( - self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): - capacity = self.num_items_x * self.num_items_y - assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = self.index_to_pos.get(index, Coordinate.zero()) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource(self, resource: Resource, index: int): - capacity = self.num_items_x * self.num_items_y - assert 0 <= index < capacity, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - def serialize(self) -> dict: - return { - **super().serialize(), - "num_items_x": self.num_items_x, - "num_items_y": self.num_items_y, - "position_spacing": self._unilabos_state.get("position_spacing", 35.0), - "orientation": self.orientation, - "padding_x": self.padding_x, - "padding_y": self.padding_y, - } - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class CoincellDeck(Deck): - """纽扣电池组装工作站台面类""" - - def __init__( - self, - name: str = "coin_cell_deck", - size_x: float = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """初始化纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -def create_a_liaopan(): - liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - return liaopan - -def create_a_coin_cell_deck(): - deck = Deck(size_x=1200, - size_y=800, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) - - print(deck) - - return deck - - -def create_a_full_coin_cell_deck(): - deck = CoincellDeck() - """======================================子弹夹============================================""" - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - """======================================子弹夹============================================""" - #liaopan = TipBox64(name="liaopan") - """======================================物料板============================================""" - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) - - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) - - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - #liaopan.children[3].assign_child_resource(jipian, location=None) - """======================================物料板============================================""" - """======================================瓶架，移液枪============================================""" - # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - bottle_rack_3x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=3, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) - - - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - - tip_box = TipBox64(name="tip_box_64") - deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) - - waste_tip_box = WasteTipBox(name="waste_tip_box") - deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - """======================================瓶架，移液枪============================================""" - print(deck) - return deck - - - - -import json - -if __name__ == "__main__": - electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck() - """======================================子弹夹============================================""" - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - """======================================子弹夹============================================""" - #liaopan = TipBox64(name="liaopan") - """======================================物料板============================================""" - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) - - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) - - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - #liaopan.children[3].assign_child_resource(jipian, location=None) - """======================================物料板============================================""" - """======================================瓶架，移液枪============================================""" - # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - bottle_rack_3x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=3, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) - - - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - - tip_box = TipBox64(name="tip_box_64") - deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) - - waste_tip_box = WasteTipBox(name="waste_tip_box") - deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - """======================================瓶架，移液枪============================================""" - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - - # 检查序列化后的资源 - - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json deleted file mode 100644 index 9468817..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station_resources_unilab_big.json +++ /dev/null @@ -1,1895 +0,0 @@ -{ - "nodes": [ - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "liaopan1", - "liaopan2" - ], - "parent": null, - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1620.0, - "size_y": 1270.0, - "size_z": 500.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "liaopan1", - "name": "liaopan1", - "sample_id": null, - "children": [ - "liaopan1_materialhole_0_0", - "liaopan1_materialhole_0_1", - "liaopan1_materialhole_0_2", - "liaopan1_materialhole_0_3", - "liaopan1_materialhole_1_0", - "liaopan1_materialhole_1_1", - "liaopan1_materialhole_1_2", - "liaopan1_materialhole_1_3", - "liaopan1_materialhole_2_0", - "liaopan1_materialhole_2_1", - "liaopan1_materialhole_2_2", - "liaopan1_materialhole_2_3", - "liaopan1_materialhole_3_0", - "liaopan1_materialhole_3_1", - "liaopan1_materialhole_3_2", - "liaopan1_materialhole_3_3" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 120.8, - "size_y": 120.5, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "liaopan1_materialhole_0_0", - "B1": "liaopan1_materialhole_0_1", - "C1": "liaopan1_materialhole_0_2", - "D1": "liaopan1_materialhole_0_3", - "A2": "liaopan1_materialhole_1_0", - "B2": "liaopan1_materialhole_1_1", - "C2": "liaopan1_materialhole_1_2", - "D2": "liaopan1_materialhole_1_3", - "A3": "liaopan1_materialhole_2_0", - "B3": "liaopan1_materialhole_2_1", - "C3": "liaopan1_materialhole_2_2", - "D3": "liaopan1_materialhole_2_3", - "A4": "liaopan1_materialhole_3_0", - "B4": "liaopan1_materialhole_3_1", - "C4": "liaopan1_materialhole_3_2", - "D4": "liaopan1_materialhole_3_3" - } - }, - "data": {} - }, - { - "id": "liaopan1_materialhole_0_0", - "name": "liaopan1_materialhole_0_0", - "sample_id": null, - "children": [ - "jipian_0" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 84.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_0", - "name": "jipian_0", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_0_1", - "name": "liaopan1_materialhole_0_1", - "sample_id": null, - "children": [], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 60.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "liaopan1_materialhole_0_2", - "name": "liaopan1_materialhole_0_2", - "sample_id": null, - "children": [ - "jipian_2" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 36.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_2", - "name": "jipian_2", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_0_3", - "name": "liaopan1_materialhole_0_3", - "sample_id": null, - "children": [ - "jipian_3" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 12.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_3", - "name": "jipian_3", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_1_0", - "name": "liaopan1_materialhole_1_0", - "sample_id": null, - "children": [ - "jipian_4" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 84.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_4", - "name": "jipian_4", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_1_1", - "name": "liaopan1_materialhole_1_1", - "sample_id": null, - "children": [ - "jipian_5" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 60.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_5", - "name": "jipian_5", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_1_2", - "name": "liaopan1_materialhole_1_2", - "sample_id": null, - "children": [ - "jipian_6" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 36.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_6", - "name": "jipian_6", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, - { - "id": "liaopan1_materialhole_1_3", - "name": "liaopan1_materialhole_1_3", - "sample_id": null, - "children": [ - "jipian_7" - ], - "parent": "liaopan1", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 12.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "jipian_7", - "name": "jipian_7", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - 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"parent": "liaopan2", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 60.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "liaopan2_materialhole_3_2", - "name": "liaopan2_materialhole_3_2", - "sample_id": null, - "children": [], - "parent": "liaopan2", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 36.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "liaopan2_materialhole_3_3", - "name": "liaopan2_materialhole_3_3", - "sample_id": null, - "children": [], - "parent": "liaopan2", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 12.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py b/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py deleted file mode 100644 index 957f62d..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/cellconfig.py +++ /dev/null @@ -1,114 +0,0 @@ -#!/usr/bin/env python -#coding=utf-8 - -ENV = 'pro'#'test' -class MQConfig: - """MQTT 配置类""" - lab_id: str = '9F05593C' - instance_id: str = 'mqtt-cn-dsr48m6jy02' - - group_id: str = 'GID_prod' - broker_url: str = 'mqtt-cn-dsr48m6jy02.mqtt.aliyuncs.com' - port: int = 8883 - ca_content: str = '''-----BEGIN CERTIFICATE----- -MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL -BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G -A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda -Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG -A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi -MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 -NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC -VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr -erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L -0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz -ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB -AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME -fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ -BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE -CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN -BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK -9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 -4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 -bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I -lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d -SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== ------END CERTIFICATE----- -''' - cert_content: str = '''-----BEGIN CERTIFICATE----- -MIIDlTCCAn2gAwIBAgIUa/ce6dpJ8K7XNvT0LknVmLgfJMIwDQYJKoZIhvcNAQEL -BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G -A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA4MTMwNDQ0MDVa -Fw0yNjEyMjYwNDQ0MDVaMHoxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG -A1UEBwwCQkoxDDAKBgNVBAoMA0RQVDENMAsGA1UECwwETVFUVDEhMB8GCSqGSIb3 -DQEJARYSaHVhaGFpbWluZ0BkcC50ZWNoMREwDwYDVQQDDAg0NzJBMjZBQzCCASIw -DQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAPc4NHXcwaFX3jSN6DnDYoY7ON6c -AeVIlcQp3CMHnulh4t3I3Fnsyelpc809s7l5vEpAjMIuZ40DJKZQmV9ckmeylMiY -bAk851+i8YcRQPeYYY7Ggt0sfkY3TWIIqptZtlIhXtkTCWw6xpHAPkYxqNTiUN/0 -vwQWwiBS7WqD8NVjNhhHootYLsMjnQYc162L8nUwzG2pjB3UYqOldC3FkHXvBkG2 -Oeex8VM8Urblv0huCmoFRyuMmNol0QWqp+6nwAgdvf89Z38NJByPI9VHaBB/VV1F -HiAZe3H8Ph7wzgUSXBuVHJ4BaeJbg4+ax6BccpaQn26jgpJGUEj+YR+NwdMCAwEA -AaNCMEAwDAYDVR0TAQH/BAIwADAOBgNVHQ8BAf8EBAMCAvQwIAYDVR0lAQH/BBYw -FAYIKwYBBQUHAwIGCCsGAQUFBwMBMA0GCSqGSIb3DQEBCwUAA4IBAQAZaF8puP0/ -OcRM7Gcd4LrF8H/WG0Q7WM0T9BWGvee6A+Fcd4ajBC0S0tIfdsfYat0+g4U57jrr -vaQeZGFKc4YKVui8vSuth82fcsFk5fpyhz4JJRggzeoby+0gNx9eYDJwLIvbVy4Y -2LKGq+rsO07QF54jtwB4WpDNFnEIadXyjPBsMy/0Ssbetp827WYZygXYyAcUlCfN -Wns7K0phfZJwIMQgPs3d4mGwCC+xaRIB3GGjUGFXV1sFItjkTUHCvm+phw/MTpRp -pauplyDcWYux7z1dKhbuHElzCEqxZNwyI0nGJlRFP13Oo+jnuDO7gQh2lyz/AFyX -KyTA3xFZduHO ------END CERTIFICATE----- ------BEGIN CERTIFICATE----- -MIID3jCCAsagAwIBAgIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDQYJKoZIhvcNAQEL -BQAwSzELMAkGA1UEBhMCQ04xCzAJBgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4G -A1UECgwHZHAudGVjaDEQMA4GA1UECwwHdW5pLWxhYjAeFw0yNTA1MDYxNTE0Mjda -Fw0zNTA1MDQxNTE0MjdaMEsxCzAJBgNVBAYTAkNOMQswCQYDVQQIDAJCSjELMAkG -A1UEBwwCQkoxEDAOBgNVBAoMB2RwLnRlY2gxEDAOBgNVBAsMB3VuaS1sYWIwggEi -MA0GCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDnTBywX+6DJ2n+prNKvylBBJF6 -NHQrCt2cztZfswHsW4QhAbDddp4PRzNVzKtIfHX5ZrXGbxNT1/TqQYXKiFjKbfPC -VHTrS6+95LP3MxNTlBWHP6d2uI45KwrGgQ7D1uPDG1wZsfuJxvOkfAIxZRCDUMJr -erYYK/p2/GVMAO5YKE7wENUMN+iLfVQRqQJRgte9z0B35DxUeOUblJDun0Dpl/6L -0km/YRrjUKA/5+u/h+Ko9+36L1DAi+9rm3eyp+BQHBy5aiVhAG6uAJeMjbZMxwxz -ixg9cWNxP1BW+aQQzixbEQ+YlO9+w/soJkLstiK7jF8uIg2QvmNUKNlqab0pAgMB -AAGjgbkwgbYwHQYDVR0OBBYEFAqg0r7f6ngWODyVxVWHWM06b8wDMIGGBgNVHSME -fzB9gBQKoNK+3+p4Fjg8lcVVh1jNOm/MA6FPpE0wSzELMAkGA1UEBhMCQ04xCzAJ -BgNVBAgMAkJKMQswCQYDVQQHDAJCSjEQMA4GA1UECgwHZHAudGVjaDEQMA4GA1UE -CwwHdW5pLWxhYoIUDyIgmg4qZtMPa8r2Vvn1b1fgJ+YwDAYDVR0TBAUwAwEB/zAN -BgkqhkiG9w0BAQsFAAOCAQEAMylGHHhRCI8JLTizxqk2HaOFkF/WfnYC3XyNx3bK -9KqwVcvaqES+C058lits5nCV1qjjSnKt6xU11S8C6E28Kazh+wMqnSw63fz4UOY5 -4cekPCPy8XcWlOY6UW2N27GR0c9JDo9ovruOn1Y4KjATpAQI4W2tPAQ2gCVSNpu1 -bw5uw35yJSRzdQIHlsVbslvj2wcugK3GZHmmxJK+q9ww7G6xXtE2Y0+vl6AZRj+I -lcTy5TNNDZiiboIlAt+K3m4hxzSgGPbmFPJX3Lw3i+YMR/0PrWfXqxZgicO/V6/d -SgGBqq/tH1caiaEjCFudSZcOiZvHIlb09O4qL7mCtWEiEQ== ------END CERTIFICATE----- -''' - key_content: str = '''-----BEGIN RSA PRIVATE KEY----- -MIIEpAIBAAKCAQEA9zg0ddzBoVfeNI3oOcNihjs43pwB5UiVxCncIwee6WHi3cjc -WezJ6WlzzT2zuXm8SkCMwi5njQMkplCZX1ySZ7KUyJhsCTznX6LxhxFA95hhjsaC -3Sx+RjdNYgiqm1m2UiFe2RMJbDrGkcA+RjGo1OJQ3/S/BBbCIFLtaoPw1WM2GEei -i1guwyOdBhzXrYvydTDMbamMHdRio6V0LcWQde8GQbY557HxUzxStuW/SG4KagVH -K4yY2iXRBaqn7qfACB29/z1nfw0kHI8j1UdoEH9VXUUeIBl7cfw+HvDOBRJcG5Uc -ngFp4luDj5rHoFxylpCfbqOCkkZQSP5hH43B0wIDAQABAoIBAAPzz0ZUcqmR1Eva -5PH98gQzp2wB9snLY86HY3Z/JVAPf5Ht9sbAUWHhT8PVoWpIasSmFbuJxz6DRk3S -M8VVVipxxgcTWqo/JOD4HZiCNfcRru6+5dHxZ4p2B/n4EWfoy+KyEZkgd5jQFONj -jIX+rDR3qZzFqoBRhQSHLuD+i66eZ7l1LOqsnk51r3nTCnGmdyV8fll56MMB5D6+ -8LN2rwbmSYX/UIBBqHUthgEt2onFNaetTLgSa3RSNGZ3xEZt4N32vw1SARxItuso -npAAY77POMUwWe3666fETI+yr/gJuppvTF4sQUXy7I4iz7I18n2SYivHabdgnk6H -7y1TcGECgYEA/NbBLFz1YPOQiT6TsuitIlfWcFWXYI4yHh/Mwwm/heHV683HrUti -RSHWbFxggW70BYJbGAQprEe9UIRVdP9YNi3aPeN5WNfnTFHlN2HRiKenlETM1tw9 -yaSWjNbAyc2ka+l1EblMJy92xoCkErS8riEPW83o+3+LqJwnjsJ8tVECgYEA+k93 -AyNpXuOZldAoqSHF3wHgzgd2jhfVdQcNlz9sLfT8TAdoR01mdBtdytcYAH+FHplW -wlkCfpT1RPf3fEd0Asy727pJnL9v/QfY/BB+vfgWKUQg9CWNIevwItCaTNOSekis -lKl5dxNGOyouU7rPbTj9BC26OHA50Z3vLMKmi+MCgYEAy0Sb6N6TJ26pNK1qcNs+ -1e1oKMem+6lWAYHvTJ35q9jz8q9taJTCXHHnwRZDP8vDwuoZ8iTmm+rQ+HprebQP -Zv9WBYtrc1GgUmtErFGn8wVWZI0rYVGPGx2HK5M7SwJYvajixW0DHD28b7ncLm2/ -gv5xKo1QUWEpFlT0OIGDYQECgYEA8WRlH6+s1Iel++ZM8B7T1ibXh5mG6a1ue3eb -0bqmNwPFtASIugqYvWwO3ajlSsWvuTyjgLWaRDye9C42i7HU3UZX/KUAjJvKAjjp -Nt0pfUadCJrdNNZp7sa8RLbrtx9qaWdgl9WAgCckWbZqCvFjTK/iwX7f0cHY4J/w -ojftqYUCgYARM6YaEJuBJEBmZV1I0rweiguqWssZz2j1awSlsfYxckwnci4VtSMI -D/sp0Wp0yn2N4cgqp49BFD0rCQCTsASVICEf9HWdMQXsUhzWsz4SjVEhjWWC1VAk -sEL+BOcbsHy3qMbV2uKBHrhuZShDdy5KtCm9TB+7zTWyDVHwE24nig== ------END RSA PRIVATE KEY----- -''' - -# HTTP配置 -class HTTPConfig: - remote_addr = "https://uni-lab.test.bohrium.com/api/v1" diff --git a/unilabos/devices/workstation/coin_cell_assembly/celljson.json b/unilabos/devices/workstation/coin_cell_assembly/celljson.json deleted file mode 100644 index ad90417..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/celljson.json +++ /dev/null @@ -1,1332 +0,0 @@ -{ - "nodes": [ - { - "id": "BatteryStation", - "name": "扣电工作站", - "children": [ - "coin_cell_deck" - ], - "parent": null, - "type": "device", - "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, - "config": { - "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", - "protocol_type": [], - "station_resource": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", - "port": 502 - }, - "data": {} - }, - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "ban_cao_wei" - ], - "parent": "BatteryStation", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1620.0, - "size_y": 1270.0, - "size_z": 500.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "ban_cao_wei", - "name": "ban_cao_wei", - "sample_id": null, - "children": [ - "plate_1" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "PlateSlot", - "size_x": 0, - "size_y": 0, - "size_z": 0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate_slot", - "model": null, - "barcode": null, - "max_plates": 8 - }, - "data": {} - }, - { - "id": "plate_1", - "name": "plate_1", - "sample_id": null, - "children": [ - "plate_1_materialhole_0_0", - "plate_1_materialhole_0_1", - "plate_1_materialhole_0_2", - "plate_1_materialhole_0_3", - "plate_1_materialhole_1_0", - "plate_1_materialhole_1_1", - "plate_1_materialhole_1_2", - "plate_1_materialhole_1_3", - "plate_1_materialhole_2_0", - "plate_1_materialhole_2_1", - "plate_1_materialhole_2_2", - "plate_1_materialhole_2_3", - "plate_1_materialhole_3_0", - "plate_1_materialhole_3_1", - "plate_1_materialhole_3_2", - "plate_1_materialhole_3_3" - ], - "parent": "ban_cao_wei", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - 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"thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_3_2", - "name": "plate_1_materialhole_3_2", - "sample_id": null, - "children": [ - "hole_14_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 30.5, - "y": -9.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_14_sheet_1", - "name": "hole_14_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_3_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - }, - { - "id": "plate_1_materialhole_3_3", - "name": "plate_1_materialhole_3_3", - "sample_id": null, - "children": [ - "hole_15_sheet_1" - ], - "parent": "plate_1", - "type": "container", - "class": "", - "position": { - "x": 30.5, - "y": -29.5, - "z": 1 - }, - "config": { - "type": "MaterialHole", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "depth": 1.0, - "diameter": 14, - "info": "", - "max_sheets": 1 - } - }, - { - "id": "hole_15_sheet_1", - "name": "hole_15_sheet_1", - "sample_id": null, - "children": [], - "parent": "plate_1_materialhole_3_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 1, - "size_y": 1, - "size_z": 1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "info": "NMC", - "mass": 5.0, - "material_type": "positive_electrode", - "thickness": 0.1 - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py deleted file mode 100644 index eb23be5..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ /dev/null @@ -1,1163 +0,0 @@ -import csv -import json -import os -import threading -import time -from datetime import datetime -from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource -from unilabos_msgs.msg import Resource -from unilabos.device_comms.modbus_plc.client import ModbusTcpClient -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate -from unilabos.devices.workstation.workstation_base import WorkstationBase -from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient -from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * -from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -#构建物料系统 - -class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - station_resource: CoincellDeck, - address: str = "192.168.1.20", - port: str = "502", - debug_mode: bool = True, - *args, - **kwargs, - ): - super().__init__( - #桌子 - station_resource=station_resource, - *args, - **kwargs, - ) - self.debug_mode = debug_mode - self.station_resource = station_resource - """ 连接初始化 """ - modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) - if not debug_mode: - modbus_client.client.connect() - count = 100 - while count >0: - count -=1 - if modbus_client.client.is_socket_open(): - break - time.sleep(2) - if not modbus_client.client.is_socket_open(): - raise ValueError('modbus tcp connection failed') - else: - print("测试模式，跳过连接") - - """ 工站的配置 """ - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) - self.client = modbus_client.register_node_list(self.nodes) - self.success = False - self.allow_data_read = False #允许读取函数运行标志位 - self.csv_export_thread = None - self.csv_export_running = False - self.csv_export_file = None - self.coin_num_N = 0 #已组装电池数量 - #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - - #self._ros_node.update_resource(self.deck) - - #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - #}) - - - def post_init(self, ros_node: ROS2WorkstationNode): - self._ros_node = ros_node - #self.deck = create_a_coin_cell_deck() - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - # 批量操作在这里写 - async def change_hole_sheet_to_2(self, hole: MaterialHole): - hole._unilabos_state["max_sheets"] = 2 - return await self._ros_node.update_resource(hole) - - - async def fill_plate(self): - plate_1: MaterialPlate = self.station_resource.children[0].children[0] - #plate_1 - return await self._ros_node.update_resource(plate_1) - - #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): - # """启动工作流""" - # self.current_workflow_status = WorkflowStatus.RUNNING - # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") -# - # # TODO: 实现工作流逻辑 -# - # anode_sheet = self.deck.get_resource("anode_sheet") - - """ Action逻辑代码 """ - def _sys_start_cmd(self, cmd=None): - """设备启动命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_START_CMD') - ret = node.write(cmd) - print(ret) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) - return cmd_feedback[0] - - def _sys_stop_cmd(self, cmd=None): - """设备停止命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_STOP_CMD') - node.write(cmd) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) - return cmd_feedback[0] - - def _sys_reset_cmd(self, cmd=None): - """设备复位命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) - return cmd_feedback[0] - - def _sys_hand_cmd(self, cmd=None): - """手动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) - self.success = True - print("步骤0") - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) - return cmd_feedback[0] - - def _sys_auto_cmd(self, cmd=None): - """自动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) - return cmd_feedback[0] - - def _sys_init_cmd(self, cmd=None): - """初始化命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_succ_cmd(self, cmd=None): - """UNILAB发送配方完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rec_msg_succ_cmd(self, cmd=None): - """UNILAB接收测试电池数据完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) - return cmd_feedback - - - # ====================== 命令类指令（REG_x_） ====================== - def _unilab_send_msg_electrolyte_num(self, num=None): - """UNILAB写电解液使用瓶数(可读写)""" - if num is not None: - self.success = False - ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - print(ret) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_use_num(self, use_num=None): - """UNILAB写单次电解液使用瓶数(可读写)""" - if use_num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) - self.success = True - return self.success - else: - return False - - def _unilab_send_msg_assembly_type(self, num=None): - """UNILAB写组装参数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_vol(self, vol=None): - """UNILAB写电解液吸取量参数""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - def _unilab_send_msg_assembly_pressure(self, vol=None): - """UNILAB写电池压制力""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - # ==================== 0905新增内容（COIL_x_STATUS） ==================== - def _unilab_send_electrolyte_bottle_num(self, num=None): - """UNILAB发送电解液瓶数完毕""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_rece_electrolyte_bottle_num(self, num=None): - """设备请求接受电解液瓶数""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _reg_msg_electrolyte_num(self, num=None): - """电解液已使用瓶数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _reg_data_electrolyte_use_num(self, num=None): - """单瓶电解液完成组装数""" - if num is not None: - self.success = False - self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_finished_cmd(self, num=None): - """Unilab发送已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rece_finished_cmd(self, num=None): - """Unilab接收已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) - return cmd_feedback[0] - - - - # ==================== 状态类属性（COIL_x_STATUS） ==================== - def _sys_start_status(self) -> bool: - """设备启动中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) - return status[0] - - def _sys_stop_status(self) -> bool: - """设备停止中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) - return status[0] - - def _sys_reset_status(self) -> bool: - """设备复位中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) - return status[0] - - def _sys_init_status(self) -> bool: - """设备初始化完成( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) - return status[0] - - # 查找资源 - def modify_deck_name(self, resource_name: str): - # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) - # print(f"!!! figure_res: {type(figure_res)}") - self.station_resource.children[1] - return - - @property - def sys_status(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_start_status(): - return "设备启动中" - elif self._sys_stop_status(): - return "设备停止中" - elif self._sys_reset_status(): - return "设备复位中" - elif self._sys_init_status(): - return "设备初始化中" - else: - return "未知状态" - - def _sys_hand_status(self) -> bool: - """设备手动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) - return status[0] - - def _sys_auto_status(self) -> bool: - """设备自动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) - return status[0] - - @property - def sys_mode(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_hand_status(): - return "设备手动模式" - elif self._sys_auto_status(): - return "设备自动模式" - else: - return "未知模式" - - @property - def request_rec_msg_status(self) -> bool: - """设备请求接受配方( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) - return status[0] - - @property - def request_send_msg_status(self) -> bool: - """设备请求发送测试数据( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) - return status[0] - - # ======================= 其他属性（特殊功能） ======================== - ''' - @property - def warning_1(self) -> bool: - status, read_err = self.client.use_node('COIL_WARNING_1').read(1) - return status[0] - ''' - # ===================== 生产数据区 ====================== - - @property - def data_assembly_coin_cell_num(self) -> int: - """已完成电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) - return num - - @property - def data_assembly_time(self) -> float: - """单颗电池组装时间 (秒, REAL/FLOAT32)""" - if self.debug_mode: - return 0 - time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) - return time - - @property - def data_open_circuit_voltage(self) -> float: - """开路电压值 (FLOAT32)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) - return vol - - @property - def data_axis_x_pos(self) -> float: - """分液X轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_y_pos(self) -> float: - """分液Y轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_z_pos(self) -> float: - """分液Z轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_pole_weight(self) -> float: - """当前电池正极片称重数据 (FLOAT32)""" - if self.debug_mode: - return 0 - weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) - return weight - - @property - def data_assembly_pressure(self) -> int: - """当前电池压制力 (INT16)""" - if self.debug_mode: - return 0 - pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) - return pressure - - @property - def data_electrolyte_volume(self) -> int: - """当前电解液加注量 (INT16)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) - return vol - - @property - def data_coin_num(self) -> int: - """当前电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) - return num - - @property - def data_coin_cell_code(self) -> str: - """电池二维码序列号 (STRING)""" - try: - # 尝试不同的字节序读取 - code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code - except Exception as e: - print(f"读取电池二维码失败: {e}") - return "N/A" - - - @property - def data_electrolyte_code(self) -> str: - try: - # 尝试不同的字节序读取 - code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code - except Exception as e: - print(f"读取电解液二维码失败: {e}") - return "N/A" - - # ===================== 环境监控区 ====================== - @property - def data_glove_box_pressure(self) -> float: - """手套箱压力 (bar, FLOAT32)""" - if self.debug_mode: - return 0 - status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return status - - @property - def data_glove_box_o2_content(self) -> float: - """手套箱氧含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - - @property - def data_glove_box_water_content(self) -> float: - """手套箱水含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - -# @property -# def data_stack_vision_code(self) -> int: -# """物料堆叠复检图片编码 (INT16)""" -# if self.debug_mode: -# return 0 -# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) -# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type -# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) -# #print(code.type) -# # print(read_err) -# return int(code) - - def func_pack_device_init(self): - #切换手动模式 - print("切换手动模式") - self._sys_hand_cmd(True) - time.sleep(1) - while (self._sys_hand_status()) == False: - print("waiting for hand_cmd") - time.sleep(1) - #设备初始化 - self._sys_init_cmd(True) - time.sleep(1) - #sys_init_status为bool值，不加括号 - while (self._sys_init_status())== False: - print("waiting for init_cmd") - time.sleep(1) - #手动按钮置回False - self._sys_hand_cmd(False) - time.sleep(1) - while (self._sys_hand_cmd()) == True: - print("waiting for hand_cmd to False") - time.sleep(1) - #初始化命令置回False - self._sys_init_cmd(False) - time.sleep(1) - while (self._sys_init_cmd()) == True: - print("waiting for init_cmd to False") - time.sleep(1) - - def func_pack_device_auto(self): - #切换自动 - print("切换自动模式") - self._sys_auto_cmd(True) - time.sleep(1) - while (self._sys_auto_status()) == False: - print("waiting for auto_status") - time.sleep(1) - #自动按钮置False - self._sys_auto_cmd(False) - time.sleep(1) - while (self._sys_auto_cmd()) == True: - print("waiting for auto_cmd") - time.sleep(1) - - def func_pack_device_start(self): - #切换自动 - print("启动") - self._sys_start_cmd(True) - time.sleep(1) - while (self._sys_start_status()) == False: - print("waiting for start_status") - time.sleep(1) - #自动按钮置False - self._sys_start_cmd(False) - time.sleep(1) - while (self._sys_start_cmd()) == True: - print("waiting for start_cmd") - time.sleep(1) - - def func_pack_send_bottle_num(self, bottle_num): - bottle_num = int(bottle_num) - #发送电解液平台数 - print("启动") - while (self._unilab_rece_electrolyte_bottle_num()) == False: - print("waiting for rece_electrolyte_bottle_num to True") - # self.client.use_node('8520').write(True) - time.sleep(1) - #发送电解液瓶数为2 - self._reg_msg_electrolyte_num(bottle_num) - time.sleep(1) - #完成信号置True - self._unilab_send_electrolyte_bottle_num(True) - time.sleep(1) - #检测到依华已接收 - while (self._unilab_rece_electrolyte_bottle_num()) == True: - print("waiting for rece_electrolyte_bottle_num to False") - time.sleep(1) - #完成信号置False - self._unilab_send_electrolyte_bottle_num(False) - time.sleep(1) - #自动按钮置False - - - # 下发参数 - #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: - # """UNILAB写参数""" - # while (self.request_rec_msg_status) == False: - # print("wait for res_msg") - # time.sleep(1) - # self.success = False - # self._unilab_send_msg_electrolyte_num(elec_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_use_num(elec_use_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_vol(elec_vol) - # time.sleep(1) - # self._unilab_send_msg_assembly_type(assembly_type) - # time.sleep(1) - # self._unilab_send_msg_assembly_pressure(assembly_pressure) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(True) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(False) - # #将允许读取标志位置True - # self.allow_data_read = True - # self.success = True - # return self.success - - def func_pack_send_msg_cmd(self, elec_use_num) -> bool: - """UNILAB写参数""" - while (self.request_rec_msg_status) == False: - print("wait for request_rec_msg_status to True") - time.sleep(1) - self.success = False - #self._unilab_send_msg_electrolyte_num(elec_num) - time.sleep(1) - self._unilab_send_msg_electrolyte_use_num(elec_use_num) - time.sleep(1) - self._unilab_send_msg_succ_cmd(True) - time.sleep(1) - while (self.request_rec_msg_status) == True: - print("wait for request_rec_msg_status to False") - time.sleep(1) - self._unilab_send_msg_succ_cmd(False) - #将允许读取标志位置True - self.allow_data_read = True - self.success = True - return self.success - - def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: - """UNILAB读参数""" - while self.request_send_msg_status == False: - print("waiting for send_read_msg_status to True") - time.sleep(1) - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - print("data_open_circuit_voltage", data_open_circuit_voltage) - print("data_pole_weight", data_pole_weight) - print("data_assembly_time", data_assembly_time) - print("data_assembly_pressure", data_assembly_pressure) - print("data_electrolyte_volume", data_electrolyte_volume) - print("data_coin_num", data_coin_num) - print("data_electrolyte_code", data_electrolyte_code) - print("data_coin_cell_code", data_coin_cell_code) - #接收完信息后，读取完毕标志位置True - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") - #把物料解绑后放到另一盘上 - battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) - battery._unilabos_state = { - "electrolyte_name": data_coin_cell_code, - "data_electrolyte_code": data_electrolyte_code, - "open_circuit_voltage": data_open_circuit_voltage, - "assembly_pressure": data_assembly_pressure, - "electrolyte_volume": data_electrolyte_volume - } - liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) - #print(jipian2.parent) - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - - self._unilab_rec_msg_succ_cmd(True) - time.sleep(1) - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd(False) - time.sleep(1) - #将允许读取标志位置True - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - #将数据存入csv文件 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - self.success = True - return self.success - - - - def func_pack_send_finished_cmd(self) -> bool: - """UNILAB写参数""" - while (self._unilab_rece_finished_cmd()) == False: - print("wait for rece_finished_cmd to True") - time.sleep(1) - self.success = False - self._unilab_send_finished_cmd(True) - time.sleep(1) - while (self._unilab_rece_finished_cmd()) == True: - print("wait for rece_finished_cmd to False") - time.sleep(1) - self._unilab_send_finished_cmd(False) - #将允许读取标志位置True - self.success = True - return self.success - - - - def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: - elec_num, elec_use_num = int(elec_num), int(elec_use_num) - summary_csv_file = os.path.join(file_path, "duandian.csv") - # 如果断点文件存在，先读取之前的进度 - if os.path.exists(summary_csv_file): - read_status_flag = True - with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: - reader = csv.reader(csvfile) - header = next(reader) # 跳过标题行 - data_row = next(reader) # 读取数据行 - if len(data_row) >= 2: - elec_num_r = int(data_row[0]) - elec_use_num_r = int(data_row[1]) - elec_num_N = int(data_row[2]) - elec_use_num_N = int(data_row[3]) - coin_num_N = int(data_row[4]) - if elec_num_r == elec_num and elec_use_num_r == elec_use_num: - print("断点文件与当前任务匹配，继续") - else: - print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") - return False - print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") - - else: - read_status_flag = False - print("未找到断点文件，从头开始") - elec_num_N = 0 - elec_use_num_N = 0 - coin_num_N = 0 - for i in range(20): - print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") - print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") - print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") - - #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 - if read_status_flag == False: - pass - #初始化 - #self.func_pack_device_init() - #切换自动 - #self.func_pack_device_auto() - #启动，小车收回 - #self.func_pack_device_start() - #发送电解液瓶数量，启动搬运,多搬运没事 - #self.func_pack_send_bottle_num(elec_num) - last_i = elec_num_N - last_j = elec_use_num_N - for i in range(last_i, elec_num): - print(f"开始第{last_i+i+1}瓶电解液的组装") - #第一个循环从上次断点继续，后续循环从0开始 - j_start = last_j if i == last_i else 0 - self.func_pack_send_msg_cmd(elec_use_num-j_start) - - for j in range(j_start, elec_use_num): - print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") - #读取电池组装数据并存入csv - self.func_pack_get_msg_cmd(file_path) - time.sleep(1) - # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 - - - - # 生成断点文件 - # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) - writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) - csvfile.flush() - coin_num_N += 1 - self.coin_num_N = coin_num_N - elec_use_num_N += 1 - elec_num_N += 1 - elec_use_num_N = 0 - - #循环正常结束，则删除断点文件 - os.remove(summary_csv_file) - #全部完成后等待依华发送完成信号 - self.func_pack_send_finished_cmd() - - - def func_pack_device_stop(self) -> bool: - """打包指令：设备停止""" - for i in range(3): - time.sleep(2) - print(f"输出{i}") - #print("_sys_hand_cmd", self._sys_hand_cmd()) - #time.sleep(1) - #print("_sys_hand_status", self._sys_hand_status()) - #time.sleep(1) - #print("_sys_init_cmd", self._sys_init_cmd()) - #time.sleep(1) - #print("_sys_init_status", self._sys_init_status()) - #time.sleep(1) - #print("_sys_auto_status", self._sys_auto_status()) - #time.sleep(1) - #print("data_axis_y_pos", self.data_axis_y_pos) - #time.sleep(1) - #self.success = False - #with open('action_device_stop.json', 'r', encoding='utf-8') as f: - # action_json = json.load(f) - #self.client.execute_procedure_from_json(action_json) - #self.success = True - #return self.success - - def fun_wuliao_test(self) -> bool: - #找到data_init中构建的2个物料盘 - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") - for i in range(16): - battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) - battery._unilabos_state = { - "diameter": 20.0, - "height": 20.0, - "assembly_pressure": i, - "electrolyte_volume": 20.0, - "electrolyte_name": f"DP{i}" - } - liaopan3.children[i].assign_child_resource(battery, location=None) - - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - time.sleep(4) - # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): - # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 - if self.csv_export_running: - return False, "读取已在运行中" - - #若不存在该目录则创建 - if not os.path.exists(file_path): - os.makedirs(file_path) - print(f"创建目录: {file_path}") - - # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 - while self.allow_data_read: - - #函数运行标志位，确保只同时启动一个导出函数 - self.csv_export_running = True - - #等待接收结果标志位置True - while self.request_send_msg_status == False: - print("waiting for send_msg_status to True") - time.sleep(1) - #日期时间戳用于按天存放csv文件 - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - - #接收信息 - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - # 电解液瓶位置 - elec_bottle_site = 2 - # 极片夹取位置(应当通过寄存器读光标) - Pos_elec_site = 0 - Al_elec_site = 0 - Gasket_site = 0 - - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd()# = True - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd()# = False - - #此处操作物料信息（如果中途报错停止，如何） - #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） - #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） - - #物料读取操作写在这里 - #在这里进行物料调取 - #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） - # transfer_bottle(deck, elec_bottle_site) - # #找到电解液瓶的对象 - # electrolyte_rack = deck.get_resource("electrolyte_rack") - # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] - # # TODO: 瓶子取液体操作需要加入 -# -# - # #找到压制工站对应的对象 - # battery_press_slot = deck.get_resource("battery_press_1") - # #创建一个新电池 - # test_battery = Battery( - # name=f"test_battery_{data_coin_num}", - # diameter=20.0, # 与压制槽直径匹配 - # height=3.0, # 电池高度 - # max_volume=100.0, # 100μL容量 - # barcode=data_coin_cell_code, # 电池条码 - # ) - # if battery_press_slot.has_battery(): - # return False, "压制工站已有电池，无法放置新电池" - # #在压制位放置电池 - # battery_press_slot.place_battery(test_battery) - # #从第一个子弹夹中取料 - # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) - # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) - # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) - # - # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") - # - # # TODO:#把电解液从瓶中取到电池夹子中 - # battery_site = deck.get_resource("battery_press_1") - # clip_magazine_battery = deck.get_resource("clip_magazine_battery") - # if battery_site.has_battery(): - # battery = battery_site.take_battery() #从压制槽取出电池 - # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 -# -# -# -# - # # 保存配置到文件 - # self.deck.save("button_battery_station_layout.json", indent=2) - # print("\n台面配置已保存到: button_battery_station_layout.json") - # - # # 保存状态到文件 - # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) - # print("台面状态已保存到: button_battery_station_state.json") - - - - - - - #将数据写入csv中 - #如当前目录下无同名文件则新建一个csv用于存放数据 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - - # 只要不在自动模式运行中，就将允许标志位置False - if self.sys_auto_status == False or self.sys_start_status == False: - self.allow_data_read = False - self.csv_export_running = False - time.sleep(1) - - def func_stop_read_data(self): - """停止CSV导出""" - if not self.csv_export_running: - return False, "read data未在运行" - - self.csv_export_running = False - self.allow_data_read = False - - if self.csv_export_thread and self.csv_export_thread.is_alive(): - self.csv_export_thread.join(timeout=5) - - def func_get_csv_export_status(self): - """获取CSV导出状态""" - return { - 'allow_read': self.allow_data_read, - 'running': self.csv_export_running, - 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False - } - - - ''' - # ===================== 物料管理区 ====================== - @property - def data_material_inventory(self) -> int: - """主物料库存 (数量, INT16)""" - inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) - return inventory - - @property - def data_tips_inventory(self) -> int: - """移液枪头库存 (数量, INT16)""" - inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) - return inventory - - ''' - - -if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) - #Coin_Cell.func_pack_device_init() - #Coin_Cell.func_pack_device_auto() - #Coin_Cell.func_pack_device_start() - #Coin_Cell.func_pack_send_bottle_num(2) - #Coin_Cell.func_pack_send_msg_cmd(2) - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_send_finished_cmd() -# - #Coin_Cell.func_allpack_cmd(3, 2) - #print(Coin_Cell.data_stack_vision_code) - #print("success") - #创建一个物料台面 - - deck = create_a_coin_cell_deck() - #deck = create_a_full_coin_cell_deck() - - - ##在台面上找到料盘和极片 - #liaopan1 = deck.get_resource("liaopan1") - #liaopan2 = deck.get_resource("liaopan2") - #jipian1 = liaopan1.children[1].children[0] -## - #print(jipian1) - ##把物料解绑后放到另一盘上 - #jipian1.parent.unassign_child_resource(jipian1) - #liaopan2.children[1].assign_child_resource(jipian1, location=None) - ##print(jipian2.parent) - - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - - - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: - # bioyond_resources_unilab = json.load(f) - #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") - #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) - #print(f"转换结果类型: {type(ulab_resources)}") - #print(ulab_resources) - - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv deleted file mode 100644 index e840715..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_0910.csv +++ /dev/null @@ -1,44 +0,0 @@ -Name,DataType,InitValue,Comment,Attribute,DeviceType,Address -COIL_SYS_START_CMD,BOOL,,豸,,coil,8010 -COIL_SYS_STOP_CMD,BOOL,,豸ֹͣ,,coil,8020 -COIL_SYS_RESET_CMD,BOOL,,豸λ,,coil,8030 -COIL_SYS_HAND_CMD,BOOL,,豸ֶģʽ,,coil,8040 -COIL_SYS_AUTO_CMD,BOOL,,豸Զģʽ,,coil,8050 -COIL_SYS_INIT_CMD,BOOL,,豸ʼģʽ,,coil,8060 -COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,UNILAB䷽,,coil,8700 -COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,UNILABܲ,,coil,8710 -COIL_SYS_START_STATUS,BOOL,,豸,,coil,8210 -COIL_SYS_STOP_STATUS,BOOL,,豸ֹͣ,,coil,8220 -COIL_SYS_RESET_STATUS,BOOL,,豸λ,,coil,8230 -COIL_SYS_HAND_STATUS,BOOL,,豸ֶģʽ,,coil,8240 -COIL_SYS_AUTO_STATUS,BOOL,,豸Զģʽ,,coil,8250 -COIL_SYS_INIT_STATUS,BOOL,,豸ʼ,,coil,8260 -COIL_REQUEST_REC_MSG_STATUS,BOOL,,豸䷽,,coil,8510 -COIL_REQUEST_SEND_MSG_STATUS,BOOL,,豸Ͳ,,coil,8500 -REG_MSG_ELECTROLYTE_USE_NUM,INT16,,ƿҺʹô,,hold_register,11000 -REG_MSG_ELECTROLYTE_NUM,INT16,,Һʹƿ,,hold_register,11002 -REG_MSG_ELECTROLYTE_VOLUME,INT16,,Һȡ,,hold_register,11004 -REG_MSG_ASSEMBLY_TYPE,INT16,,װƬѵʽ,,hold_register,11006 -REG_MSG_ASSEMBLY_PRESSURE,INT16,,װѹ,,hold_register,11008 -REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,ǰװ,,hold_register,10000 -REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,ǰصѹ,,hold_register,10002 -REG_DATA_AXIS_X_POS,FLOAT32,,ҺXᵱǰλ,,hold_register,10004 -REG_DATA_AXIS_Y_POS,FLOAT32,,ҺZᵱǰλ,,hold_register,10006 -REG_DATA_AXIS_Z_POS,FLOAT32,,ҺYᵱǰλ,,hold_register,10008 -REG_DATA_POLE_WEIGHT,FLOAT32,,ǰƬ,,hold_register,10010 -REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,ǰŵװʱ,,hold_register,10012 -REG_DATA_ASSEMBLY_PRESSURE,INT16,,ǰװѹ,,hold_register,10014 -REG_DATA_ELECTROLYTE_VOLUME,INT16,,ǰҺע,,hold_register,10016 -REG_DATA_COIN_NUM,INT16,,ǰ,,hold_register,10018 -REG_DATA_ELECTROLYTE_CODE,STRING,,Һάк,,hold_register,10020 -REG_DATA_COIN_CELL_CODE,STRING,,ضάк,,hold_register,10030 -REG_DATA_STACK_VISON_CODE,STRING,,϶ѵͼƬ,,hold_register,12004 -REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,ѹ,,hold_register,10050 -REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,ˮ,,hold_register,10052 -REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054 -UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,Unilabȷѷ͵Һƿź,,coil,8720 -UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,UnilabɽܵҺƿ,,coil,8520 -REG_MSG_ELECTROLYTE_NUM_USED,INT16,,Һװƽ,,hold_register,496 -REG_DATA_ELECTROLYTE_USE_NUM,INT16,,ǰװƽ,,hold_register,10000 -UNILAB_SEND_FINISHED_CMD,BOOL,,Unilabյź,,coil,8730 -UNILAB_RECE_FINISHED_CMD,BOOL,,֪unilabź,,coil,8530 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv deleted file mode 100644 index 149a683..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ /dev/null @@ -1,46 +0,0 @@ -Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, -COIL_SYS_START_CMD,BOOL,,,,coil,8010, -COIL_SYS_STOP_CMD,BOOL,,,,coil,8020, -COIL_SYS_RESET_CMD,BOOL,,,,coil,8030, -COIL_SYS_HAND_CMD,BOOL,,,,coil,8040, -COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050, -COIL_SYS_INIT_CMD,BOOL,,,,coil,8060, -COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700, -COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd -COIL_SYS_START_STATUS,BOOL,,,,coil,8210, -COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220, -COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230, -COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240, -COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250, -COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260, -COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500, -COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status -REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000, -REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num -REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol -REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type -REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure -REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num -REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage -REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004, -REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006, -REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008, -REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight -REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time -REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure -REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume -REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num -REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code() -REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code() -REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code() -REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure -REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content -REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content -UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720, -UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520, -REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496, -REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, -UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, -UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, -REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 -COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py deleted file mode 100644 index ac61948..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_old.py +++ /dev/null @@ -1,1149 +0,0 @@ -import csv -import json -import os -import threading -import time -from datetime import datetime -from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource -from unilabos_msgs.msg import Resource -from unilabos.device_comms.modbus_plc.client import ModbusTcpClient -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate -from unilabos.devices.workstation.workstation_base import WorkstationBase -from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient -from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * -from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -#构建物料系统 - -class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - station_resource: CoincellDeck, - address: str = "192.168.1.20", - port: str = "502", - debug_mode: bool = True, - *args, - **kwargs, - ): - super().__init__( - #桌子 - station_resource=station_resource, - *args, - **kwargs, - ) - self.debug_mode = debug_mode - self.station_resource = station_resource - """ 连接初始化 """ - modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) - if not debug_mode: - modbus_client.client.connect() - count = 100 - while count >0: - count -=1 - if modbus_client.client.is_socket_open(): - break - time.sleep(2) - if not modbus_client.client.is_socket_open(): - raise ValueError('modbus tcp connection failed') - else: - print("测试模式，跳过连接") - - """ 工站的配置 """ - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) - self.client = modbus_client.register_node_list(self.nodes) - self.success = False - self.allow_data_read = False #允许读取函数运行标志位 - self.csv_export_thread = None - self.csv_export_running = False - self.csv_export_file = None - #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - - #self._ros_node.update_resource(self.deck) - - #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - #}) - - - def post_init(self, ros_node: ROS2WorkstationNode): - self._ros_node = ros_node - #self.deck = create_a_coin_cell_deck() - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - # 批量操作在这里写 - async def change_hole_sheet_to_2(self, hole: MaterialHole): - hole._unilabos_state["max_sheets"] = 2 - return await self._ros_node.update_resource(hole) - - - async def fill_plate(self): - plate_1: MaterialPlate = self.station_resource.children[0].children[0] - #plate_1 - return await self._ros_node.update_resource(plate_1) - - #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): - # """启动工作流""" - # self.current_workflow_status = WorkflowStatus.RUNNING - # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") -# - # # TODO: 实现工作流逻辑 -# - # anode_sheet = self.deck.get_resource("anode_sheet") - - """ Action逻辑代码 """ - def _sys_start_cmd(self, cmd=None): - """设备启动命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_START_CMD') - ret = node.write(cmd) - print(ret) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) - return cmd_feedback[0] - - def _sys_stop_cmd(self, cmd=None): - """设备停止命令 (可读写)""" - if cmd is not None: # 写入模式 - self.success = False - node = self.client.use_node('COIL_SYS_STOP_CMD') - node.write(cmd) - self.success = True - return self.success - else: # 读取模式 - cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) - return cmd_feedback[0] - - def _sys_reset_cmd(self, cmd=None): - """设备复位命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) - return cmd_feedback[0] - - def _sys_hand_cmd(self, cmd=None): - """手动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) - self.success = True - print("步骤0") - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) - return cmd_feedback[0] - - def _sys_auto_cmd(self, cmd=None): - """自动模式命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) - return cmd_feedback[0] - - def _sys_init_cmd(self, cmd=None): - """初始化命令 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_succ_cmd(self, cmd=None): - """UNILAB发送配方完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rec_msg_succ_cmd(self, cmd=None): - """UNILAB接收测试电池数据完毕 (可读写)""" - if cmd is not None: - self.success = False - self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) - return cmd_feedback - - - # ====================== 命令类指令（REG_x_） ====================== - def _unilab_send_msg_electrolyte_num(self, num=None): - """UNILAB写电解液使用瓶数(可读写)""" - if num is not None: - self.success = False - ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - print(ret) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_use_num(self, use_num=None): - """UNILAB写单次电解液使用瓶数(可读写)""" - if use_num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) - self.success = True - return self.success - else: - return False - - def _unilab_send_msg_assembly_type(self, num=None): - """UNILAB写组装参数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) - return cmd_feedback[0] - - def _unilab_send_msg_electrolyte_vol(self, vol=None): - """UNILAB写电解液吸取量参数""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - def _unilab_send_msg_assembly_pressure(self, vol=None): - """UNILAB写电池压制力""" - if vol is not None: - self.success = False - self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return cmd_feedback[0] - - # ==================== 0905新增内容（COIL_x_STATUS） ==================== - def _unilab_send_electrolyte_bottle_num(self, num=None): - """UNILAB发送电解液瓶数完毕""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_rece_electrolyte_bottle_num(self, num=None): - """设备请求接受电解液瓶数""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) - return cmd_feedback[0] - - def _reg_msg_electrolyte_num(self, num=None): - """电解液已使用瓶数""" - if num is not None: - self.success = False - self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) - return cmd_feedback[0] - - def _reg_data_electrolyte_use_num(self, num=None): - """单瓶电解液完成组装数""" - if num is not None: - self.success = False - self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) - return cmd_feedback[0] - - def _unilab_send_finished_cmd(self, num=None): - """Unilab发送已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) - return cmd_feedback[0] - - def _unilab_rece_finished_cmd(self, num=None): - """Unilab接收已知一组组装完成信号""" - if num is not None: - self.success = False - self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) - self.success = True - return self.success - else: - cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) - return cmd_feedback[0] - - - - # ==================== 状态类属性（COIL_x_STATUS） ==================== - def _sys_start_status(self) -> bool: - """设备启动中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) - return status[0] - - def _sys_stop_status(self) -> bool: - """设备停止中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) - return status[0] - - def _sys_reset_status(self) -> bool: - """设备复位中( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) - return status[0] - - def _sys_init_status(self) -> bool: - """设备初始化完成( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) - return status[0] - - # 查找资源 - def modify_deck_name(self, resource_name: str): - # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) - # print(f"!!! figure_res: {type(figure_res)}") - self.station_resource.children[1] - return - - @property - def sys_status(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_start_status(): - return "设备启动中" - elif self._sys_stop_status(): - return "设备停止中" - elif self._sys_reset_status(): - return "设备复位中" - elif self._sys_init_status(): - return "设备初始化中" - else: - return "未知状态" - - def _sys_hand_status(self) -> bool: - """设备手动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) - return status[0] - - def _sys_auto_status(self) -> bool: - """设备自动模式( BOOL)""" - status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) - return status[0] - - @property - def sys_mode(self) -> str: - if self.debug_mode: - return "设备调试模式" - if self._sys_hand_status(): - return "设备手动模式" - elif self._sys_auto_status(): - return "设备自动模式" - else: - return "未知模式" - - @property - def request_rec_msg_status(self) -> bool: - """设备请求接受配方( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) - return status[0] - - @property - def request_send_msg_status(self) -> bool: - """设备请求发送测试数据( BOOL)""" - if self.debug_mode: - return True - status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) - return status[0] - - # ======================= 其他属性（特殊功能） ======================== - ''' - @property - def warning_1(self) -> bool: - status, read_err = self.client.use_node('COIL_WARNING_1').read(1) - return status[0] - ''' - # ===================== 生产数据区 ====================== - - @property - def data_assembly_coin_cell_num(self) -> int: - """已完成电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) - return num - - @property - def data_assembly_time(self) -> float: - """单颗电池组装时间 (秒, REAL/FLOAT32)""" - if self.debug_mode: - return 0 - time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) - return time - - @property - def data_open_circuit_voltage(self) -> float: - """开路电压值 (FLOAT32)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) - return vol - - @property - def data_axis_x_pos(self) -> float: - """分液X轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_y_pos(self) -> float: - """分液Y轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_axis_z_pos(self) -> float: - """分液Z轴当前位置 (FLOAT32)""" - if self.debug_mode: - return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) - return pos - - @property - def data_pole_weight(self) -> float: - """当前电池正极片称重数据 (FLOAT32)""" - if self.debug_mode: - return 0 - weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) - return weight - - @property - def data_assembly_pressure(self) -> int: - """当前电池压制力 (INT16)""" - if self.debug_mode: - return 0 - pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) - return pressure - - @property - def data_electrolyte_volume(self) -> int: - """当前电解液加注量 (INT16)""" - if self.debug_mode: - return 0 - vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) - return vol - - @property - def data_coin_num(self) -> int: - """当前电池数量 (INT16)""" - if self.debug_mode: - return 0 - num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) - return num - - @property - def data_coin_cell_code(self) -> str: - """电池二维码序列号 (STRING)""" - try: - # 尝试不同的字节序读取 - code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code - except Exception as e: - print(f"读取电池二维码失败: {e}") - return "N/A" - - - @property - def data_electrolyte_code(self) -> str: - try: - # 尝试不同的字节序读取 - code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code - except Exception as e: - print(f"读取电解液二维码失败: {e}") - return "N/A" - - # ===================== 环境监控区 ====================== - @property - def data_glove_box_pressure(self) -> float: - """手套箱压力 (bar, FLOAT32)""" - if self.debug_mode: - return 0 - status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return status - - @property - def data_glove_box_o2_content(self) -> float: - """手套箱氧含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - - @property - def data_glove_box_water_content(self) -> float: - """手套箱水含量 (ppm, FLOAT32)""" - if self.debug_mode: - return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value - -# @property -# def data_stack_vision_code(self) -> int: -# """物料堆叠复检图片编码 (INT16)""" -# if self.debug_mode: -# return 0 -# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) -# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type -# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) -# #print(code.type) -# # print(read_err) -# return int(code) - - def func_pack_device_init(self): - #切换手动模式 - print("切换手动模式") - self._sys_hand_cmd(True) - time.sleep(1) - while (self._sys_hand_status()) == False: - print("waiting for hand_cmd") - time.sleep(1) - #设备初始化 - self._sys_init_cmd(True) - time.sleep(1) - #sys_init_status为bool值，不加括号 - while (self._sys_init_status())== False: - print("waiting for init_cmd") - time.sleep(1) - #手动按钮置回False - self._sys_hand_cmd(False) - time.sleep(1) - while (self._sys_hand_cmd()) == True: - print("waiting for hand_cmd to False") - time.sleep(1) - #初始化命令置回False - self._sys_init_cmd(False) - time.sleep(1) - while (self._sys_init_cmd()) == True: - print("waiting for init_cmd to False") - time.sleep(1) - - def func_pack_device_auto(self): - #切换自动 - print("切换自动模式") - self._sys_auto_cmd(True) - time.sleep(1) - while (self._sys_auto_status()) == False: - print("waiting for auto_status") - time.sleep(1) - #自动按钮置False - self._sys_auto_cmd(False) - time.sleep(1) - while (self._sys_auto_cmd()) == True: - print("waiting for auto_cmd") - time.sleep(1) - - def func_pack_device_start(self): - #切换自动 - print("启动") - self._sys_start_cmd(True) - time.sleep(1) - while (self._sys_start_status()) == False: - print("waiting for start_status") - time.sleep(1) - #自动按钮置False - self._sys_start_cmd(False) - time.sleep(1) - while (self._sys_start_cmd()) == True: - print("waiting for start_cmd") - time.sleep(1) - - def func_pack_send_bottle_num(self, bottle_num: int): - #发送电解液平台数 - print("启动") - while (self._unilab_rece_electrolyte_bottle_num()) == False: - print("waiting for rece_electrolyte_bottle_num to True") - # self.client.use_node('8520').write(True) - time.sleep(1) - #发送电解液瓶数为2 - self._reg_msg_electrolyte_num(bottle_num) - time.sleep(1) - #完成信号置True - self._unilab_send_electrolyte_bottle_num(True) - time.sleep(1) - #检测到依华已接收 - while (self._unilab_rece_electrolyte_bottle_num()) == True: - print("waiting for rece_electrolyte_bottle_num to False") - time.sleep(1) - #完成信号置False - self._unilab_send_electrolyte_bottle_num(False) - time.sleep(1) - #自动按钮置False - - - # 下发参数 - #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: - # """UNILAB写参数""" - # while (self.request_rec_msg_status) == False: - # print("wait for res_msg") - # time.sleep(1) - # self.success = False - # self._unilab_send_msg_electrolyte_num(elec_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_use_num(elec_use_num) - # time.sleep(1) - # self._unilab_send_msg_electrolyte_vol(elec_vol) - # time.sleep(1) - # self._unilab_send_msg_assembly_type(assembly_type) - # time.sleep(1) - # self._unilab_send_msg_assembly_pressure(assembly_pressure) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(True) - # time.sleep(1) - # self._unilab_send_msg_succ_cmd(False) - # #将允许读取标志位置True - # self.allow_data_read = True - # self.success = True - # return self.success - - def func_pack_send_msg_cmd(self, elec_use_num) -> bool: - """UNILAB写参数""" - while (self.request_rec_msg_status) == False: - print("wait for request_rec_msg_status to True") - time.sleep(1) - self.success = False - #self._unilab_send_msg_electrolyte_num(elec_num) - time.sleep(1) - self._unilab_send_msg_electrolyte_use_num(elec_use_num) - time.sleep(1) - self._unilab_send_msg_succ_cmd(True) - time.sleep(1) - while (self.request_rec_msg_status) == True: - print("wait for request_rec_msg_status to False") - time.sleep(1) - self._unilab_send_msg_succ_cmd(False) - #将允许读取标志位置True - self.allow_data_read = True - self.success = True - return self.success - - def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: - """UNILAB读参数""" - while self.request_send_msg_status == False: - print("waiting for send_read_msg_status to True") - time.sleep(1) - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - print("data_open_circuit_voltage", data_open_circuit_voltage) - print("data_pole_weight", data_pole_weight) - print("data_assembly_time", data_assembly_time) - print("data_assembly_pressure", data_assembly_pressure) - print("data_electrolyte_volume", data_electrolyte_volume) - print("data_coin_num", data_coin_num) - print("data_electrolyte_code", data_electrolyte_code) - print("data_coin_cell_code", data_coin_cell_code) - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd(True) - time.sleep(1) - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd(False) - time.sleep(1) - #将允许读取标志位置True - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - #将数据存入csv文件 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - self.success = True - return self.success - - - - def func_pack_send_finished_cmd(self) -> bool: - """UNILAB写参数""" - while (self._unilab_rece_finished_cmd()) == False: - print("wait for rece_finished_cmd to True") - time.sleep(1) - self.success = False - self._unilab_send_finished_cmd(True) - time.sleep(1) - while (self._unilab_rece_finished_cmd()) == True: - print("wait for rece_finished_cmd to False") - time.sleep(1) - self._unilab_send_finished_cmd(False) - #将允许读取标志位置True - self.success = True - return self.success - - - - def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: - elec_num, elec_use_num = int(elec_num), int(elec_use_num) - summary_csv_file = os.path.join(file_path, "duandian.csv") - # 如果断点文件存在，先读取之前的进度 - if os.path.exists(summary_csv_file): - read_status_flag = True - with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: - reader = csv.reader(csvfile) - header = next(reader) # 跳过标题行 - data_row = next(reader) # 读取数据行 - if len(data_row) >= 2: - elec_num_r = int(data_row[0]) - elec_use_num_r = int(data_row[1]) - elec_num_N = int(data_row[2]) - elec_use_num_N = int(data_row[3]) - coin_num_N = int(data_row[4]) - if elec_num_r == elec_num and elec_use_num_r == elec_use_num: - print("断点文件与当前任务匹配，继续") - else: - print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") - return False - print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") - - else: - read_status_flag = False - print("未找到断点文件，从头开始") - elec_num_N = 0 - elec_use_num_N = 0 - coin_num_N = 0 - for i in range(20): - print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") - print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") - print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") - - #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 - if read_status_flag == False: - #初始化 - self.func_pack_device_init() - #切换自动 - self.func_pack_device_auto() - #启动，小车收回 - self.func_pack_device_start() - #发送电解液瓶数量，启动搬运,多搬运没事 - self.func_pack_send_bottle_num(elec_num) - last_i = elec_num_N - last_j = elec_use_num_N - for i in range(last_i, elec_num): - print(f"开始第{last_i+i+1}瓶电解液的组装") - #第一个循环从上次断点继续，后续循环从0开始 - j_start = last_j if i == last_i else 0 - self.func_pack_send_msg_cmd(elec_use_num-j_start) - - for j in range(j_start, elec_use_num): - print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") - #读取电池组装数据并存入csv - self.func_pack_get_msg_cmd(file_path) - time.sleep(1) - # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 - liaopan1 = self.station_resource.get_resource("liaopan1") - liaopan2 = self.station_resource.get_resource("liaopan2") - jipian1 = liaopan1.children[coin_num_N].children[0] - - #print(jipian1) - #把物料解绑后放到另一盘上 - jipian1.parent.unassign_child_resource(jipian1) - liaopan2.children[coin_num_N].assign_child_resource(jipian1, location=None) - #print(jipian2.parent) - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - - # 生成断点文件 - # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) - writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) - csvfile.flush() - coin_num_N += 1 - elec_use_num_N += 1 - elec_num_N += 1 - elec_use_num_N = 0 - - #循环正常结束，则删除断点文件 - os.remove(summary_csv_file) - #全部完成后等待依华发送完成信号 - self.func_pack_send_finished_cmd() - - - def func_pack_device_stop(self) -> bool: - """打包指令：设备停止""" - for i in range(3): - time.sleep(2) - print(f"输出{i}") - #print("_sys_hand_cmd", self._sys_hand_cmd()) - #time.sleep(1) - #print("_sys_hand_status", self._sys_hand_status()) - #time.sleep(1) - #print("_sys_init_cmd", self._sys_init_cmd()) - #time.sleep(1) - #print("_sys_init_status", self._sys_init_status()) - #time.sleep(1) - #print("_sys_auto_status", self._sys_auto_status()) - #time.sleep(1) - #print("data_axis_y_pos", self.data_axis_y_pos) - #time.sleep(1) - #self.success = False - #with open('action_device_stop.json', 'r', encoding='utf-8') as f: - # action_json = json.load(f) - #self.client.execute_procedure_from_json(action_json) - #self.success = True - #return self.success - - def fun_wuliao_test(self) -> bool: - #找到data_init中构建的2个物料盘 - liaopan1 = self.station_resource.get_resource("liaopan1") - liaopan2 = self.station_resource.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] - }) - time.sleep(10) - # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): - # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 - if self.csv_export_running: - return False, "读取已在运行中" - - #若不存在该目录则创建 - if not os.path.exists(file_path): - os.makedirs(file_path) - print(f"创建目录: {file_path}") - - # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 - while self.allow_data_read: - - #函数运行标志位，确保只同时启动一个导出函数 - self.csv_export_running = True - - #等待接收结果标志位置True - while self.request_send_msg_status == False: - print("waiting for send_msg_status to True") - time.sleep(1) - #日期时间戳用于按天存放csv文件 - time_date = datetime.now().strftime("%Y%m%d") - #秒级时间戳用于标记每一行电池数据 - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - #生成输出文件的变量 - self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") - - #接收信息 - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight - data_assembly_time = self.data_assembly_time - data_assembly_pressure = self.data_assembly_pressure - data_electrolyte_volume = self.data_electrolyte_volume - data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - # 电解液瓶位置 - elec_bottle_site = 2 - # 极片夹取位置(应当通过寄存器读光标) - Pos_elec_site = 0 - Al_elec_site = 0 - Gasket_site = 0 - - #接收完信息后，读取完毕标志位置True - self._unilab_rec_msg_succ_cmd()# = True - #等待允许读取标志位置False - while self.request_send_msg_status == True: - print("waiting for send_msg_status to False") - time.sleep(1) - self._unilab_rec_msg_succ_cmd()# = False - - #此处操作物料信息（如果中途报错停止，如何） - #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） - #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） - - #物料读取操作写在这里 - #在这里进行物料调取 - #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） - # transfer_bottle(deck, elec_bottle_site) - # #找到电解液瓶的对象 - # electrolyte_rack = deck.get_resource("electrolyte_rack") - # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] - # # TODO: 瓶子取液体操作需要加入 -# -# - # #找到压制工站对应的对象 - # battery_press_slot = deck.get_resource("battery_press_1") - # #创建一个新电池 - # test_battery = Battery( - # name=f"test_battery_{data_coin_num}", - # diameter=20.0, # 与压制槽直径匹配 - # height=3.0, # 电池高度 - # max_volume=100.0, # 100μL容量 - # barcode=data_coin_cell_code, # 电池条码 - # ) - # if battery_press_slot.has_battery(): - # return False, "压制工站已有电池，无法放置新电池" - # #在压制位放置电池 - # battery_press_slot.place_battery(test_battery) - # #从第一个子弹夹中取料 - # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) - # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) - # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) - # - # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") -# - # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 - # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 - # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 - # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") - # else: - # print("子弹夹洞位0没有极片") - # - # # TODO:#把电解液从瓶中取到电池夹子中 - # battery_site = deck.get_resource("battery_press_1") - # clip_magazine_battery = deck.get_resource("clip_magazine_battery") - # if battery_site.has_battery(): - # battery = battery_site.take_battery() #从压制槽取出电池 - # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 -# -# -# -# - # # 保存配置到文件 - # self.deck.save("button_battery_station_layout.json", indent=2) - # print("\n台面配置已保存到: button_battery_station_layout.json") - # - # # 保存状态到文件 - # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) - # print("台面状态已保存到: button_battery_station_state.json") - - - - - - - #将数据写入csv中 - #如当前目录下无同名文件则新建一个csv用于存放数据 - if not os.path.exists(self.csv_export_file): - #创建一个表头 - with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - 'Time', 'open_circuit_voltage', 'pole_weight', - 'assembly_time', 'assembly_pressure', 'electrolyte_volume', - 'coin_num', 'electrolyte_code', 'coin_cell_code' - ]) - #立刻写入磁盘 - csvfile.flush() - #开始追加电池信息 - with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: - writer = csv.writer(csvfile) - writer.writerow([ - timestamp, data_open_circuit_voltage, data_pole_weight, - data_assembly_time, data_assembly_pressure, data_electrolyte_volume, - data_coin_num, data_electrolyte_code, data_coin_cell_code - ]) - #立刻写入磁盘 - csvfile.flush() - - # 只要不在自动模式运行中，就将允许标志位置False - if self.sys_auto_status == False or self.sys_start_status == False: - self.allow_data_read = False - self.csv_export_running = False - time.sleep(1) - - def func_stop_read_data(self): - """停止CSV导出""" - if not self.csv_export_running: - return False, "read data未在运行" - - self.csv_export_running = False - self.allow_data_read = False - - if self.csv_export_thread and self.csv_export_thread.is_alive(): - self.csv_export_thread.join(timeout=5) - - def func_get_csv_export_status(self): - """获取CSV导出状态""" - return { - 'allow_read': self.allow_data_read, - 'running': self.csv_export_running, - 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False - } - - - ''' - # ===================== 物料管理区 ====================== - @property - def data_material_inventory(self) -> int: - """主物料库存 (数量, INT16)""" - inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) - return inventory - - @property - def data_tips_inventory(self) -> int: - """移液枪头库存 (数量, INT16)""" - inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) - return inventory - - ''' - - -if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) - #Coin_Cell.func_pack_device_init() - #Coin_Cell.func_pack_device_auto() - #Coin_Cell.func_pack_device_start() - #Coin_Cell.func_pack_send_bottle_num(2) - #Coin_Cell.func_pack_send_msg_cmd(2) - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_send_finished_cmd() -# - #Coin_Cell.func_allpack_cmd(3, 2) - #print(Coin_Cell.data_stack_vision_code) - #print("success") - #创建一个物料台面 - - #deck = create_a_coin_cell_deck() - deck = create_a_full_coin_cell_deck() - - - ##在台面上找到料盘和极片 - #liaopan1 = deck.get_resource("liaopan1") - #liaopan2 = deck.get_resource("liaopan2") - #jipian1 = liaopan1.children[1].children[0] -## - #print(jipian1) - ##把物料解绑后放到另一盘上 - #jipian1.parent.unassign_child_resource(jipian1) - #liaopan2.children[1].assign_child_resource(jipian1, location=None) - ##print(jipian2.parent) - - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - - - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: - # bioyond_resources_unilab = json.load(f) - #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") - #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) - #print(f"转换结果类型: {type(ulab_resources)}") - #print(ulab_resources) - - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py deleted file mode 100644 index 6abdc38..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_system_wuliao.py +++ /dev/null @@ -1,135 +0,0 @@ -import json -import re -from pymodbus.client import ModbusTcpClient -from unilabos.device_comms.modbus_plc.modbus import WorderOrder, Coil, DiscreteInputs, HoldRegister, InputRegister, DataType -from pymodbus.constants import Endian -import time -import threading -import csv -import os -from datetime import datetime -from typing import Callable -from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient -from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder - -class Coin_Cell_Assembly: - - -if __name__ == '__main__': - coin_cell_assmbly = Coin_Cell_Assembly(address="192.168.1.20", port="502") - - #params = { - # "elec_num": 32 - #} - #str_data = json.dumps(params, ensure_ascii=False) - #print('param:', coin_cell_assmbly.func_pack_device_write_batch_elec_param(params)) - #time.sleep(1) - - print(coin_cell_assmbly.func_pack_device_write_per_elec_param( - elec_use_num=4, - elec_num=5, - elec_vol=55, - assembly_type=25, - assembly_pressure=550)) - time.sleep(1) - - -''' - print('start:', coin_cell_assmbly.func_pack_device_start()) - time.sleep(1) - - - - - - - - - print('start:', coin_cell_assmbly.func_pack_device_start()) - time.sleep(1) - - print('stop:', coin_cell_assmbly.func_pack_device_stop()) - time.sleep(1) - - while True: - # cmd coil - print('start cmd:', coin_cell_assmbly.sys_start_cmd(True)) - time.sleep(1) - print('stop cmd:', coin_cell_assmbly.sys_stop_cmd(False)) - time.sleep(1) - print('reset cmd:', coin_cell_assmbly.sys_reset_cmd(True)) - time.sleep(1) - print('hand cmd:', coin_cell_assmbly.sys_hand_cmd(False)) - time.sleep(1) - print('auto cmd:', coin_cell_assmbly.sys_auto_cmd(True)) - time.sleep(1) - print('init cmd:', coin_cell_assmbly.sys_init_cmd(False)) - time.sleep(1) - print('send msg succ cmd:', coin_cell_assmbly.unilab_send_msg_succ_cmd(False)) - time.sleep(1) - print('rec msg succ cmd:', coin_cell_assmbly.unilab_rec_msg_succ_cmd(True)) - time.sleep(1) - - # cmd reg - print('elec use num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_use_num(8)) - time.sleep(1) - print('elec num msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_num(4)) - time.sleep(1) - print('elec vol msg:', coin_cell_assmbly.unilab_send_msg_electrolyte_vol(3.3)) - time.sleep(1) - print('assembly type msg:', coin_cell_assmbly.unilab_send_msg_assembly_type(1)) - time.sleep(1) - print('assembly pressure msg:', coin_cell_assmbly.unilab_send_msg_assembly_pressure(1)) - time.sleep(1) - - # status coil - print('start status:',coin_cell_assmbly.sys_start_status) - time.sleep(1) - print('stop status:',coin_cell_assmbly.sys_stop_status) - time.sleep(1) - print('reset status:',coin_cell_assmbly.sys_reset_status) - time.sleep(1) - print('hand status:',coin_cell_assmbly.sys_hand_status) - time.sleep(1) - print('auto status:', coin_cell_assmbly.sys_auto_status) - time.sleep(1) - print('init ok:', coin_cell_assmbly.sys_init_status) - time.sleep(1) - print('request rec msg:', coin_cell_assmbly.request_rec_msg_status) - time.sleep(1) - print('request send msg:', coin_cell_assmbly.request_send_msg_status) - time.sleep(1) - - # status reg - print('assembly coin cell num:', coin_cell_assmbly.data_assembly_coin_cell_num) - time.sleep(1) - print('assembly coin assembly per time:', coin_cell_assmbly.data_assembly_time) - time.sleep(1) - print('open circuit vol:', coin_cell_assmbly.data_open_circuit_voltage) - time.sleep(1) - print('axis x pos:', coin_cell_assmbly.data_axis_x_pos) - time.sleep(1) - print('axis y pos:', coin_cell_assmbly.data_axis_y_pos) - time.sleep(1) - print('axis z pos:', coin_cell_assmbly.data_axis_z_pos) - time.sleep(1) - print('pole weight:', coin_cell_assmbly.data_pole_weight) - time.sleep(1) - print('assembly pressure:', coin_cell_assmbly.data_assembly_coin_cell_num) - time.sleep(1) - print('assembly electrolyte vol:', coin_cell_assmbly.data_electrolyte_volume) - time.sleep(1) - print('assembly coin num:', coin_cell_assmbly.data_coin_num) - time.sleep(1) - print('coin cell code:', coin_cell_assmbly.data_coin_cell_code) - time.sleep(1) - print('elec code:', coin_cell_assmbly.data_electrolyte_code) - time.sleep(1) - print('glove box pressure:', coin_cell_assmbly.data_glove_box_pressure) - time.sleep(1) - print('glove box o2:', coin_cell_assmbly.data_glove_box_o2_content) - time.sleep(1) - print('glove box water:', coin_cell_assmbly.data_glove_box_water_content) - time.sleep(1) - -''' \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json deleted file mode 100644 index 31fb003..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig.json +++ /dev/null @@ -1,1925 +0,0 @@ -{ - "nodes": [ - { - "id": "BatteryStation", - "name": "扣电工作站", - "children": [ - "deck" - ], - "parent": null, - "type": "device", - "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, - "config": { - "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", - "protocol_type": [], - "station_resource": { - "data": { - "_resource_child_name": "deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", - "port": 502 - }, - "data": {} - }, - { - "id": "deck", - "name": "deck", - "sample_id": null, - "children": [ - "liaopan1", - "liaopan2" - ], - "parent": null, - "type": "deck", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "Deck", - "size_x": 1200, - "size_y": 800, - "size_z": 900, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "deck", - "barcode": null - }, - "data": {} - }, - { - "id": "liaopan1", - "name": "liaopan1", - "sample_id": null, - "children": [ - "liaopan1_materialhole_0_0", - "liaopan1_materialhole_0_1", - "liaopan1_materialhole_0_2", - "liaopan1_materialhole_0_3", - "liaopan1_materialhole_1_0", - "liaopan1_materialhole_1_1", - "liaopan1_materialhole_1_2", - "liaopan1_materialhole_1_3", - "liaopan1_materialhole_2_0", - "liaopan1_materialhole_2_1", - "liaopan1_materialhole_2_2", - "liaopan1_materialhole_2_3", - "liaopan1_materialhole_3_0", - "liaopan1_materialhole_3_1", - "liaopan1_materialhole_3_2", - "liaopan1_materialhole_3_3" - ], - "parent": "deck", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 120.8, - "size_y": 120.5, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "liaopan1_materialhole_0_0", - "B1": "liaopan1_materialhole_0_1", - "C1": "liaopan1_materialhole_0_2", - "D1": "liaopan1_materialhole_0_3", - "A2": 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"tip_box_64_tipspot_6_4", - "name": "tip_box_64_tipspot_6_4", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 62.0, - "y": 35.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_6_5", - "name": "tip_box_64_tipspot_6_5", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 62.0, - "y": 26.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_6_6", - "name": "tip_box_64_tipspot_6_6", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 62.0, - "y": 17.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_6_7", - "name": "tip_box_64_tipspot_6_7", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 62.0, - "y": 8.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_0", - "name": "tip_box_64_tipspot_7_0", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 71.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_1", - "name": "tip_box_64_tipspot_7_1", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 62.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_2", - "name": "tip_box_64_tipspot_7_2", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 53.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_3", - "name": "tip_box_64_tipspot_7_3", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 44.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": 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"tip_box_64_tipspot_7_7", - "name": "tip_box_64_tipspot_7_7", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 8.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "waste_tip_box", - "name": "waste_tip_box", - "sample_id": null, - "children": [], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 300, - "y": 200, - "z": 0 - }, - "config": { - "type": "WasteTipBox", - "size_x": 127.8, - "size_y": 85.5, - "size_z": 60.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "waste_tip_box", - "model": null, - "barcode": null, - "max_volume": "Infinity", - "material_z_thickness": 0, - "compute_volume_from_height": null, - "compute_height_from_volume": null - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb b/unilabos/devices/workstation/coin_cell_assembly/test.ipynb deleted file mode 100644 index 76c07d7..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/test.ipynb +++ /dev/null @@ -1,750 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 22, - "id": "80bc9500", - "metadata": {}, - "outputs": [], - "source": [ - "from __future__ import annotations\n", - "\n", - "from collections import OrderedDict\n", - "from typing import Any, Dict, List, Optional, TypedDict, Union, cast\n", - "\n", - "from pylabrobot.resources.coordinate import Coordinate\n", - "from pylabrobot.resources.container import Container\n", - "from pylabrobot.resources.deck import Deck\n", - "from pylabrobot.resources.itemized_resource import ItemizedResource\n", - "from pylabrobot.resources.resource import Resource\n", - "from pylabrobot.resources.resource_stack import ResourceStack\n", - "from pylabrobot.resources.tip_rack import TipRack, TipSpot\n", - "from pylabrobot.resources.trash import Trash\n", - "from pylabrobot.resources.utils import create_ordered_items_2d" - ] - }, - { - "cell_type": "markdown", - "id": "498a9159", - "metadata": {}, - "source": [ - "物料类型构建" - ] - }, - { - "cell_type": "code", - "execution_count": 23, - "id": "f4a27241", - "metadata": {}, - "outputs": [], - "source": [ - "\n", - "class ElectrodeSheetState(TypedDict):\n", - " diameter: float # 直径 (mm)\n", - " thickness: float # 厚度 (mm)\n", - " mass: float # 质量 (g)\n", - " material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）\n", - " info: Optional[str] # 附加信息\n", - "\n", - "class ElectrodeSheet(Resource):\n", - " \"\"\"极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料\"\"\"\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str = \"极片\",\n", - " size_x=10,\n", - " size_y=10,\n", - " size_z=10,\n", - " category: str = \"electrode_sheet\",\n", - " model: Optional[str] = None,\n", - " ):\n", - " \"\"\"初始化极片\n", - "\n", - " Args:\n", - " name: 极片名称\n", - " category: 类别\n", - " model: 型号\n", - " \"\"\"\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " category=category,\n", - " model=model,\n", - " )\n", - " self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(\n", - " diameter=14,\n", - " thickness=0.1,\n", - " mass=0.5,\n", - " material_type=\"copper\",\n", - " info=None\n", - " )\n", - "\n", - " # TODO: 这个还要不要？给self._unilabos_state赋值的？\n", - " def load_state(self, state: Dict[str, Any]) -> None:\n", - " \"\"\"格式不变\"\"\"\n", - " super().load_state(state)\n", - " self._unilabos_state = state\n", - " #序列化\n", - " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", - " \"\"\"格式不变\"\"\"\n", - " data = super().serialize_state()\n", - " data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）\n", - " return data\n" - ] - }, - { - "cell_type": "code", - "execution_count": 24, - "id": "830f052e", - "metadata": {}, - "outputs": [], - "source": [ - "# TODO: 这个应该只能放一个极片\n", - "class MaterialHoleState(TypedDict):\n", - " diameter: int\n", - " depth: int\n", - " max_sheets: int\n", - " info: Optional[str] # 附加信息\n", - "\n", - "class MaterialHole(Resource):\n", - " \"\"\"料板洞位类\"\"\"\n", - " children: List[ElectrodeSheet] = []\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str,\n", - " size_x: float,\n", - " size_y: float,\n", - " size_z: float,\n", - " category: str = \"material_hole\",\n", - " **kwargs\n", - " ):\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " category=category,\n", - " )\n", - " self._unilabos_state: MaterialHoleState = MaterialHoleState(\n", - " diameter=20,\n", - " depth=10,\n", - " max_sheets=1,\n", - " info=None\n", - " )\n", - "\n", - " def get_all_sheet_info(self):\n", - " info_list = []\n", - " for sheet in self.children:\n", - " info_list.append(sheet._unilabos_state[\"info\"])\n", - " return info_list\n", - " \n", - " #这个函数函数好像没用，一般不会集中赋值质量\n", - " def set_all_sheet_mass(self):\n", - " for sheet in self.children:\n", - " sheet._unilabos_state[\"mass\"] = 0.5 # 示例：设置质量为0.5g\n", - "\n", - " def load_state(self, state: Dict[str, Any]) -> None:\n", - " \"\"\"格式不变\"\"\"\n", - " super().load_state(state)\n", - " self._unilabos_state = state\n", - "\n", - " def serialize_state(self) -> Dict[str, Dict[str, Any]]:\n", - " \"\"\"格式不变\"\"\"\n", - " data = super().serialize_state()\n", - " data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）\n", - " return data\n", - " #移动极片前先取出对象\n", - " def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:\n", - " for sheet in self.children:\n", - " if sheet.name == name:\n", - " return sheet\n", - " return None\n", - "\n", - " def has_electrode_sheet(self) -> bool:\n", - " \"\"\"检查洞位是否有极片\"\"\"\n", - " return len(self.children) > 0\n", - "\n", - " def assign_child_resource(\n", - " self,\n", - " resource: ElectrodeSheet,\n", - " location: Optional[Coordinate],\n", - " reassign: bool = True,\n", - " ):\n", - " \"\"\"放置极片\"\"\"\n", - " # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题\n", - " if resource._unilabos_state[\"diameter\"] > self._unilabos_state[\"diameter\"]:\n", - " raise ValueError(f\"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}\")\n", - " if len(self.children) >= self._unilabos_state[\"max_sheets\"]:\n", - " raise ValueError(f\"洞位已满，无法放置更多极片\")\n", - " super().assign_child_resource(resource, location, reassign)\n", - "\n", - " # 根据children的编号取物料对象。\n", - " def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:\n", - " return self.children[index]\n", - "\n", - "\n", - "#料板\n", - "class MaterialPlateState(TypedDict):\n", - " hole_spacing_x: float\n", - " hole_spacing_y: float\n", - " hole_diameter: float\n", - " info: Optional[str] # 附加信息\n", - "\n", - "class MaterialPlate(ItemizedResource[MaterialHole]):\n", - " \"\"\"料板类 - 4x4个洞位，每个洞位放1个极片\"\"\"\n", - " \n", - " children: List[MaterialHole]\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str,\n", - " size_x: float,\n", - " size_y: float,\n", - " size_z: float,\n", - " ordered_items: Optional[Dict[str, MaterialHole]] = None,\n", - " ordering: Optional[OrderedDict[str, str]] = None,\n", - " category: str = \"material_plate\",\n", - " model: Optional[str] = None,\n", - " fill: bool = False\n", - " ):\n", - " \"\"\"初始化料板\n", - "\n", - " Args:\n", - " name: 料板名称\n", - " size_x: 长度 (mm)\n", - " size_y: 宽度 (mm)\n", - " size_z: 高度 (mm)\n", - " hole_diameter: 洞直径 (mm)\n", - " hole_depth: 洞深度 (mm)\n", - " hole_spacing_x: X方向洞位间距 (mm)\n", - " hole_spacing_y: Y方向洞位间距 (mm)\n", - " number: 编号\n", - " category: 类别\n", - " model: 型号\n", - " \"\"\"\n", - " self._unilabos_state: MaterialPlateState = MaterialPlateState(\n", - " hole_spacing_x=24.0,\n", - " hole_spacing_y=24.0,\n", - " hole_diameter=20.0,\n", - " info=\"\",\n", - " )\n", - " # 创建4x4的洞位\n", - " # TODO: 这里要改，对应不同形状\n", - " holes = create_ordered_items_2d(\n", - " klass=MaterialHole,\n", - " num_items_x=4,\n", - " num_items_y=4,\n", - " dx=(size_x - 4 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", - " dy=(size_y - 4 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", - " dz=size_z,\n", - " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", - " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", - " size_x = 16,\n", - " size_y = 16,\n", - " size_z = 16,\n", - " )\n", - " if fill:\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " ordered_items=holes,\n", - " category=category,\n", - " model=model,\n", - " )\n", - " else:\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " ordered_items=ordered_items,\n", - " ordering=ordering,\n", - " category=category,\n", - " model=model,\n", - " )\n", - "\n", - " def update_locations(self):\n", - " # TODO:调多次相加\n", - " holes = create_ordered_items_2d(\n", - " klass=MaterialHole,\n", - " num_items_x=4,\n", - " num_items_y=4,\n", - " dx=(self._size_x - 3 * self._unilabos_state[\"hole_spacing_x\"]) / 2, # 居中\n", - " dy=(self._size_y - 3 * self._unilabos_state[\"hole_spacing_y\"]) / 2, # 居中\n", - " dz=self._size_z,\n", - " item_dx=self._unilabos_state[\"hole_spacing_x\"],\n", - " item_dy=self._unilabos_state[\"hole_spacing_y\"],\n", - " size_x = 1,\n", - " size_y = 1,\n", - " size_z = 1,\n", - " )\n", - " for item, original_item in zip(holes.items(), self.children):\n", - " original_item.location = item[1].location" - ] - }, - { - "cell_type": "code", - "execution_count": 25, - "id": "8318ccca", - "metadata": {}, - "outputs": [], - "source": [ - "class CoincellDeck(Deck):\n", - " \"\"\"纽扣电池组装工作站台面类\"\"\"\n", - "\n", - " def __init__(\n", - " self,\n", - " name: str = \"coin_cell_deck\",\n", - " size_x: float = 1620.0, # 3.66m\n", - " size_y: float = 1270.0, # 1.23m\n", - " size_z: float = 500.0,\n", - " origin: Coordinate = Coordinate(0, 0, 0),\n", - " category: str = \"coin_cell_deck\",\n", - " ):\n", - " \"\"\"初始化纽扣电池组装工作站台面\n", - "\n", - " Args:\n", - " name: 台面名称\n", - " size_x: 长度 (mm) - 3.66m\n", - " size_y: 宽度 (mm) - 1.23m\n", - " size_z: 高度 (mm)\n", - " origin: 原点坐标\n", - " category: 类别\n", - " \"\"\"\n", - " super().__init__(\n", - " name=name,\n", - " size_x=size_x,\n", - " size_y=size_y,\n", - " size_z=size_z,\n", - " origin=origin,\n", - " category=category,\n", - " )" - ] - }, - { - "cell_type": "code", - "execution_count": 7, - "id": "c73bae21", - "metadata": {}, - "outputs": [], - "source": [ - "import json" - ] - }, - { - "cell_type": "code", - "execution_count": 17, - "id": "3369a1dd", - "metadata": {}, - "outputs": [], - "source": [ - "def upload_resources_to_unilab(wuliao: List[Resource]):\n", - " from unilabos.resources.graphio import convert_resources_from_type\n", - " from unilabos.config.config import BasicConfig \n", - " BasicConfig.ak = \"beb0c15f-2279-46a1-aba5-00eaf89aef55\"\n", - " BasicConfig.sk = \"15d4f25e-3512-4f9c-9bfb-43ab85e7b561\"\n", - " from unilabos.app.web.client import http_client\n", - " resources = convert_resources_from_type(wuliao, [Resource])\n", - " json.dump({\"nodes\": resources, \"links\": []}, open(\"button_battery_station_resources_unilab.json\", \"w\"), indent=2)\n", - " \n", - " #print(resources)\n", - " http_client.remote_addr = \"https://uni-lab.test.bohrium.com/api/v1\"\n", - " \n", - " http_client.resource_add(resources)" - ] - }, - { - "cell_type": "code", - "execution_count": 29, - "id": "1543ddab", - "metadata": {}, - "outputs": [], - "source": [ - "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)" - ] - }, - { - "cell_type": "code", - "execution_count": 30, - "id": "b732754a", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=None)\n" - ] - } - ], - "source": [ - "print(liaopan1)" - ] - }, - { - "cell_type": "code", - "execution_count": 31, - "id": "7e6e7252", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "[MaterialHole(name=liaopan1_materialhole_0_0, location=Coordinate(012.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_1, location=Coordinate(012.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_2, location=Coordinate(012.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_0_3, location=Coordinate(012.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_0, location=Coordinate(036.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_1, location=Coordinate(036.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_2, location=Coordinate(036.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_1_3, location=Coordinate(036.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_0, location=Coordinate(060.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_1, location=Coordinate(060.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_2, location=Coordinate(060.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_2_3, location=Coordinate(060.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_0, location=Coordinate(084.400, 084.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_1, location=Coordinate(084.400, 060.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_2, location=Coordinate(084.400, 036.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole), MaterialHole(name=liaopan1_materialhole_3_3, location=Coordinate(084.400, 012.250, 010.000), size_x=16, size_y=16, size_z=16, category=material_hole)]\n" - ] - } - ], - "source": [ - "print(liaopan1.children)" - ] - }, - { - "cell_type": "code", - "execution_count": 26, - "id": "836ff68d", - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:15:08,950]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "CoincellDeck(name=coin_cell_deck, location=Coordinate(000.000, 000.000, 000.000), size_x=1620.0, size_y=1270.0, size_z=500.0, category=coin_cell_deck)\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:15:09,218]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - } - ], - "source": [ - "deck = CoincellDeck()\n", - "#创建一个4*4的物料板\n", - "liaopan1 = MaterialPlate(name=\"liaopan1\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", - "#把物料板放到桌子上\n", - "deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0))\n", - "#创建一个极片\n", - "for i in range(16):\n", - " jipian = ElectrodeSheet(name=f\"jipian_{i}\", size_x= 12, size_y=12, size_z=0.1)\n", - " liaopan1.children[i].assign_child_resource(jipian, location=None)\n", - "#创建一个4*4的物料板\n", - "liaopan2 = MaterialPlate(name=\"liaopan2\", size_x=120.8, size_y=120.5, size_z=10.0, fill=True)\n", - "#把物料板放到桌子上\n", - "deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0))\n", - "#liaopan.children[3].assign_child_resource(jipian, location=None)\n", - "print(deck)\n", - "\n", - "upload_resources_to_unilab([deck])" - ] - }, - { - "cell_type": "code", - "execution_count": 20, - "id": "00aab9cf", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "MaterialPlate(name=liaopan1, size_x=120.8, size_y=120.5, size_z=10.0, location=Coordinate(000.000, 000.000, 000.000))\n" - ] - } - ], - "source": [ - "liaopan1 = deck.get_resource(\"liaopan1\")\n", - "print(liaopan1)" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "7409969c", - "metadata": {}, - "outputs": [], - "source": [ - "liaopan1 = deck.get_resource(\"liaopan1\")\n" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "096dde04", - "metadata": {}, - "outputs": [], - "source": [ - "print()" - ] - }, - { - "cell_type": "code", - "execution_count": 27, - "id": "5528df96", - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:17:44,322]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "ElectrodeSheet(name=jipian_1, location=None, size_x=12, size_y=12, size_z=0.1, category=electrode_sheet)\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [15:17:44,599]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - } - ], - "source": [ - "#在台面上找到料盘和极片\n", - "liaopan1 = deck.get_resource(\"liaopan1\")\n", - "liaopan2 = deck.get_resource(\"liaopan2\")\n", - "jipian1 = liaopan1.children[1].children[0]\n", - "#\n", - "print(jipian1)\n", - "#把物料解绑后放到另一盘上\n", - "jipian1.parent.unassign_child_resource(jipian1)\n", - "liaopan2.children[1].assign_child_resource(jipian1, location=None)\n", - "#print(jipian2.parent)\n", - "upload_resources_to_unilab([deck])" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "id": "43736700", - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [14:31:50,027]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mStarting new HTTPS connection (1): uni-lab.test.bohrium.com:443\u001b[37m [_new_conn:1049] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 electrode_sheet\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_hole\n", - "转换pylabrobot的时候，出现未知类型 material_plate\n", - "转换pylabrobot的时候，出现未知类型 coin_cell_deck\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[37m25-09-22 [14:31:50,358]\u001b[0m \u001b[1;36m[DEBUG]\u001b[0m \u001b[37mhttps://uni-lab.test.bohrium.com:443 \"POST /api/v1/lab/material HTTP/1.1\" 200 10\u001b[37m [_make_request:544] [urllib3.connectionpool.connectionpool]\u001b[0m\n" - ] - }, - { - "data": { - "text/plain": [ - "" - ] - }, - "execution_count": 16, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [] - } - ], - "metadata": { - "kernelspec": { - "display_name": "unilab", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.11.11" - } - }, - "nbformat": 4, - "nbformat_minor": 5 -} diff --git a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml b/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml deleted file mode 100644 index 29e8437..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/work_station.yaml +++ /dev/null @@ -1,6674 +0,0 @@ -bettery_station_registry: - category: - - work_station - class: - action_value_mappings: - auto-change_hole_sheet_to_2: - feedback: {} - goal: {} - goal_default: - hole: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - hole: - type: object - required: - - hole - type: object - result: {} - required: - - goal - title: change_hole_sheet_to_2参数 - type: object - type: UniLabJsonCommandAsync - auto-fill_plate: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fill_plate参数 - type: object - type: UniLabJsonCommandAsync - auto-fun_wuliao_test: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fun_wuliao_test参数 - type: object - type: UniLabJsonCommand - auto-func_allpack_cmd: - feedback: {} - goal: {} - goal_default: - elec_num: null - elec_use_num: null - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - elec_num: - type: string - elec_use_num: - type: string - file_path: - default: D:\coin_cell_data - type: string - required: - - elec_num - - elec_use_num - type: object - result: {} - required: - - goal - title: func_allpack_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_get_csv_export_status: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_get_csv_export_status参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_auto: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_auto参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_init: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_init参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_start: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_start参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_stop: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_stop参数 - type: object - type: UniLabJsonCommand - auto-func_pack_get_msg_cmd: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_pack_get_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_bottle_num: - feedback: {} - goal: {} - goal_default: - bottle_num: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - bottle_num: - type: integer - required: - - bottle_num - type: object - result: {} - required: - - goal - title: func_pack_send_bottle_num参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_finished_cmd: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_send_finished_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_msg_cmd: - feedback: {} - goal: {} - goal_default: - elec_use_num: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - elec_use_num: - type: string - required: - - elec_use_num - type: object - result: {} - required: - - goal - title: func_pack_send_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_read_data_and_output: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_read_data_and_output参数 - type: object - type: UniLabJsonCommand - auto-func_stop_read_data: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_stop_read_data参数 - type: object - type: UniLabJsonCommand - auto-modify_deck_name: - feedback: {} - goal: {} - goal_default: - resource_name: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resource_name: - type: string - required: - - resource_name - type: object - result: {} - required: - - goal - title: modify_deck_name参数 - type: object - type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation - status_types: - data_assembly_coin_cell_num: int - data_assembly_pressure: int - data_assembly_time: float - data_axis_x_pos: float - data_axis_y_pos: float - data_axis_z_pos: float - data_coin_cell_code: str - data_coin_num: int - data_electrolyte_code: str - data_electrolyte_volume: int - data_glove_box_o2_content: float - data_glove_box_pressure: float - data_glove_box_water_content: float - data_open_circuit_voltage: float - data_pole_weight: float - request_rec_msg_status: bool - request_send_msg_status: bool - sys_mode: str - sys_status: str - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - address: - default: 192.168.1.20 - type: string - debug_mode: - default: true - type: boolean - port: - default: '502' - type: string - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: - data_assembly_coin_cell_num: - type: integer - data_assembly_pressure: - type: integer - data_assembly_time: - type: number - data_axis_x_pos: - type: number - data_axis_y_pos: - type: number - data_axis_z_pos: - type: number - data_coin_cell_code: - type: string - data_coin_num: - type: integer - data_electrolyte_code: - type: string - data_electrolyte_volume: - type: integer - data_glove_box_o2_content: - type: number - data_glove_box_pressure: - type: number - data_glove_box_water_content: - type: number - data_open_circuit_voltage: - type: number - data_pole_weight: - type: number - request_rec_msg_status: - type: boolean - request_send_msg_status: - type: boolean - sys_mode: - type: string - sys_status: - type: string - required: - - sys_status - - sys_mode - - request_rec_msg_status - - request_send_msg_status - - data_assembly_coin_cell_num - - data_assembly_time - - data_open_circuit_voltage - - data_axis_x_pos - - data_axis_y_pos - - data_axis_z_pos - - data_pole_weight - - data_assembly_pressure - - data_electrolyte_volume - - data_coin_num - - data_coin_cell_code - - data_electrolyte_code - - data_glove_box_pressure - - data_glove_box_o2_content - - data_glove_box_water_content - type: object - version: 1.0.0 -workstation: - category: - - work_station - class: - action_value_mappings: - AGVTransferProtocol: - feedback: {} - goal: - from_repo: from_repo - from_repo_position: from_repo_position - to_repo: to_repo - to_repo_position: to_repo_position - goal_default: - from_repo: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - from_repo_position: '' - to_repo: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - to_repo_position: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: AGVTransfer_Feedback - type: object - goal: - properties: - from_repo: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_repo - type: object - from_repo_position: - type: string - to_repo: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_repo - type: object - to_repo_position: - type: string - required: - - from_repo - - from_repo_position - - to_repo - - to_repo_position - title: AGVTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: AGVTransfer_Result - type: object - required: - - goal - title: AGVTransfer - type: object - type: AGVTransfer - AddProtocol: - feedback: {} - goal: - amount: amount - equiv: equiv - event: event - mass: mass - mol: mol - purpose: purpose - rate_spec: rate_spec - ratio: ratio - reagent: reagent - stir: stir - stir_speed: stir_speed - time: time - vessel: vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - equiv: '' - event: '' - mass: '' - mol: '' - purpose: '' - rate_spec: '' - ratio: '' - reagent: '' - stir: false - stir_speed: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - viscous: false - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: Add_Feedback - type: object - goal: - properties: - amount: - type: string - equiv: - type: string - event: - type: string - mass: - type: string - mol: - type: string - purpose: - type: string - rate_spec: - type: string - ratio: - type: string - reagent: - type: string - stir: - type: boolean - stir_speed: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - viscous: - type: boolean - volume: - type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio - title: Add_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Add_Result - type: object - required: - - goal - title: Add - type: object - type: Add - AdjustPHProtocol: - feedback: {} - goal: - ph_value: ph_value - reagent: reagent - settling_time: settling_time - stir: stir - stir_speed: stir_speed - stir_time: stir_time - vessel: vessel - volume: volume - goal_default: - ph_value: 0.0 - reagent: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: AdjustPH_Feedback - type: object - goal: - properties: - ph_value: - type: number - reagent: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - ph_value - - reagent - title: AdjustPH_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: AdjustPH_Result - type: object - required: - - goal - title: AdjustPH - type: object - type: AdjustPH - CentrifugeProtocol: - feedback: {} - goal: - speed: speed - temp: temp - time: time - vessel: vessel - goal_default: - speed: 0.0 - temp: 0.0 - time: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - current_temp: - type: number - progress: - type: number - required: - - progress - - current_speed - - current_temp - - current_status - title: Centrifuge_Feedback - type: object - goal: - properties: - speed: - type: number - temp: - type: number - time: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - speed - - time - - temp - title: Centrifuge_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Centrifuge_Result - type: object - required: - - goal - title: Centrifuge - type: object - type: Centrifuge - CleanProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Clean_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: Clean_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Clean_Result - type: object - required: - - goal - title: Clean - type: object - type: Clean - CleanVesselProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: CleanVessel_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: CleanVessel_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: CleanVessel_Result - type: object - required: - - goal - title: CleanVessel - type: object - type: CleanVessel - DissolveProtocol: - feedback: {} - goal: - amount: amount - event: event - mass: mass - mol: mol - reagent: reagent - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - amount: '' - event: '' - mass: '' - mol: '' - reagent: '' - solvent: '' - stir_speed: 0.0 - temp: '' - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dissolve_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - mass: - type: string - mol: - type: string - reagent: - type: string - solvent: - type: string - stir_speed: - type: number - temp: - type: string - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - required: - - vessel - - solvent - - volume - - amount - - temp - - time - - stir_speed - - mass - - mol - - reagent - - event - title: Dissolve_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dissolve_Result - type: object - required: - - goal - title: Dissolve - type: object - type: Dissolve - DryProtocol: - feedback: {} - goal: - compound: compound - vessel: vessel - goal_default: - compound: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dry_Feedback - type: object - goal: - properties: - compound: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - compound - - vessel - title: Dry_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dry_Result - type: object - required: - - goal - title: Dry - type: object - type: Dry - EvacuateAndRefillProtocol: - feedback: {} - goal: - gas: gas - vessel: vessel - goal_default: - gas: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: EvacuateAndRefill_Feedback - type: object - goal: - properties: - gas: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - gas - title: EvacuateAndRefill_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: EvacuateAndRefill_Result - type: object - required: - - goal - title: EvacuateAndRefill - type: object - type: EvacuateAndRefill - EvaporateProtocol: - feedback: {} - goal: - pressure: pressure - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: 0.0 - solvent: '' - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Evaporation Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Evaporation Vessel - placeholder_keys: - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Evaporate_Feedback - type: object - goal: - properties: - pressure: - type: number - solvent: - type: string - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent - title: Evaporate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Evaporate_Result - type: object - required: - - goal - title: Evaporate - type: object - type: Evaporate - FilterProtocol: - feedback: {} - goal: - continue_heatchill: continue_heatchill - filtrate_vessel: filtrate_vessel - stir: stir - stir_speed: stir_speed - temp: temp - vessel: vessel - volume: volume - goal_default: - continue_heatchill: false - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: FiltrateVessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: FiltrateOut - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - progress: - type: number - required: - - progress - - current_temp - - filtered_volume - - current_status - title: Filter_Feedback - type: object - goal: - properties: - continue_heatchill: - type: boolean - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume - title: Filter_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Filter_Result - type: object - required: - - goal - title: Filter - type: object - type: Filter - FilterThroughProtocol: - feedback: {} - goal: - eluting_repeats: eluting_repeats - eluting_solvent: eluting_solvent - eluting_volume: eluting_volume - filter_through: filter_through - from_vessel: from_vessel - residence_time: residence_time - to_vessel: to_vessel - goal_default: - eluting_repeats: 0 - eluting_solvent: '' - eluting_volume: 0.0 - filter_through: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - residence_time: 0.0 - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: FilterThrough_Feedback - type: object - goal: - properties: - eluting_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - eluting_solvent: - type: string - eluting_volume: - type: number - filter_through: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filter_through - type: object - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - residence_time: - type: number - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - filter_through - - eluting_solvent - - eluting_volume - - eluting_repeats - - residence_time - title: FilterThrough_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: FilterThrough_Result - type: object - required: - - goal - title: FilterThrough - type: object - type: FilterThrough - HeatChillProtocol: - feedback: {} - goal: - pressure: pressure - purpose: purpose - reflux_solvent: reflux_solvent - stir: stir - stir_speed: stir_speed - temp: temp - temp_spec: temp_spec - time: time - time_spec: time_spec - vessel: vessel - goal_default: - pressure: '' - purpose: '' - reflux_solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - temp_spec: '' - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChill_Feedback - type: object - goal: - properties: - pressure: - type: string - purpose: - type: string - reflux_solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - temp_spec: - type: string - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose - title: HeatChill_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: HeatChill_Result - type: object - required: - - goal - title: HeatChill - type: object - type: HeatChill - HeatChillStartProtocol: - feedback: {} - goal: - purpose: purpose - temp: temp - vessel: vessel - goal_default: - purpose: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStart_Feedback - type: object - goal: - properties: - purpose: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - purpose - title: HeatChillStart_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStart_Result - type: object - required: - - goal - title: HeatChillStart - type: object - type: HeatChillStart - HeatChillStopProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStop_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: HeatChillStop_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStop_Result - type: object - required: - - goal - title: HeatChillStop - type: object - type: HeatChillStop - HydrogenateProtocol: - feedback: {} - goal: - temp: temp - time: time - vessel: vessel - goal_default: - temp: '' - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Hydrogenate_Feedback - type: object - goal: - properties: - temp: - type: string - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - temp - - time - - vessel - title: Hydrogenate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Hydrogenate_Result - type: object - required: - - goal - title: Hydrogenate - type: object - type: Hydrogenate - PumpTransferProtocol: - feedback: {} - goal: - amount: amount - event: event - flowrate: flowrate - from_vessel: from_vessel - rate_spec: rate_spec - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - through: through - time: time - to_vessel: to_vessel - transfer_flowrate: transfer_flowrate - viscous: viscous - volume: volume - goal_default: - amount: '' - event: '' - flowrate: 0.0 - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - rate_spec: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - through: '' - time: 0.0 - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - transfer_flowrate: 0.0 - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: PumpTransfer_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - flowrate: - type: number - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - rate_spec: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - through: - type: string - time: - type: number - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - transfer_flowrate: - type: number - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - - flowrate - - transfer_flowrate - - rate_spec - - event - - through - title: PumpTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: PumpTransfer_Result - type: object - required: - - goal - title: PumpTransfer - type: object - type: PumpTransfer - RecrystallizeProtocol: - feedback: {} - goal: - ratio: ratio - solvent1: solvent1 - solvent2: solvent2 - vessel: vessel - volume: volume - goal_default: - ratio: '' - solvent1: '' - solvent2: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent1 - data_source: handle - data_type: resource - handler_key: solvent1 - label: Solvent 1 - - data_key: solvent2 - data_source: handle - data_type: resource - handler_key: solvent2 - label: Solvent 2 - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Recrystallize_Feedback - type: object - goal: - properties: - ratio: - type: string - solvent1: - type: string - solvent2: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - required: - - ratio - - solvent1 - - solvent2 - - vessel - - volume - title: Recrystallize_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Recrystallize_Result - type: object - required: - - goal - title: Recrystallize - type: object - type: Recrystallize - ResetHandlingProtocol: - feedback: {} - goal: - solvent: solvent - goal_default: - solvent: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: [] - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: ResetHandling_Feedback - type: object - goal: - properties: - solvent: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - solvent - - vessel - title: ResetHandling_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: ResetHandling_Result - type: object - required: - - goal - title: ResetHandling - type: object - type: ResetHandling - RunColumnProtocol: - feedback: {} - goal: - column: column - from_vessel: from_vessel - to_vessel: to_vessel - goal_default: - column: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - pct1: '' - pct2: '' - ratio: '' - rf: '' - solvent1: '' - solvent2: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - column: unilabos_devices - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: RunColumn_Feedback - type: object - goal: - properties: - column: - type: string - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - pct1: - type: string - pct2: - type: string - ratio: - type: string - rf: - type: string - solvent1: - type: string - solvent2: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio - title: RunColumn_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: RunColumn_Result - type: object - required: - - goal - title: RunColumn - type: object - type: RunColumn - SeparateProtocol: - feedback: {} - goal: - from_vessel: from_vessel - product_phase: product_phase - purpose: purpose - repeats: repeats - separation_vessel: separation_vessel - settling_time: settling_time - solvent: solvent - solvent_volume: solvent_volume - stir_speed: stir_speed - stir_time: stir_time - through: through - to_vessel: to_vessel - waste_phase_to_vessel: waste_phase_to_vessel - goal_default: - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - product_phase: '' - product_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - purpose: '' - repeats: 0 - separation_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - settling_time: 0.0 - solvent: '' - solvent_volume: '' - stir_speed: 0.0 - stir_time: 0.0 - through: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - waste_phase_to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - waste_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - waste_phase_to_vessel: unilabos_resources - waste_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Separate_Feedback - type: object - goal: - properties: - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - product_phase: - type: string - product_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: product_vessel - type: object - purpose: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - separation_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: separation_vessel - type: object - settling_time: - type: number - solvent: - type: string - solvent_volume: - type: string - stir_speed: - type: number - stir_time: - type: number - through: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - waste_phase_to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_phase_to_vessel - type: object - waste_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_vessel - type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time - title: Separate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Separate_Result - type: object - required: - - goal - title: Separate - type: object - type: Separate - StartStirProtocol: - feedback: {} - goal: - purpose: purpose - stir_speed: stir_speed - vessel: vessel - goal_default: - purpose: '' - stir_speed: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - progress: - type: number - required: - - progress - - current_speed - - current_status - title: StartStir_Feedback - type: object - goal: - properties: - purpose: - type: string - stir_speed: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - stir_speed - - purpose - title: StartStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StartStir_Result - type: object - required: - - goal - title: StartStir - type: object - type: StartStir - StirProtocol: - feedback: {} - goal: - event: event - settling_time: settling_time - stir_speed: stir_speed - stir_time: stir_time - time: time - time_spec: time_spec - vessel: vessel - goal_default: - event: '' - settling_time: '' - stir_speed: 0.0 - stir_time: 0.0 - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: Stir_Feedback - type: object - goal: - properties: - event: - type: string - settling_time: - type: string - stir_speed: - type: number - stir_time: - type: number - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time - title: Stir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Stir_Result - type: object - required: - - goal - title: Stir - type: object - type: Stir - StopStirProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: StopStir_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: StopStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StopStir_Result - type: object - required: - - goal - title: StopStir - type: object - type: StopStir - TransferProtocol: - feedback: {} - goal: - amount: amount - from_vessel: from_vessel - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - time: time - to_vessel: to_vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - from_vessel: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - time: 0.0 - to_vessel: '' - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - transferred_volume: - type: number - required: - - progress - - transferred_volume - - current_status - title: Transfer_Feedback - type: object - goal: - properties: - amount: - type: string - from_vessel: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - time: - type: number - to_vessel: - type: string - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - title: Transfer_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Transfer_Result - type: object - required: - - goal - title: Transfer - type: object - type: Transfer - WashSolidProtocol: - feedback: {} - goal: - filtrate_vessel: filtrate_vessel - repeats: repeats - solvent: solvent - stir: stir - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - event: '' - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - mass: '' - repeats: 0 - repeats_spec: '' - solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - volume_spec: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: filtrate_vessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Vessel Out - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: filtrate_vessel_out - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: WashSolid_Feedback - type: object - goal: - properties: - event: - type: string - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - mass: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - repeats_spec: - type: string - solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - volume_spec: - type: string - required: - - vessel - - solvent - - volume - - filtrate_vessel - - temp - - stir - - stir_speed - - time - - repeats - - volume_spec - - repeats_spec - - mass - - event - title: WashSolid_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: WashSolid_Result - type: object - required: - - goal - title: WashSolid - type: object - type: WashSolid - auto-create_ros_action_server: - feedback: {} - goal: {} - goal_default: - action_name: null - action_value_mapping: null - handles: {} - result: {} - schema: - description: create_ros_action_server的参数schema - properties: - feedback: {} - goal: - properties: - action_name: - type: string - action_value_mapping: - type: string - required: - - action_name - - action_value_mapping - type: object - result: {} - required: - - goal - title: create_ros_action_server参数 - type: object - type: UniLabJsonCommand - auto-execute_single_action: - feedback: {} - goal: {} - goal_default: - action_kwargs: null - action_name: null - device_id: null - handles: {} - result: {} - schema: - description: execute_single_action的参数schema - properties: - feedback: {} - goal: - properties: - action_kwargs: - type: string - action_name: - type: string - device_id: - type: string - required: - - device_id - - action_name - - action_kwargs - type: object - result: {} - required: - - goal - title: execute_single_action参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize_device: - feedback: {} - goal: {} - goal_default: - device_config: null - device_id: null - handles: {} - result: {} - schema: - description: initialize_device的参数schema - properties: - feedback: {} - goal: - properties: - device_config: - type: string - device_id: - type: string - required: - - device_id - - device_config - type: object - result: {} - required: - - goal - title: initialize_device参数 - type: object - type: UniLabJsonCommand - module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode - status_types: {} - type: ros2 - config_info: [] - description: Workstation - handles: [] - icon: '' - init_param_schema: - config: - properties: - action_value_mappings: - type: object - children: - type: object - device_id: - type: string - driver_instance: - type: string - hardware_interface: - type: object - print_publish: - default: true - type: string - protocol_type: - items: - type: string - type: array - resource_tracker: - type: string - status_types: - type: object - required: - - protocol_type - - children - - driver_instance - - device_id - - status_types - - action_value_mappings - - hardware_interface - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 -workstation.example: - category: - - work_station - class: - action_value_mappings: {} - module: unilabos.devices.workstation.workstation_base:WorkstationExample - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 From 42f7010134998e78f6a1f692905068fe823a11c0 Mon Sep 17 00:00:00 2001 From: h840473807 <47357934+h840473807@users.noreply.github.com> Date: Mon, 27 Oct 2025 11:57:57 +0800 Subject: [PATCH 022/104] =?UTF-8?q?=E6=8F=90=E4=BA=A4=E6=89=A3=E7=94=B5?= =?UTF-8?q?=E5=B7=A5=E7=AB=99=E6=9C=80=E6=96=B0=E4=BB=A3=E7=A0=81=E5=88=B0?= =?UTF-8?q?YB3=E5=88=86=E6=94=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 提交扣电工站最新代码到YB3分支，更新注册表 --- .../coin_cell_assembly/__init__.py | 0 .../button_battery_station.py | 1006 ++++++++++++++ .../coin_cell_assembly/coin_cell_assembly.py | 1172 +++++++++++++++++ .../coin_cell_assembly_a.csv | 63 + .../coin_cell_assembly/new_cellconfig3c.json | 691 ++++++++++ .../coin_cell_assembly/workstation_base.py | 489 +++++++ unilabos/registry/devices/work_station.yaml | 1056 +++++++++------ 7 files changed, 4063 insertions(+), 414 deletions(-) create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json create mode 100644 unilabos/devices/workstation/coin_cell_assembly/workstation_base.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py new file mode 100644 index 0000000..eae09b8 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py @@ -0,0 +1,1006 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=0, + depth=0, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1620.0, # 3.66m + size_y: float = 1270.0, # 1.23m + size_z: float = 500.0, + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 3.66m + size_y: 宽度 (mm) - 1.23m + size_z: 高度 (mm) + origin: 原点坐标 + category: 类别 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + +#if __name__ == "__main__": +# # 转移极片的测试代码 +# deck = CoincellDeck("coin_cell_deck") +# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) +# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) +# +# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) +# for i, hole in enumerate(plate_1.children): +# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") +# sheet._unilabos_state = { +# "diameter": 14, +# "info": "NMC", +# "mass": 5.0, +# "material_type": "positive_electrode", +# "thickness": 0.1 +# } +# hole._unilabos_state = { +# "depth": 1.0, +# "diameter": 14, +# "info": "", +# "max_sheets": 1 +# } +# hole.assign_child_resource(sheet, Coordinate.zero()) +# plate_1._unilabos_state = { +# "hole_spacing_x": 20.0, +# "hole_spacing_y": 20.0, +# "hole_diameter": 5, +# "info": "这是第一块料板" +# } +# plate_1.update_locations() +# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) +# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) +# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) +# +# from unilabos.resources.graphio import * +# A = tree_to_list([resource_plr_to_ulab(deck)]) +# with open("test.json", "w") as f: +# json.dump(A, f) +# +# +#def get_plate_with_14mm_hole(name=""): +# plate = MaterialPlate(name=name) +# for i in range(4): +# for j in range(4): +# hole = MaterialHole(f"{i+1}x{j+1}") +# hole._unilabos_state["diameter"] = 14 +# hole._unilabos_state["max_sheets"] = 1 +# plate.assign_child_resource(hole) +# return plate + +import json + +if __name__ == "__main__": + #electrode1 = BatteryPressSlot() + #print(electrode1.get_size_x()) + #print(electrode1.get_size_y()) + #print(electrode1.get_size_z()) + #jipian = ElectrodeSheet() + #jipian._unilabos_state["diameter"] = 18 + #print(jipian.serialize()) + #print(jipian.serialize_state()) + + deck = CoincellDeck(size_x=1000, + size_y=1000, + size_z=900) + + #liaopan = TipBox64(name="liaopan") + + #创建一个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + #创建一个极片 + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) +# + #创建一个4*4的物料板 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + + #创建一个4*4的物料板 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + #把物料板放到桌子上 + deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + + + + #liaopan.children[3].assign_child_resource(jipian, location=None) + print(deck) + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" + BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py new file mode 100644 index 0000000..750a34f --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py @@ -0,0 +1,1172 @@ +import csv +import json +import os +import threading +import time +from datetime import datetime +from typing import Any, Dict, Optional +from pylabrobot.resources import Resource as PLRResource +from unilabos_msgs.msg import Resource +from unilabos.device_comms.modbus_plc.client import ModbusTcpClient +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + station_resource: CoincellDeck, + address: str = "192.168.1.20", + port: str = "502", + debug_mode: bool = True, + *args, + **kwargs, + ): + super().__init__( + #桌子 + station_resource=station_resource, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + self.station_resource = station_resource + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 工站的配置 """ + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) + self.success = False + self.allow_data_read = False #允许读取函数运行标志位 + self.csv_export_thread = None + self.csv_export_running = False + self.csv_export_file = None + self.coin_num_N = 0 #已组装电池数量 + #创建一个物料台面，包含两个极片板 + #self.deck = create_a_coin_cell_deck() + + #self._ros_node.update_resource(self.deck) + + #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + # "resources": [self.deck] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.station_resource.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.station_resource.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num): + bottle_num = int(bottle_num) + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool: + """UNILAB写参数""" + while (self.request_rec_msg_status) == False: + print("wait for request_rec_msg_status to True") + time.sleep(1) + self.success = False + #self._unilab_send_msg_electrolyte_num(elec_num) + #设置平行样数目 + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + #发送电解液加注量 + self._unilab_send_msg_electrolyte_vol(elec_vol) + time.sleep(1) + #发送电解液组装类型 + self._unilab_send_msg_assembly_type(assembly_type) + time.sleep(1) + #发送电池压制力 + self._unilab_send_msg_assembly_pressure(assembly_pressure) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + print("data_open_circuit_voltage", data_open_circuit_voltage) + print("data_pole_weight", data_pole_weight) + print("data_assembly_time", data_assembly_time) + print("data_assembly_pressure", data_assembly_pressure) + print("data_electrolyte_volume", data_electrolyte_volume) + print("data_coin_num", data_coin_num) + print("data_electrolyte_code", data_electrolyte_code) + print("data_coin_cell_code", data_coin_cell_code) + #接收完信息后，读取完毕标志位置True + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + #把物料解绑后放到另一盘上 + battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) + battery._unilabos_state = { + "electrolyte_name": data_coin_cell_code, + "data_electrolyte_code": data_electrolyte_code, + "open_circuit_voltage": data_open_circuit_voltage, + "assembly_pressure": data_assembly_pressure, + "electrolyte_volume": data_electrolyte_volume + } + liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + + + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) + summary_csv_file = os.path.join(file_path, "duandian.csv") + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 + if read_status_flag == False: + pass + #初始化 + #self.func_pack_device_init() + #切换自动 + #self.func_pack_device_auto() + #启动，小车收回 + #self.func_pack_device_start() + #发送电解液瓶数量，启动搬运,多搬运没事 + #self.func_pack_send_bottle_num(elec_num) + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + #第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + time.sleep(1) + # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 + + + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + self.coin_num_N = coin_num_N + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + for i in range(16): + battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) + battery._unilabos_state = { + "diameter": 20.0, + "height": 20.0, + "assembly_pressure": i, + "electrolyte_volume": 20.0, + "electrolyte_name": f"DP{i}" + } + liaopan3.children[i].assign_child_resource(battery, location=None) + + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.station_resource] + }) + time.sleep(4) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 + if self.csv_export_running: + return False, "读取已在运行中" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # TODO:#把电解液从瓶中取到电池夹子中 + # battery_site = deck.get_resource("battery_press_1") + # clip_magazine_battery = deck.get_resource("clip_magazine_battery") + # if battery_site.has_battery(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +if __name__ == "__main__": + from pylabrobot.resources import Resource + Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + #Coin_Cell.func_pack_device_init() + #Coin_Cell.func_pack_device_auto() + #Coin_Cell.func_pack_device_start() + #Coin_Cell.func_pack_send_bottle_num(2) + #Coin_Cell.func_pack_send_msg_cmd(2) + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_get_msg_cmd() + #Coin_Cell.func_pack_send_finished_cmd() +# + #Coin_Cell.func_allpack_cmd(3, 2) + #print(Coin_Cell.data_stack_vision_code) + #print("success") + #创建一个物料台面 + + deck = create_a_coin_cell_deck() + #deck = create_a_full_coin_cell_deck() + + + ##在台面上找到料盘和极片 + #liaopan1 = deck.get_resource("liaopan1") + #liaopan2 = deck.get_resource("liaopan2") + #jipian1 = liaopan1.children[1].children[0] +## + #print(jipian1) + ##把物料解绑后放到另一盘上 + #jipian1.parent.unassign_child_resource(jipian1) + #liaopan2.children[1].assign_child_resource(jipian1, location=None) + ##print(jipian2.parent) + + liaopan1 = deck.get_resource("liaopan1") + liaopan2 = deck.get_resource("liaopan2") + for i in range(16): + #找到liaopan1上每一个jipian + jipian_linshi = liaopan1.children[i].children[0] + #把物料解绑后放到另一盘上 + print("极片:", jipian_linshi) + jipian_linshi.parent.unassign_child_resource(jipian_linshi) + liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) + + + from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type + #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: + # bioyond_resources_unilab = json.load(f) + #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") + #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) + #print(f"转换结果类型: {type(ulab_resources)}") + #print(ulab_resources) + + + + from unilabos.resources.graphio import convert_resources_from_type + from unilabos.config.config import BasicConfig + BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" + BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" + from unilabos.app.web.client import http_client + + resources = convert_resources_from_type([deck], [Resource]) + json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + + #print(resources) + http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" + + http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv new file mode 100644 index 0000000..836fb71 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv @@ -0,0 +1,63 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, +COIL_SYS_START_CMD,BOOL,,,,coil,8010, +COIL_SYS_STOP_CMD,BOOL,,,,coil,8020, +COIL_SYS_RESET_CMD,BOOL,,,,coil,8030, +COIL_SYS_HAND_CMD,BOOL,,,,coil,8040, +COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050, +COIL_SYS_INIT_CMD,BOOL,,,,coil,8060, +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700, +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd +COIL_SYS_START_STATUS,BOOL,,,,coil,8210, +COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220, +COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230, +COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240, +COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250, +COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260, +COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500, +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000, +REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num +REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol +REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type +REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage +REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004, +REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006, +REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008, +REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time +REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure +REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume +REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num +REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code() +REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code() +REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code() +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720, +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520, +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496, +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, +UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, +UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, +REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 +COIL_ALUMINUM_FOIL,BOOL,,ʹ,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ +,,,,,,, +,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ +,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ +,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, +,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ +,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ +,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ +,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ +,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ +,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ +,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json new file mode 100644 index 0000000..630faa5 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json @@ -0,0 +1,691 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "coin_cell_deck" + ], + "parent": null, + "type": "device", + "class": "bettery_station_registry", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", + "protocol_type": [], + "station_resource": { + "data": { + "_resource_child_name": "coin_cell_deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" + } + }, + + "address": "192.168.1.20", + "port": 502 + }, + "data": {} + }, + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "\u7535\u6c60\u6599\u76d8" + ], + "parent": null, + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1000, + "size_y": 1000, + "size_z": 900, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "\u7535\u6c60\u6599\u76d8", + "name": "\u7535\u6c60\u6599\u76d8", + "sample_id": null, + "children": [ + "\u7535\u6c60\u6599\u76d8_materialhole_0_0", + "\u7535\u6c60\u6599\u76d8_materialhole_0_1", + "\u7535\u6c60\u6599\u76d8_materialhole_0_2", + "\u7535\u6c60\u6599\u76d8_materialhole_0_3", + "\u7535\u6c60\u6599\u76d8_materialhole_1_0", + "\u7535\u6c60\u6599\u76d8_materialhole_1_1", + "\u7535\u6c60\u6599\u76d8_materialhole_1_2", + "\u7535\u6c60\u6599\u76d8_materialhole_1_3", + "\u7535\u6c60\u6599\u76d8_materialhole_2_0", + "\u7535\u6c60\u6599\u76d8_materialhole_2_1", + "\u7535\u6c60\u6599\u76d8_materialhole_2_2", + "\u7535\u6c60\u6599\u76d8_materialhole_2_3", + "\u7535\u6c60\u6599\u76d8_materialhole_3_0", + "\u7535\u6c60\u6599\u76d8_materialhole_3_1", + "\u7535\u6c60\u6599\u76d8_materialhole_3_2", + "\u7535\u6c60\u6599\u76d8_materialhole_3_3" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 100, + "y": 100, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 160.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", + "B1": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", + "C1": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", + "D1": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", + "A2": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", + "B2": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", + "C2": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", + "D2": "\u7535\u6c60\u6599\u76d8_materialhole_1_3", + "A3": "\u7535\u6c60\u6599\u76d8_materialhole_2_0", + "B3": "\u7535\u6c60\u6599\u76d8_materialhole_2_1", + "C3": "\u7535\u6c60\u6599\u76d8_materialhole_2_2", + "D3": "\u7535\u6c60\u6599\u76d8_materialhole_2_3", + "A4": "\u7535\u6c60\u6599\u76d8_materialhole_3_0", + "B4": "\u7535\u6c60\u6599\u76d8_materialhole_3_1", + "C4": 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a/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py b/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py new file mode 100644 index 0000000..65b34a9 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py @@ -0,0 +1,489 @@ +""" +工作站基类 +Workstation Base Class - 简化版 + +基于PLR Deck的简化工作站架构 +专注于核心物料系统和工作流管理 +""" + +import collections +import time +from typing import Dict, Any, List, Optional, Union +from abc import ABC, abstractmethod +from dataclasses import dataclass +from enum import Enum +from pylabrobot.resources import Deck, Plate, Resource as PLRResource + +from pylabrobot.resources.coordinate import Coordinate +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +from unilabos.utils.log import logger + + +class WorkflowStatus(Enum): + """工作流状态""" + + IDLE = "idle" + INITIALIZING = "initializing" + RUNNING = "running" + PAUSED = "paused" + STOPPING = "stopping" + STOPPED = "stopped" + ERROR = "error" + COMPLETED = "completed" + + +@dataclass +class WorkflowInfo: + """工作流信息""" + + name: str + description: str + estimated_duration: float # 预估持续时间（秒） + required_materials: List[str] # 所需物料类型 + output_product: str # 输出产品类型 + parameters_schema: Dict[str, Any] # 参数架构 + + +class WorkStationContainer(Plate): + """ + WorkStation 专用 Container 类，继承自 Plate和TipRack + 注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化 + """ + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str, + ordering: collections.OrderedDict, + model: Optional[str] = None, + ): + """ + 这里的初始化入参要和plr的保持一致 + """ + super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) + self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的 + + 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]]: + data = super().serialize_state() + data.update( + self._unilabos_state + ) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法 + """ + 用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml + 可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错 + :param name: 资源名称 + :return: Resource对象 + """ + plate = WorkStationContainer( + name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() + ) + tip_rack = WorkStationContainer( + "tip_rack_inside_plate", + size_x=50, + size_y=50, + size_z=10, + category="tip_rack", + ordering=collections.OrderedDict(), + ) + plate.assign_child_resource(tip_rack, Coordinate.zero()) + return plate + + +class ResourceSynchronizer(ABC): + """资源同步器基类 + + 负责与外部物料系统的同步，并对 self.deck 做修改 + """ + + def __init__(self, workstation: "WorkstationBase"): + self.workstation = workstation + + @abstractmethod + async def sync_from_external(self) -> bool: + """从外部系统同步物料到本地deck""" + pass + + @abstractmethod + async def sync_to_external(self, plr_resource: PLRResource) -> bool: + """将本地物料同步到外部系统""" + pass + + @abstractmethod + async def handle_external_change(self, change_info: Dict[str, Any]) -> bool: + """处理外部系统的变更通知""" + pass + + +class WorkstationBase(ABC): + """工作站基类 - 简化版 + + 核心功能： + 1. 基于 PLR Deck 的物料系统，支持格式转换 + 2. 可选的资源同步器支持外部物料系统 + 3. 简化的工作流管理 + """ + + _ros_node: ROS2WorkstationNode + + @property + def _children(self) -> Dict[str, Any]: # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别 + return self._ros_node.children + + async def update_resource_example(self): + return await self._ros_node.update_resource([get_workstation_plate_resource("test")]) + + def __init__( + self, + station_resource: PLRResource, + *args, + **kwargs, # 必须有kwargs + ): + # 基本配置 + print(station_resource) + self.deck_config = station_resource + + # PLR 物料系统 + self.deck: Optional[Deck] = None + self.plr_resources: Dict[str, PLRResource] = {} + + # 资源同步器（可选） + # self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用 + + # 硬件接口 + self.hardware_interface: Union[Any, str] = None + + # 工作流状态 + self.current_workflow_status = WorkflowStatus.IDLE + self.current_workflow_info = None + self.workflow_start_time = None + self.workflow_parameters = {} + + # 支持的工作流（静态预定义） + self.supported_workflows: Dict[str, WorkflowInfo] = {} + + # 初始化物料系统 + self._initialize_material_system() + + # 注册支持的工作流 + # self._register_supported_workflows() + + # logger.info(f"工作站 {device_id} 初始化完成（简化版）") + + def _initialize_material_system(self): + """初始化物料系统 - 使用 graphio 转换""" + try: + from unilabos.resources.graphio import resource_ulab_to_plr + + # # 1. 合并 deck_config 和 children 创建完整的资源树 + # complete_resource_config = self._create_complete_resource_config() + + # # 2. 使用 graphio 转换为 PLR 资源 + # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True) + + # # 3. 建立资源映射 + # self._build_resource_mappings(self.deck) + + # # 4. 如果有资源同步器，执行初始同步 + # if self.resource_synchronizer: + # # 这里可以异步执行，暂时跳过 + # pass + + # logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源") + pass + except Exception as e: + # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}") + raise + + def _create_complete_resource_config(self) -> Dict[str, Any]: + """创建完整的资源配置 - 合并 deck_config 和 children""" + # 创建主 deck 配置 + deck_resource = { + "id": f"{self.device_id}_deck", + "name": f"{self.device_id}_deck", + "type": "deck", + "position": {"x": 0, "y": 0, "z": 0}, + "config": { + "size_x": self.deck_config.get("size_x", 1000.0), + "size_y": self.deck_config.get("size_y", 1000.0), + "size_z": self.deck_config.get("size_z", 100.0), + **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}, + }, + "data": {}, + "children": [], + "parent": None, + } + + # 添加子资源 + if self._children: + children_list = [] + for child_id, child_config in self._children.items(): + child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"]) + children_list.append(child_resource) + deck_resource["children"] = children_list + + return deck_resource + + def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]: + """标准化子资源配置""" + return { + "id": resource_id, + "name": config.get("name", resource_id), + "type": config.get("type", "container"), + "position": self._normalize_position(config.get("position", {})), + "config": config.get("config", {}), + "data": config.get("data", {}), + "children": [], # 简化版本：只支持一层子资源 + "parent": parent_id, + } + + def _normalize_position(self, position: Any) -> Dict[str, float]: + """标准化位置信息""" + if isinstance(position, dict): + return { + "x": float(position.get("x", 0)), + "y": float(position.get("y", 0)), + "z": float(position.get("z", 0)), + } + elif isinstance(position, (list, tuple)) and len(position) >= 2: + return { + "x": float(position[0]), + "y": float(position[1]), + "z": float(position[2]) if len(position) > 2 else 0.0, + } + else: + return {"x": 0.0, "y": 0.0, "z": 0.0} + + def _build_resource_mappings(self, deck: Deck): + """递归构建资源映射""" + + def add_resource_recursive(resource: PLRResource): + if hasattr(resource, "name"): + self.plr_resources[resource.name] = resource + + if hasattr(resource, "children"): + for child in resource.children: + add_resource_recursive(child) + + add_resource_recursive(deck) + + # ============ 硬件接口管理 ============ + + def set_hardware_interface(self, hardware_interface: Union[Any, str]): + """设置硬件接口""" + self.hardware_interface = hardware_interface + logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}") + + def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"): + """设置协议节点引用（用于代理模式）""" + self._ros_node = workstation_node + logger.info(f"工作站 {self.device_id} 关联协议节点") + + # ============ 设备操作接口 ============ + + def call_device_method(self, method: str, *args, **kwargs) -> Any: + """调用设备方法的统一接口""" + # 1. 代理模式：通过协议节点转发 + if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"): + if not self._ros_node: + raise RuntimeError("代理模式需要设置workstation_node") + + device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀 + return self._ros_node.call_device_method(device_id, method, *args, **kwargs) + + # 2. 直接模式：直接调用硬件接口方法 + elif self.hardware_interface and hasattr(self.hardware_interface, method): + return getattr(self.hardware_interface, method)(*args, **kwargs) + + else: + raise AttributeError(f"硬件接口不支持方法: {method}") + + def get_device_status(self) -> Dict[str, Any]: + """获取设备状态""" + try: + return self.call_device_method("get_status") + except AttributeError: + # 如果设备不支持get_status方法，返回基础状态 + return { + "status": "unknown", + "interface_type": type(self.hardware_interface).__name__, + "timestamp": time.time(), + } + + def is_device_available(self) -> bool: + """检查设备是否可用""" + try: + self.get_device_status() + return True + except: + return False + + # ============ 物料系统接口 ============ + + def get_deck(self) -> Deck: + """获取主 Deck""" + return self.deck + + def get_all_resources(self) -> Dict[str, PLRResource]: + """获取所有 PLR 资源""" + return self.plr_resources.copy() + + def find_resource_by_name(self, name: str) -> Optional[PLRResource]: + """按名称查找资源""" + return self.plr_resources.get(name) + + def find_resources_by_type(self, resource_type: type) -> List[PLRResource]: + """按类型查找资源""" + return [res for res in self.plr_resources.values() if isinstance(res, resource_type)] + + async def sync_with_external_system(self) -> bool: + """与外部物料系统同步""" + if not self.resource_synchronizer: + logger.info(f"工作站 {self.device_id} 没有配置资源同步器") + return True + + try: + success = await self.resource_synchronizer.sync_from_external() + if success: + logger.info(f"工作站 {self.device_id} 外部同步成功") + else: + logger.warning(f"工作站 {self.device_id} 外部同步失败") + return success + except Exception as e: + logger.error(f"工作站 {self.device_id} 外部同步异常: {e}") + return False + + # ============ 简化的工作流控制 ============ + + def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: + """执行工作流""" + try: + # 设置工作流状态 + self.current_workflow_status = WorkflowStatus.INITIALIZING + self.workflow_parameters = parameters + self.workflow_start_time = time.time() + + # 委托给子类实现 + success = self._execute_workflow_impl(workflow_name, parameters) + + if success: + self.current_workflow_status = WorkflowStatus.RUNNING + logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功") + else: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败") + + return success + + except Exception as e: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}") + return False + + def stop_workflow(self, emergency: bool = False) -> bool: + """停止工作流""" + try: + if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]: + logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流") + return True + + self.current_workflow_status = WorkflowStatus.STOPPING + + # 委托给子类实现 + success = self._stop_workflow_impl(emergency) + + if success: + self.current_workflow_status = WorkflowStatus.STOPPED + logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})") + else: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 工作流停止失败") + + return success + + except Exception as e: + self.current_workflow_status = WorkflowStatus.ERROR + logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}") + return False + + # ============ 状态属性 ============ + + @property + def workflow_status(self) -> WorkflowStatus: + """获取当前工作流状态""" + return self.current_workflow_status + + @property + def is_busy(self) -> bool: + """检查工作站是否忙碌""" + return self.current_workflow_status in [ + WorkflowStatus.INITIALIZING, + WorkflowStatus.RUNNING, + WorkflowStatus.STOPPING, + ] + + @property + def workflow_runtime(self) -> float: + """获取工作流运行时间（秒）""" + if self.workflow_start_time is None: + return 0.0 + return time.time() - self.workflow_start_time + + # ============ 抽象方法 - 子类必须实现 ============ + + # @abstractmethod + # def _register_supported_workflows(self): + # """注册支持的工作流 - 子类必须实现""" + # pass + + # @abstractmethod + # def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: + # """执行工作流的具体实现 - 子类必须实现""" + # pass + + # @abstractmethod + # def _stop_workflow_impl(self, emergency: bool = False) -> bool: + # """停止工作流的具体实现 - 子类必须实现""" + # pass + +class WorkstationExample(WorkstationBase): + """工作站示例实现""" + + def _register_supported_workflows(self): + """注册支持的工作流""" + self.supported_workflows["example_workflow"] = WorkflowInfo( + name="example_workflow", + description="这是一个示例工作流", + estimated_duration=300.0, + required_materials=["sample_plate"], + output_product="processed_plate", + parameters_schema={"param1": "string", "param2": "integer"}, + ) + + def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: + """执行工作流的具体实现""" + if workflow_name not in self.supported_workflows: + logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}") + return False + + # 这里添加实际的工作流逻辑 + logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}") + return True + + def _stop_workflow_impl(self, emergency: bool = False) -> bool: + """停止工作流的具体实现""" + # 这里添加实际的停止逻辑 + logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})") + return True \ No newline at end of file diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 380c3f6..ba07691 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -1,3 +1,517 @@ +bettery_station_registry: + category: + - work_station + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: 4200 + assembly_type: 7 + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + default: 4200 + type: integer + assembly_type: + default: 7 + type: integer + elec_num: + type: string + elec_use_num: + type: string + elec_vol: + default: 50 + type: integer + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: string + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: null + assembly_type: null + elec_use_num: null + elec_vol: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + type: string + assembly_type: + type: string + elec_use_num: + type: string + elec_vol: + type: string + required: + - elec_use_num + - elec_vol + - assembly_type + - assembly_pressure + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 192.168.1.20 + type: string + debug_mode: + default: true + type: boolean + port: + default: '502' + type: string + station_resource: + type: object + required: + - station_resource + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + version: 1.0.0 workstation: category: - work_station @@ -6024,9 +6538,97 @@ workstation: title: WashSolid type: object type: WashSolid - module: unilabos.devices.workstation.workstation_base:ProtocolNode + auto-create_ros_action_server: + feedback: {} + goal: {} + goal_default: + action_name: null + action_value_mapping: null + handles: {} + result: {} + schema: + description: create_ros_action_server的参数schema + properties: + feedback: {} + goal: + properties: + action_name: + type: string + action_value_mapping: + type: string + required: + - action_name + - action_value_mapping + type: object + result: {} + required: + - goal + title: create_ros_action_server参数 + type: object + type: UniLabJsonCommand + auto-execute_single_action: + feedback: {} + goal: {} + goal_default: + action_kwargs: null + action_name: null + device_id: null + handles: {} + result: {} + schema: + description: execute_single_action的参数schema + properties: + feedback: {} + goal: + properties: + action_kwargs: + type: string + action_name: + type: string + device_id: + type: string + required: + - device_id + - action_name + - action_kwargs + type: object + result: {} + required: + - goal + title: execute_single_action参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize_device: + feedback: {} + goal: {} + goal_default: + device_config: null + device_id: null + handles: {} + result: {} + schema: + description: initialize_device的参数schema + properties: + feedback: {} + goal: + properties: + device_config: + type: string + device_id: + type: string + required: + - device_id + - device_config + type: object + result: {} + required: + - goal + title: initialize_device参数 + type: object + type: UniLabJsonCommand + module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode status_types: {} - type: python + type: ros2 config_info: [] description: Workstation handles: [] @@ -6034,437 +6636,63 @@ workstation: init_param_schema: config: properties: - deck: + action_value_mappings: + type: object + children: + type: object + device_id: type: string + driver_instance: + type: string + hardware_interface: + type: object + print_publish: + default: true + type: string + protocol_type: + items: + type: string + type: array + resource_tracker: + type: string + status_types: + type: object required: - - deck + - protocol_type + - children + - driver_instance + - device_id + - status_types + - action_value_mappings + - hardware_interface type: object data: properties: {} required: [] type: object version: 1.0.0 -workstation.bioyond: +workstation.example: category: - work_station class: - action_value_mappings: - auto-append_to_workflow_sequence: - feedback: {} - goal: {} - goal_default: - web_workflow_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - web_workflow_name: - type: string - required: - - web_workflow_name - type: object - result: {} - required: - - goal - title: append_to_workflow_sequence参数 - type: object - type: UniLabJsonCommand - auto-clear_workflows: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: clear_workflows参数 - type: object - type: UniLabJsonCommand - auto-load_bioyond_data_from_file: - feedback: {} - goal: {} - goal_default: - file_path: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: load_bioyond_data_from_file参数 - type: object - type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - auto-process_web_workflows: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: process_web_workflows参数 - type: object - type: UniLabJsonCommand - auto-reset_workstation: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset_workstation参数 - type: object - type: UniLabJsonCommand - auto-resource_tree_add: - feedback: {} - goal: {} - goal_default: - resources: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resources: - items: - type: object - type: array - required: - - resources - type: object - result: {} - required: - - goal - title: resource_tree_add参数 - type: object - type: UniLabJsonCommand - auto-set_workflow_sequence: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: set_workflow_sequence参数 - type: object - type: UniLabJsonCommand - auto-transfer_resource_to_another: - feedback: {} - goal: {} - goal_default: - mount_device_id: null - mount_resource: null - resource: null - sites: null - handles: {} - placeholder_keys: - mount_device_id: unilabos_devices - mount_resource: unilabos_resources - resource: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mount_device_id: - type: object - mount_resource: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: mount_resource - type: object - type: array - resource: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: resource - type: object - type: array - sites: - items: - type: string - type: array - required: - - resource - - mount_resource - - sites - - mount_device_id - type: object - result: {} - required: - - goal - title: transfer_resource_to_another参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation - status_types: - all_workflows: dict - bioyond_status: dict - station_info: dict - workstation_status: dict + action_value_mappings: {} + module: unilabos.devices.workstation.workstation_base:WorkstationExample + status_types: {} type: python config_info: [] description: '' handles: [] - icon: 反应站.webp + icon: '' init_param_schema: config: properties: - bioyond_config: - type: string - deck: - type: string - required: [] - type: object - data: - properties: - all_workflows: - type: object - bioyond_status: - type: object - station_info: - type: object - workstation_status: + station_resource: type: object required: - - bioyond_status - - all_workflows - - station_info - - workstation_status + - station_resource + type: object + data: + properties: {} + required: [] type: object version: 1.0.0 From ceef342860e0124efa048183c303fa5b7f5cdbeb Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 27 Oct 2025 18:16:26 +0800 Subject: [PATCH 023/104] 1027byxinyu --- test/resources/YB_materials_info.json | 12 + .../electrolysis_water_platfrom.py | 296 +++++++++ .../bioyond_cell/bioyond_cell_workstation.py | 24 +- .../workstation/bioyond_studio/config.py | 38 +- .../workstation/bioyond_studio/station.py | 1 + .../resources/bioyond/bottle_carriers.yaml | 126 +--- .../registry/resources/bioyond/bottles.yaml | 134 +--- .../resources/bioyond/bottle_carriers copy.py | 148 +++++ unilabos/resources/bioyond/bottle_carriers.py | 620 ------------------ unilabos/resources/bioyond/bottles copy.py | 24 + unilabos/resources/bioyond/bottles.py | 255 ------- unilabos/resources/graphio.py | 2 + 12 files changed, 508 insertions(+), 1172 deletions(-) create mode 100644 test/resources/YB_materials_info.json create mode 100644 unilabos/devices/electrolysis_water_platfrom/electrolysis_water_platfrom.py create mode 100644 unilabos/resources/bioyond/bottle_carriers copy.py delete mode 100644 unilabos/resources/bioyond/bottle_carriers.py create mode 100644 unilabos/resources/bioyond/bottles copy.py delete mode 100644 unilabos/resources/bioyond/bottles.py diff --git a/test/resources/YB_materials_info.json b/test/resources/YB_materials_info.json new file mode 100644 index 0000000..61d2de8 --- /dev/null +++ b/test/resources/YB_materials_info.json @@ -0,0 +1,12 @@ +[ + {'id': '3a1d2656-69bf-1ccf-fc38-85a0431ee498', 'typeName': '加样头(大)', 'code': '0005-00291', 'barCode': '', 'name': 'test', 'quantity': 1.0, 'lockQuantity': 0.0, 'unit': '个', 'status': 1, 'isUse': False, 'locations': [ + {'id': '3a19da56-1379-20c8-5886-f7c4fbcb5733', 'whid': '3a19da56-1378-613b-29f2-871e1a287aa5', 'whName': '粉末加样头堆栈', 'code': '0005-0003', 'x': 3, 'y': 1, 'z': 1, 'quantity': 0 + } + ], 'detail': [] + }, + {'id': '3a1d2657-d16f-a575-3506-5c029ff6810d', 'typeName': '加样头(大)', 'code': '0005-00293', 'barCode': '', 'name': 'dsfdsfd', 'quantity': 1.0, 'lockQuantity': 0.0, 'unit': '个', 'status': 1, 'isUse': False, 'locations': [ + {'id': '3a19da56-1379-e77d-0e65-7463b238a3b9', 'whid': '3a19da56-1378-613b-29f2-871e1a287aa5', 'whName': '粉末加样头堆栈', 'code': '0005-0005', 'x': 5, 'y': 1, 'z': 1, 'quantity': 0 + } + ], 'detail': [] + } +] \ No newline at end of file diff --git a/unilabos/devices/electrolysis_water_platfrom/electrolysis_water_platfrom.py b/unilabos/devices/electrolysis_water_platfrom/electrolysis_water_platfrom.py new file mode 100644 index 0000000..cfcfdee --- /dev/null +++ b/unilabos/devices/electrolysis_water_platfrom/electrolysis_water_platfrom.py @@ -0,0 +1,296 @@ +# -*- coding: utf-8 -*- +import serial +import time +import csv +import threading +import os +from collections import deque +from typing import Dict, Any, Optional +from pylabrobot.resources import Deck + +from unilabos.devices.workstation.workstation_base import WorkstationBase + + +class ElectrolysisWaterPlatform(WorkstationBase): + """ + 电解水平台工作站 + 基于 WorkstationBase 的电解水实验平台，支持串口通信和数据采集 + """ + + def __init__( + self, + deck: Deck, + port: str = "COM10", + baudrate: int = 115200, + csv_path: Optional[str] = None, + timeout: float = 0.2, + **kwargs + ): + super().__init__(deck, **kwargs) + + # ========== 配置 ========== + self.port = port + self.baudrate = baudrate + # 如果没有指定路径，默认保存在代码文件所在目录 + if csv_path is None: + current_dir = os.path.dirname(os.path.abspath(__file__)) + self.csv_path = os.path.join(current_dir, "stm32_data.csv") + else: + self.csv_path = csv_path + self.ser_timeout = timeout + self.chunk_read = 128 + + # 串口对象 + self.ser: Optional[serial.Serial] = None + self.stop_flag = False + + # 线程对象 + self.rx_thread: Optional[threading.Thread] = None + self.tx_thread: Optional[threading.Thread] = None + + # ==== 接收（下位机->上位机）：固定 1+13+1 = 15 字节 ==== + self.RX_HEAD = 0x3E + self.RX_TAIL = 0x3E + self.RX_FRAME_LEN = 1 + 13 + 1 # 15 + + # ==== 发送（上位机->下位机）：固定 1+9+1 = 11 字节 ==== + self.TX_HEAD = 0x3E + self.TX_TAIL = 0xE3 # 协议图中标注 E3 作为帧尾 + self.TX_FRAME_LEN = 1 + 9 + 1 # 11 + + def open_serial(self, port: Optional[str] = None, baudrate: Optional[int] = None, timeout: Optional[float] = None) -> Optional[serial.Serial]: + """打开串口""" + port = port or self.port + baudrate = baudrate or self.baudrate + timeout = timeout or self.ser_timeout + try: + ser = serial.Serial(port, baudrate, timeout=timeout) + print(f"[OK] 串口 {port} 已打开，波特率 {baudrate}") + ser.reset_input_buffer() + ser.reset_output_buffer() + self.ser = ser + return ser + except serial.SerialException as e: + print(f"[ERR] 无法打开串口 {port}: {e}") + return None + + def close_serial(self): + """关闭串口""" + if self.ser and self.ser.is_open: + self.ser.close() + print("[INFO] 串口已关闭") + + @staticmethod + def u16_be(h: int, l: int) -> int: + """将两个字节组合成16位无符号整数（大端序）""" + return ((h & 0xFF) << 8) | (l & 0xFF) + + @staticmethod + def split_u16_be(val: int) -> tuple: + """返回 (高字节, 低字节)，输入会夹到 0..65535""" + v = int(max(0, min(65535, int(val)))) + return (v >> 8) & 0xFF, v & 0xFF + + # ================== 接收：固定15字节 ================== + def parse_rx_payload(self, dat13: bytes) -> Optional[Dict[str, Any]]: + """解析 13 字节数据区（下位机发送到上位机）""" + if len(dat13) != 13: + return None + current_mA = self.u16_be(dat13[0], dat13[1]) + voltage_mV = self.u16_be(dat13[2], dat13[3]) + temperature_raw = self.u16_be(dat13[4], dat13[5]) + tds_ppm = self.u16_be(dat13[6], dat13[7]) + gas_sccm = self.u16_be(dat13[8], dat13[9]) + liquid_mL = self.u16_be(dat13[10], dat13[11]) + ph_raw = dat13[12] & 0xFF + + return { + "Current_mA": current_mA, + "Voltage_mV": voltage_mV, + "Temperature_C": round(temperature_raw / 100.0, 2), + "TDS_ppm": tds_ppm, + "GasFlow_sccm": gas_sccm, + "LiquidFlow_mL": liquid_mL, + "pH": round(ph_raw / 10.0, 2) + } + + def try_parse_rx_frame(self, frame15: bytes) -> Optional[Dict[str, Any]]: + """尝试解析接收帧""" + if len(frame15) != self.RX_FRAME_LEN: + return None + if frame15[0] != self.RX_HEAD or frame15[-1] != self.RX_TAIL: + return None + return self.parse_rx_payload(frame15[1:-1]) + + def rx_thread_fn(self): + """接收线程函数""" + headers = ["Timestamp", "Current_mA", "Voltage_mV", + "Temperature_C", "TDS_ppm", "GasFlow_sccm", "LiquidFlow_mL", "pH"] + + new_file = not os.path.exists(self.csv_path) + f = open(self.csv_path, mode='a', newline='', encoding='utf-8') + writer = csv.writer(f) + if new_file: + writer.writerow(headers) + f.flush() + + buf = deque(maxlen=8192) + print(f"[RX] 开始接收（帧长 {self.RX_FRAME_LEN} 字节）；写入：{self.csv_path}") + + try: + while not self.stop_flag and self.ser and self.ser.is_open: + chunk = self.ser.read(self.chunk_read) + if chunk: + buf.extend(chunk) + while True: + # 找帧头 + try: + start = next(i for i, b in enumerate(buf) if b == self.RX_HEAD) + except StopIteration: + buf.clear() + break + if start > 0: + for _ in range(start): + buf.popleft() + if len(buf) < self.RX_FRAME_LEN: + break + candidate = bytes([buf[i] for i in range(self.RX_FRAME_LEN)]) + if candidate[-1] == self.RX_TAIL: + parsed = self.try_parse_rx_frame(candidate) + for _ in range(self.RX_FRAME_LEN): + buf.popleft() + if parsed: + ts = time.strftime("%Y-%m-%d %H:%M:%S") + row = [ts, + parsed["Current_mA"], parsed["Voltage_mV"], + parsed["Temperature_C"], parsed["TDS_ppm"], + parsed["GasFlow_sccm"], parsed["LiquidFlow_mL"], + parsed["pH"]] + writer.writerow(row) + f.flush() + # 若不想打印可注释下一行 + # print(f"[{ts}] I={parsed['Current_mA']} mA, V={parsed['Voltage_mV']} mV, " + # f"T={parsed['Temperature_C']} °C, TDS={parsed['TDS_ppm']}, " + # f"Gas={parsed['GasFlow_sccm']} sccm, Liq={parsed['LiquidFlow_mL']} mL, pH={parsed['pH']}") + else: + # 头不变，尾不对，丢1字节继续对齐 + buf.popleft() + else: + time.sleep(0.01) + finally: + f.close() + print("[RX] 接收线程退出，CSV 已关闭") + + # ================== 发送：固定11字节 ================== + def build_tx_frame(self, mode: int, current_ma: int, voltage_mv: int, temp_c: float, ki: float, pump_percent: float) -> bytes: + """ + 发送帧：HEAD + [mode, I_hi, I_lo, V_hi, V_lo, T_hi, T_lo, Ki_byte, Pump_byte] + TAIL + - mode: 0=恒压, 1=恒流 + - current_ma: mA (0..65535) + - voltage_mv: mV (0..65535) + - temp_c: ℃，将 *100 后拆分为高/低字节 + - ki: 0.0..20.0 -> byte = round(ki * 10) 夹到 0..200 + - pump_percent: 0..100 -> byte = round(pump * 2) 夹到 0..200 + """ + mode_b = 1 if int(mode) == 1 else 0 + + i_hi, i_lo = self.split_u16_be(current_ma) + v_hi, v_lo = self.split_u16_be(voltage_mv) + + t100 = int(round(float(temp_c) * 100.0)) + t_hi, t_lo = self.split_u16_be(t100) + + ki_b = int(max(0, min(200, round(float(ki) * 10)))) + pump_b = int(max(0, min(200, round(float(pump_percent) * 2)))) + + return bytes(( + self.TX_HEAD, + mode_b, + i_hi, i_lo, + v_hi, v_lo, + t_hi, t_lo, + ki_b, + pump_b, + self.TX_TAIL + )) + + def tx_thread_fn(self): + """ + 发送线程函数 + 用户输入 6 个用逗号分隔的数值： + mode,current_mA,voltage_mV,set_temp_C,Ki,pump_percent + 例如： 0,1000,500,0,0,50 + """ + print("\n输入 6 个值（用英文逗号分隔），顺序为：") + print("mode,current_mA,voltage_mV,set_temp_C,Ki,pump_percent") + print("示例恒压：0,500,1000,25,0,100 （stop 结束）\n") + print("示例恒流：1,1000,500,25,0,100 （stop 结束）\n") + print("示例恒流：1,2000,500,25,0,100 （stop 结束）\n") + # 1,2000,500,25,0,100 + + while not self.stop_flag and self.ser and self.ser.is_open: + try: + line = input(">>> ").strip() + except EOFError: + self.stop_flag = True + break + + if not line: + continue + if line.lower() == "stop": + self.stop_flag = True + print("[SYS] 停止程序") + break + + try: + parts = [p.strip() for p in line.split(",")] + if len(parts) != 6: + raise ValueError("需要 6 个逗号分隔的数值") + mode = int(parts[0]) + i_ma = int(float(parts[1])) + v_mv = int(float(parts[2])) + t_c = float(parts[3]) + ki = float(parts[4]) + pump = float(parts[5]) + + frame = self.build_tx_frame(mode, i_ma, v_mv, t_c, ki, pump) + self.ser.write(frame) + print("[TX]", " ".join(f"{b:02X}" for b in frame)) + except Exception as e: + print("[TX] 输入/打包失败：", e) + print("格式：mode,current_mA,voltage_mV,set_temp_C,Ki,pump_percent") + continue + + def start(self): + """启动电解水平台""" + self.ser = self.open_serial() + if self.ser: + try: + self.rx_thread = threading.Thread(target=self.rx_thread_fn, daemon=True) + self.tx_thread = threading.Thread(target=self.tx_thread_fn, daemon=True) + self.rx_thread.start() + self.tx_thread.start() + print("[INFO] 电解水平台已启动") + self.tx_thread.join() # 等待用户输入线程结束（输入 stop） + finally: + self.close_serial() + + def stop(self): + """停止电解水平台""" + self.stop_flag = True + if self.rx_thread and self.rx_thread.is_alive(): + self.rx_thread.join(timeout=2.0) + if self.tx_thread and self.tx_thread.is_alive(): + self.tx_thread.join(timeout=2.0) + self.close_serial() + print("[INFO] 电解水平台已停止") + + +# ================== 主入口 ================== +if __name__ == "__main__": + # 创建一个简单的 Deck 用于测试 + from pylabrobot.resources import Deck + + deck = Deck() + platform = ElectrolysisWaterPlatform(deck) + platform.start() diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 7888039..c60a03e 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -10,7 +10,6 @@ from datetime import datetime, timedelta import re import threading import json - from urllib3 import response from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer @@ -19,6 +18,8 @@ from unilabos.devices.workstation.bioyond_studio.config import ( ) from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService from unilabos.utils.log import logger +from unilabos.registry.registry import lab_registry + def _iso_local_now_ms() -> str: # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z @@ -967,22 +968,23 @@ class BioyondCellWorkstation(BioyondWorkstation): if __name__ == "__main__": + lab_registry.setup() ws = BioyondCellWorkstation() - logger.info(ws.scheduler_stop()) + # logger.info(ws.scheduler_stop()) + logger.info(ws.scheduler_start()) - - results = ws.create_materials(SOLID_LIQUID_MAPPINGS) - for r in results: - logger.info(r) + # results = ws.create_materials(SOLID_LIQUID_MAPPINGS) + # for r in results: + # logger.info(r) # 从CSV文件读取物料列表并批量创建入库 - result = ws.create_and_inbound_materials() + # result = ws.create_and_inbound_materials() # 继续后续流程 - # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # # 使用正斜杠或 Path 对象来指定文件路径 - # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") - # logger.info(ws.create_orders(excel_path)) - # logger.info(ws.transfer_3_to_2_to_1()) + excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + logger.info(ws.create_orders(excel_path)) + logger.info(ws.transfer_3_to_2_to_1()) # logger.info(ws.transfer_1_to_2()) # logger.info(ws.scheduler_start()) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 3bf6250..81a9736 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -5,13 +5,10 @@ import os # ==================== API 基础配置 ==================== - - -# ==================== 完整的 Bioyond 配置 ==================== # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"), + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"), "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), @@ -19,11 +16,9 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "0.0.0.0"), # HTTP服务监听地址（0.0.0.0 表示监听所有网络接口） + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.91"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), - "report_ip": os.getenv("BIOYOND_REPORT_IP", "172.21.32.172"), # 报送给 Bioyond 的本机IP地址（留空则自动检测） - # 调试模式 - "debug_mode": False, + "debug_mode": False,# 调试模式 } # 库位映射配置 @@ -57,29 +52,10 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), - "20ml分液瓶": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "100ml液体": ("BIOYOND_PolymerStation_100ml_Liquid_Bottle", "d37166b3-ecaa-481e-bd84-3032b795ba07"), - "液": ("BIOYOND_PolymerStation_Liquid_Bottle", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), - "高粘液": ("BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle", "abe8df30-563d-43d2-85e0-cabec59ddc16"), - "加样头(大)": ("BIOYOND_PolymerStation_Large_Dispense_Head", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), - "5ml分液瓶板": ("BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), - "5ml分液瓶": ("BIOYOND_PolymerStation_5ml_Dispensing_Vial", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), - "20ml分液瓶板": ("BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), - "配液瓶(小)板": ("BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), - "配液瓶(小)": ("BIOYOND_PolymerStation_Small_Solution_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), - "配液瓶(大)板": ("BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), - "配液瓶(大)": ("BIOYOND_PolymerStation_Large_Solution_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), - "加样头(大)板": ("BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), - "适配器块": ("BIOYOND_PolymerStation_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), - "枪头盒": ("BIOYOND_PolymerStation_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), - "枪头": ("BIOYOND_PolymerStation_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), + + "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + # YB信息 } SOLID_LIQUID_MAPPINGS = { diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 795b740..3ce7353 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -74,6 +74,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): type_mapping=self.workstation.bioyond_config["material_type_mappings"], deck=self.workstation.deck ) + print("unilab_resources:",unilab_resources) logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源") return True diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index 5889bcc..ac01cc3 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -1,130 +1,10 @@ -1BottleCarrier: - category: - - bottle_carriers - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1BottleCarrier - type: pylabrobot - description: 1BottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -1FlaskCarrier: - category: - - bottle_carriers - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_1FlaskCarrier - type: pylabrobot - description: 1FlaskCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -6StockCarrier: - category: - - bottle_carriers - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier - type: pylabrobot - description: 6StockCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -6VialCarrier: - category: - - bottle_carriers - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier - type: pylabrobot - description: 6VialCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -6x5ml_DispensingVialCarrier: +YB_jia_yang_tou_da_1X1_carrier: category: - yb3 class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier + module: unilabos.resources.bioyond.bottle_carriers:YB_jia_yang_tou_da_1X1_carrier type: pylabrobot - description: 6x5ml_DispensingVialCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -6x20ml_DispensingVialCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier - type: pylabrobot - description: 6x20ml_DispensingVialCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -6x_SmallSolutionBottleCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier - type: pylabrobot - description: 6x_SmallSolutionBottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -4x_LargeSolutionBottleCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier - type: pylabrobot - description: 4x_LargeSolutionBottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -6x_LargeDispenseHeadCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier - type: pylabrobot - description: 6x_LargeDispenseHeadCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -AdapterBlock: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_AdapterBlock - type: pylabrobot - description: AdapterBlock - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -TipBox: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox - type: pylabrobot - description: TipBox + description: YB_jia_yang_tou_da_1X1_carrier handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 8d71f28..556b5f8 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -1,138 +1,8 @@ -Liquid_Vial: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Reagent_Bottle: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Solid_Stock: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Solid_Vial: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Solution_Beaker: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -100ml_Liquid_Bottle: +YB_jia_yang_tou_da: category: - yb3 class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_100ml_Liquid_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Liquid_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -High_Viscosity_Liquid_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Large_Dispense_Head: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Dispense_Head - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -5ml_Dispensing_Vial: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_5ml_Dispensing_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -20ml_Dispensing_Vial: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_20ml_Dispensing_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Small_Solution_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Small_Solution_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Large_Solution_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Large_Solution_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -Pipette_Tip: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Pipette_Tip + module: unilabos.resources.bioyond.bottles:YB_jia_yang_tou_da type: pylabrobot handles: [] icon: '' diff --git a/unilabos/resources/bioyond/bottle_carriers copy.py b/unilabos/resources/bioyond/bottle_carriers copy.py new file mode 100644 index 0000000..a3b0044 --- /dev/null +++ b/unilabos/resources/bioyond/bottle_carriers copy.py @@ -0,0 +1,148 @@ +from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d + +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +from unilabos.resources.bioyond.bottles import ( + YB_jia_yang_tou_da, +) +# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial + + + + + +def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: + """加样头(大)板 - 1x1布局，1个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=1, + num_items_y=1, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_1X1_jia_yang_tou_da_carrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1") + return carrier + + +def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: + """适配器块 - 单个中央位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 30.0 + + # 适配器尺寸 + adapter_diameter = 80.0 + + # 计算中央位置 + center_x = (carrier_size_x - adapter_diameter) / 2 + center_y = (carrier_size_y - adapter_diameter) / 2 + center_z = 0.0 + + 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=adapter_diameter, + resource_size_y=adapter_diameter, + name_prefix=name, + ), + model="AdapterBlock", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + # 适配器块本身不包含瓶子，只是一个支撑结构 + return carrier + + +def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: + """枪头盒 - 8x12布局，96个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 55.0 + + # 枪头尺寸 + tip_diameter = 10.0 + tip_spacing_x = 9.0 # X方向间距 + tip_spacing_y = 9.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 + start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=12, + num_items_y=8, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=tip_spacing_x, + item_dy=tip_spacing_y, + size_x=tip_diameter, + size_y=tip_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="TipBox", + ) + carrier.num_items_x = 12 + carrier.num_items_y = 8 + carrier.num_items_z = 1 + # 创建96个枪头 + for i in range(96): + row = chr(65 + i // 12) # A-H + col = (i % 12) + 1 # 1-12 + carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}") + return carrier + diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/bottle_carriers.py deleted file mode 100644 index ab0b656..0000000 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ /dev/null @@ -1,620 +0,0 @@ -from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d - -from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -from unilabos.resources.bioyond.bottles import ( - BIOYOND_PolymerStation_Solid_Stock, - BIOYOND_PolymerStation_Solid_Vial, - BIOYOND_PolymerStation_Liquid_Vial, - BIOYOND_PolymerStation_Solution_Beaker, - BIOYOND_PolymerStation_Reagent_Bottle, - BIOYOND_PolymerStation_5ml_Dispensing_Vial, - BIOYOND_PolymerStation_20ml_Dispensing_Vial, - BIOYOND_PolymerStation_Small_Solution_Bottle, - BIOYOND_PolymerStation_Large_Solution_Bottle, - BIOYOND_PolymerStation_Large_Dispense_Head, - BIOYOND_PolymerStation_Pipette_Tip -) -# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial - - -def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: - """6瓶载架 - 2x3布局""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 50.0 - - # 瓶位尺寸 - bottle_diameter = 30.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=3, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="Electrolyte_6VialCarrier", - ) - carrier.num_items_x = 3 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{i+1}") - return carrier - - -def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: - """1瓶载架 - 单个中央位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 100.0 - - # 烧杯尺寸 - beaker_diameter = 80.0 - - # 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="Electrolyte_1BottleCarrier", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1") - return carrier - - -def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier: - """6瓶载架 - 2x3布局""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 50.0 - - # 瓶位尺寸 - bottle_diameter = 20.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=3, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="6StockCarrier", - ) - carrier.num_items_x = 3 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 - for i in range(6): - carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}") - return carrier - - -def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier: - """6瓶载架 - 2x3布局""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 50.0 - - # 瓶位尺寸 - bottle_diameter = 30.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=3, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="6VialCarrier", - ) - carrier.num_items_x = 3 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 - for i in range(3): - carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}") - for i in range(3, 6): - carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") - return carrier - - -def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier: - """1瓶载架 - 单个中央位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 20.0 - - # 烧杯尺寸 - 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="1BottleCarrier", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1") - return carrier - - -def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier: - """1瓶载架 - 单个中央位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 20.0 - - # 烧杯尺寸 - beaker_diameter = 70.0 - - # 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="1FlaskCarrier", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1") - return carrier - - -def BIOYOND_PolymerStation_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: - """5ml分液瓶板 - 4x2布局，8个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 50.0 - - # 瓶位尺寸 - bottle_diameter = 15.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=4, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="6x5ml_DispensingVialCarrier", - ) - carrier.num_items_x = 4 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] - for i in range(8): - carrier[i] = BIOYOND_PolymerStation_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") - return carrier - - -def BIOYOND_PolymerStation_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: - """20ml分液瓶板 - 4x2布局，8个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 70.0 - - # 瓶位尺寸 - bottle_diameter = 20.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=4, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="6x20ml_DispensingVialCarrier", - ) - carrier.num_items_x = 4 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] - for i in range(8): - carrier[i] = BIOYOND_PolymerStation_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") - return carrier - - -def BIOYOND_PolymerStation_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: - """配液瓶(小)板 - 4x2布局，8个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 65.0 - - # 瓶位尺寸 - bottle_diameter = 35.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=4, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="6x_SmallSolutionBottleCarrier", - ) - carrier.num_items_x = 4 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] - for i in range(8): - carrier[i] = BIOYOND_PolymerStation_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") - return carrier - - -def BIOYOND_PolymerStation_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: - """配液瓶(大)板 - 2x2布局，4个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 95.0 - - # 瓶位尺寸 - bottle_diameter = 55.0 - bottle_spacing_x = 60.0 # X方向间距 - bottle_spacing_y = 60.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=2, - num_items_y=2, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="4x_LargeSolutionBottleCarrier", - ) - carrier.num_items_x = 2 - carrier.num_items_y = 2 - carrier.num_items_z = 1 - ordering = ["A1", "A2", "B1", "B2"] - for i in range(4): - carrier[i] = BIOYOND_PolymerStation_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") - return carrier - - -def BIOYOND_PolymerStation_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: - """加样头(大)板 - 1x1布局，1个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 95.0 - - # 瓶位尺寸 - bottle_diameter = 35.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=1, - num_items_y=1, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="6x_LargeDispenseHeadCarrier", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - carrier[0] = BIOYOND_PolymerStation_Large_Dispense_Head(f"{name}_head_1") - return carrier - - -def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: - """适配器块 - 单个中央位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 30.0 - - # 适配器尺寸 - adapter_diameter = 80.0 - - # 计算中央位置 - center_x = (carrier_size_x - adapter_diameter) / 2 - center_y = (carrier_size_y - adapter_diameter) / 2 - center_z = 0.0 - - 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=adapter_diameter, - resource_size_y=adapter_diameter, - name_prefix=name, - ), - model="AdapterBlock", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - # 适配器块本身不包含瓶子，只是一个支撑结构 - return carrier - - -def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: - """枪头盒 - 8x12布局，96个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 55.0 - - # 枪头尺寸 - tip_diameter = 10.0 - tip_spacing_x = 9.0 # X方向间距 - tip_spacing_y = 9.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 - start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=12, - num_items_y=8, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=tip_spacing_x, - item_dy=tip_spacing_y, - size_x=tip_diameter, - size_y=tip_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="TipBox", - ) - carrier.num_items_x = 12 - carrier.num_items_y = 8 - carrier.num_items_z = 1 - # 创建96个枪头 - for i in range(96): - row = chr(65 + i // 12) # A-H - col = (i % 12) + 1 # 1-12 - carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}") - return carrier - diff --git a/unilabos/resources/bioyond/bottles copy.py b/unilabos/resources/bioyond/bottles copy.py new file mode 100644 index 0000000..2504c37 --- /dev/null +++ b/unilabos/resources/bioyond/bottles copy.py @@ -0,0 +1,24 @@ +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +# 工厂函数 + + +def YB_jia_yang_tou_da( + name: str, + diameter: float = 35.0, + height: float = 90.0, + max_volume: float = 50000.0, # 50mL + code: str = None, + barcode: str = None, +) -> Bottle: + """创建加样头(大)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + code=code, + model="YB_jia_yang_tou_da", + ) + + diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py deleted file mode 100644 index 40cb9ef..0000000 --- a/unilabos/resources/bioyond/bottles.py +++ /dev/null @@ -1,255 +0,0 @@ -from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -# 工厂函数 - - -def BIOYOND_PolymerStation_Solid_Stock( - name: str, - diameter: float = 20.0, - height: float = 100.0, - max_volume: float = 30000.0, # 30mL - barcode: str = None, -) -> Bottle: - """创建粉末瓶""" - return Bottle( - name=name, - diameter=diameter,# 未知 - height=height, - max_volume=max_volume, - barcode=barcode, - model="Solid_Stock", - ) - - -def BIOYOND_PolymerStation_Solid_Vial( - name: str, - diameter: float = 25.0, - height: float = 60.0, - max_volume: float = 30000.0, # 30mL - barcode: str = None, -) -> Bottle: - """创建粉末瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Solid_Vial", - ) - - -def BIOYOND_PolymerStation_Liquid_Vial( - name: str, - diameter: float = 25.0, - height: float = 60.0, - max_volume: float = 30000.0, # 30mL - barcode: str = None, -) -> Bottle: - """创建滴定液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Liquid_Vial", - ) - - -def BIOYOND_PolymerStation_Solution_Beaker( - name: str, - diameter: float = 60.0, - height: float = 70.0, - max_volume: float = 200000.0, # 200mL - barcode: str = None, -) -> Bottle: - """创建溶液烧杯""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Solution_Beaker", - ) - - -def BIOYOND_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="Reagent_Bottle", - ) - - -def BIOYOND_PolymerStation_100ml_Liquid_Bottle( - name: str, - diameter: float = 50.0, - height: float = 80.0, - max_volume: float = 100000.0, # 100mL - barcode: str = None, -) -> Bottle: - """创建100ml液体瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="100ml_Liquid_Bottle", - ) - - -def BIOYOND_PolymerStation_Liquid_Bottle( - name: str, - diameter: float = 40.0, - height: float = 70.0, - max_volume: float = 50000.0, # 50mL - barcode: str = None, -) -> Bottle: - """创建液体瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Liquid_Bottle", - ) - - -def BIOYOND_PolymerStation_High_Viscosity_Liquid_Bottle( - name: str, - diameter: float = 45.0, - height: float = 75.0, - max_volume: float = 60000.0, # 60mL - barcode: str = None, -) -> Bottle: - """创建高粘液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="High_Viscosity_Liquid_Bottle", - ) - - -def BIOYOND_PolymerStation_Large_Dispense_Head( - name: str, - diameter: float = 35.0, - height: float = 90.0, - max_volume: float = 50000.0, # 50mL - barcode: str = None, -) -> Bottle: - """创建加样头(大)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Large_Dispense_Head", - ) - - -def BIOYOND_PolymerStation_5ml_Dispensing_Vial( - name: str, - diameter: float = 15.0, - height: float = 45.0, - max_volume: float = 5000.0, # 5mL - barcode: str = None, -) -> Bottle: - """创建5ml分液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="5ml_Dispensing_Vial", - ) - - -def BIOYOND_PolymerStation_20ml_Dispensing_Vial( - name: str, - diameter: float = 20.0, - height: float = 65.0, - max_volume: float = 20000.0, # 20mL - barcode: str = None, -) -> Bottle: - """创建20ml分液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="20ml_Dispensing_Vial", - ) - - -def BIOYOND_PolymerStation_Small_Solution_Bottle( - name: str, - diameter: float = 35.0, - height: float = 60.0, - max_volume: float = 40000.0, # 40mL - barcode: str = None, -) -> Bottle: - """创建配液瓶(小)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Small_Solution_Bottle", - ) - - -def BIOYOND_PolymerStation_Large_Solution_Bottle( - name: str, - diameter: float = 55.0, - height: float = 90.0, - max_volume: float = 150000.0, # 150mL - barcode: str = None, -) -> Bottle: - """创建配液瓶(大)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Large_Solution_Bottle", - ) - - -def BIOYOND_PolymerStation_Pipette_Tip( - name: str, - diameter: float = 10.0, - height: float = 50.0, - max_volume: float = 1000.0, # 1mL - barcode: str = None, -) -> Bottle: - """创建枪头""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Pipette_Tip", - ) - diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index bca92c9..92fcf1e 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -636,6 +636,8 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st plr_material: ResourcePLR = initialize_resource( {"name": material["name"], "class": className}, resource_type=ResourcePLR ) + print("plr_material:",plr_material) + print("code:",material.get("code", "")) plr_material.code = material.get("code", "") and material.get("barCode", "") or "" plr_material.unilabos_uuid = str(uuid.uuid4()) From 3231d606465292417f25b49143f1265ba832a5d1 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 27 Oct 2025 20:08:19 +0800 Subject: [PATCH 024/104] 1027by_Xinyu --- test/resources/YB_materials_info.json | 52 +++++- test/resources/test_resourcetreeset.py | 24 +-- .../bioyond_cell/bioyond_cell_workstation.py | 10 +- .../bioyond_cell/样品导入模板.xlsx | Bin 22007 -> 9686 bytes .../workstation/bioyond_studio/config.py | 4 +- .../workstation/bioyond_studio/station.py | 2 +- .../resources/bioyond/YB_bottle_carriers.yaml | 25 +++ .../resources/bioyond/bottle_carriers.yaml | 12 -- .../registry/resources/bioyond/bottles.yaml | 151 ----------------- ...ttle_carriers.py => YB_bottle_carriers.py} | 79 ++------- unilabos/resources/bioyond/YB_bottles.py | 38 +++++ unilabos/resources/bioyond/YB_warehouses.py | 160 ++++++++++++++++++ .../resources/bioyond/bottle_carriers copy.py | 148 ---------------- unilabos/resources/bioyond/bottles copy.py | 24 --- 14 files changed, 307 insertions(+), 422 deletions(-) create mode 100644 unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml delete mode 100644 unilabos/registry/resources/bioyond/bottle_carriers.yaml delete mode 100644 unilabos/registry/resources/bioyond/bottles.yaml rename unilabos/resources/bioyond/{bottle_carriers.py => YB_bottle_carriers.py} (89%) create mode 100644 unilabos/resources/bioyond/YB_bottles.py create mode 100644 unilabos/resources/bioyond/YB_warehouses.py delete mode 100644 unilabos/resources/bioyond/bottle_carriers copy.py delete mode 100644 unilabos/resources/bioyond/bottles copy.py diff --git a/test/resources/YB_materials_info.json b/test/resources/YB_materials_info.json index 61d2de8..d5bc381 100644 --- a/test/resources/YB_materials_info.json +++ b/test/resources/YB_materials_info.json @@ -1,12 +1,52 @@ [ - {'id': '3a1d2656-69bf-1ccf-fc38-85a0431ee498', 'typeName': '加样头(大)', 'code': '0005-00291', 'barCode': '', 'name': 'test', 'quantity': 1.0, 'lockQuantity': 0.0, 'unit': '个', 'status': 1, 'isUse': False, 'locations': [ - {'id': '3a19da56-1379-20c8-5886-f7c4fbcb5733', 'whid': '3a19da56-1378-613b-29f2-871e1a287aa5', 'whName': '粉末加样头堆栈', 'code': '0005-0003', 'x': 3, 'y': 1, 'z': 1, 'quantity': 0 + { + "id": "3a1d377b-299d-d0f2-ced9-48257f60dfad", + "typeName": "加样头(大)", + "code": "0005-00145", + "barCode": "", + "name": "LiDFOB", + "quantity": 9999.0, + "lockQuantity": 0.0, + "unit": "个", + "status": 1, + "isUse": false, + "locations": [ + { + "id": "3a19da56-1379-ff7c-1745-07e200b44ce2", + "whid": "3a19da56-1378-613b-29f2-871e1a287aa5", + "whName": "粉末加样头堆栈", + "code": "0005-0001", + "x": 1, + "y": 1, + "z": 1, + "quantity": 0 } - ], 'detail': [] + ], + "detail": [] }, - {'id': '3a1d2657-d16f-a575-3506-5c029ff6810d', 'typeName': '加样头(大)', 'code': '0005-00293', 'barCode': '', 'name': 'dsfdsfd', 'quantity': 1.0, 'lockQuantity': 0.0, 'unit': '个', 'status': 1, 'isUse': False, 'locations': [ - {'id': '3a19da56-1379-e77d-0e65-7463b238a3b9', 'whid': '3a19da56-1378-613b-29f2-871e1a287aa5', 'whName': '粉末加样头堆栈', 'code': '0005-0005', 'x': 5, 'y': 1, 'z': 1, 'quantity': 0 + { + "id": "3a1d377b-6a81-6a7e-147c-f89f6463656d", + "typeName": "液", + "code": "0006-00141", + "barCode": "", + "name": "EMC", + "quantity": 99999.0, + "lockQuantity": 0.0, + "unit": "g", + "status": 1, + "isUse": false, + "locations": [ + { + "id": "3a1baa20-a7b1-c665-8b9c-d8099d07d2f6", + "whid": "3a1baa20-a7b0-5c19-8844-5de8924d4e78", + "whName": "4号手套箱内部堆栈", + "code": "0015-0001", + "x": 1, + "y": 1, + "z": 1, + "quantity": 0 } - ], 'detail': [] + ], + "detail": [] } ] \ No newline at end of file diff --git a/test/resources/test_resourcetreeset.py b/test/resources/test_resourcetreeset.py index ff5cfd0..b7602ed 100644 --- a/test/resources/test_resourcetreeset.py +++ b/test/resources/test_resourcetreeset.py @@ -1,3 +1,4 @@ +from ast import If import pytest import json import os @@ -13,13 +14,8 @@ lab_registry.setup() type_mapping = { - "烧杯": ("YB_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("YB_1BottleCarrier", ""), - "样品板": ("YB_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("YB_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("YB_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("YB_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("YB_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), + "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), } @@ -57,12 +53,20 @@ def bioyond_materials_liquidhandling_2() -> list[dict]: "bioyond_materials_reaction", "bioyond_materials_liquidhandling_1", ]) -def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]: - materials = request.getfixturevalue(materials_fixture) +def test_resourcetreeset_from_plr() -> list[dict]: + # 直接加载 bioyond_materials_reaction.json 文件 + current_dir = os.path.dirname(os.path.abspath(__file__)) + json_path = os.path.join(current_dir, "YB_materials_info.json") + with open(json_path, "r", encoding="utf-8") as f: + materials = json.load(f) deck = BIOYOND_PolymerReactionStation_Deck("test_deck") output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck) - print(deck.summary()) + print(output) + # print(deck.summary()) r = ResourceTreeSet.from_plr_resources([deck]) print(r.dump()) # json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4) + +if __name__ == "__main__": + test_resourcetreeset_from_plr() diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index c60a03e..ff29574 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -971,7 +971,7 @@ if __name__ == "__main__": lab_registry.setup() ws = BioyondCellWorkstation() # logger.info(ws.scheduler_stop()) - logger.info(ws.scheduler_start()) + # logger.info(ws.scheduler_start()) # results = ws.create_materials(SOLID_LIQUID_MAPPINGS) # for r in results: @@ -980,11 +980,11 @@ if __name__ == "__main__": # result = ws.create_and_inbound_materials() # 继续后续流程 - logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # # 使用正斜杠或 Path 对象来指定文件路径 - excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") - logger.info(ws.create_orders(excel_path)) - logger.info(ws.transfer_3_to_2_to_1()) + # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + # logger.info(ws.create_orders(excel_path)) + # logger.info(ws.transfer_3_to_2_to_1()) # logger.info(ws.transfer_1_to_2()) # logger.info(ws.scheduler_start()) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx index a89f1bc27fa7eee453958723c88bd563c122cbe7..e6addeb9855082c3ba401dbff45cc4aecf81e8ca 100644 GIT binary patch literal 9686 zcmeHtg;yNe_I2X~cXtbJfe_pY4#9$Z<23Hx1a}V_BuH=#?(PH&?j*RogkMi)-ZwLu 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+135,8 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), - "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), # YB信息 } diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 3ce7353..3e3e0b3 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -63,7 +63,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): logger.error("Bioyond API客户端未初始化") return False - bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}') + bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}') if not bioyond_data: logger.warning("从Bioyond获取的物料数据为空") return False diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml new file mode 100644 index 0000000..83320c5 --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -0,0 +1,25 @@ +YB_jia_yang_tou_da_1X1_carrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + type: pylabrobot + description: YB_jia_yang_tou_da_1X1_carrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_1BottleCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier + type: pylabrobot + description: YB_1BottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml deleted file mode 100644 index ac01cc3..0000000 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ /dev/null @@ -1,12 +0,0 @@ -YB_jia_yang_tou_da_1X1_carrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottle_carriers:YB_jia_yang_tou_da_1X1_carrier - type: pylabrobot - description: YB_jia_yang_tou_da_1X1_carrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml deleted file mode 100644 index b886510..0000000 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ /dev/null @@ -1,151 +0,0 @@ -YB_jia_yang_tou_da: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_jia_yang_tou_da - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 - -YB_Liquid_Vial: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:YB_Liquid_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Reagent_Bottle: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:YB_Reagent_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Solid_Stock: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:YB_Solid_Stock - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Solid_Vial: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:YB_Solid_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Solution_Beaker: - category: - - bottles - class: - module: unilabos.resources.bioyond.bottles:YB_Solution_Beaker - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_100ml_Liquid_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_100ml_Liquid_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Liquid_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_Liquid_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_High_Viscosity_Liquid_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_High_Viscosity_Liquid_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Large_Dispense_Head: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_Large_Dispense_Head - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_5ml_Dispensing_Vial: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_5ml_Dispensing_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_20ml_Dispensing_Vial: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_20ml_Dispensing_Vial - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Small_Solution_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_Small_Solution_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Large_Solution_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_Large_Solution_Bottle - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 -YB_Pipette_Tip: - category: - - yb3 - class: - module: unilabos.resources.bioyond.bottles:YB_Pipette_Tip - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 diff --git a/unilabos/resources/bioyond/bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py similarity index 89% rename from unilabos/resources/bioyond/bottle_carriers.py rename to unilabos/resources/bioyond/YB_bottle_carriers.py index 76e3a93..a4a3601 100644 --- a/unilabos/resources/bioyond/bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -1,18 +1,9 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -from unilabos.resources.bioyond.bottles import ( - YB_Solid_Stock, - YB_Solid_Vial, - YB_Liquid_Vial, - YB_Solution_Beaker, - YB_Reagent_Bottle, - YB_5ml_Dispensing_Vial, - YB_20ml_Dispensing_Vial, - YB_Small_Solution_Bottle, - YB_Large_Solution_Bottle, - YB_Large_Dispense_Head, - YB_Pipette_Tip +from unilabos.resources.bioyond.YB_bottles import ( + YB_jia_yang_tou_da, + YB_ye_Bottle ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -207,10 +198,9 @@ def YB_6VialCarrier(name: str) -> BottleCarrier: carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") return carrier - +"""1瓶载架 - 单个中央位置""" def YB_1BottleCarrier(name: str) -> BottleCarrier: - """1瓶载架 - 单个中央位置""" - + # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 @@ -241,49 +231,13 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_Reagent_Bottle(f"{name}_flask_1") - return carrier - - -def YB_1FlaskCarrier(name: str) -> BottleCarrier: - """1瓶载架 - 单个中央位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 20.0 - - # 烧杯尺寸 - beaker_diameter = 70.0 - - # 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="1FlaskCarrier", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - carrier[0] = YB_Reagent_Bottle(f"{name}_bottle_1") + carrier[0] = YB_ye_Bottle(f"{name}_flask_1") return carrier +"""5ml分液瓶板 - 4x2布局，8个位置""" def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: - """5ml分液瓶板 - 4x2布局，8个位置""" + # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -331,9 +285,9 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: carrier[i] = YB_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier - +"""20ml分液瓶板 - 4x2布局，8个位置""" def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: - """20ml分液瓶板 - 4x2布局，8个位置""" + # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -381,9 +335,9 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: carrier[i] = YB_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") return carrier - +"""配液瓶(小)板 - 4x2布局，8个位置""" def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: - """配液瓶(小)板 - 4x2布局，8个位置""" + # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -481,10 +435,9 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: carrier[i] = YB_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") return carrier - -def YB_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: - """加样头(大)板 - 1x1布局，1个位置""" - +"""加样头(大)板 - 1x1布局，1个位置""" +def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: + # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 @@ -526,7 +479,7 @@ def YB_6x_LargeDispenseHeadCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_Large_Dispense_Head(f"{name}_head_1") + carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1") return carrier diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py new file mode 100644 index 0000000..f38dc36 --- /dev/null +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -0,0 +1,38 @@ +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +# 工厂函数 + +"""加样头（大）""" +def YB_jia_yang_tou_da( + name: str, + diameter: float = 20.0, + height: float = 100.0, + max_volume: float = 30000.0, # 30mL + barcode: str = None, +) -> Bottle: + """创建粉末瓶""" + return Bottle( + name=name, + diameter=diameter,# 未知 + height=height, + max_volume=max_volume, + barcode=barcode, + model="Solid_Stock", + ) + +"""液1x1""" +def YB_ye_Bottle( + name: str, + diameter: float = 40.0, + height: float = 70.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Liquid_Bottle", + ) diff --git a/unilabos/resources/bioyond/YB_warehouses.py b/unilabos/resources/bioyond/YB_warehouses.py new file mode 100644 index 0000000..c546759 --- /dev/null +++ b/unilabos/resources/bioyond/YB_warehouses.py @@ -0,0 +1,160 @@ +from unilabos.resources.warehouse import WareHouse, warehouse_factory + + +def bioyond_warehouse_1x4x4(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=4, + num_items_z=4, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + + +def bioyond_warehouse_1x4x2(name: str) -> WareHouse: + """创建BioYond 4x1x2仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=4, + num_items_z=2, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + removed_positions=None + ) + # 定义benyond的堆栈 +def bioyond_warehouse_1x2x2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=2, + 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="YB_warehouse", + ) +def bioyond_warehouse_10x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=10, + num_items_y=1, + 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 bioyond_warehouse_1x3x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=3, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) +def bioyond_warehouse_2x1x3(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=1, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + +def bioyond_warehouse_3x3x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + 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 bioyond_warehouse_5x1x1(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=5, + num_items_y=1, + 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 bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: + """创建BioYond 4x1x4仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + 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", + ) + +def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: + """创建BioYond开关盖加液模块台面""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=5, + 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", + removed_positions=None + ) \ No newline at end of file diff --git a/unilabos/resources/bioyond/bottle_carriers copy.py b/unilabos/resources/bioyond/bottle_carriers copy.py deleted file mode 100644 index a3b0044..0000000 --- a/unilabos/resources/bioyond/bottle_carriers copy.py +++ /dev/null @@ -1,148 +0,0 @@ -from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d - -from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -from unilabos.resources.bioyond.bottles import ( - YB_jia_yang_tou_da, -) -# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial - - - - - -def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: - """加样头(大)板 - 1x1布局，1个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 95.0 - - # 瓶位尺寸 - bottle_diameter = 35.0 - bottle_spacing_x = 42.0 # X方向间距 - bottle_spacing_y = 35.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2 - start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=1, - num_items_y=1, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=bottle_spacing_x, - item_dy=bottle_spacing_y, - size_x=bottle_diameter, - size_y=bottle_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="YB_1X1_jia_yang_tou_da_carrier", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1") - return carrier - - -def BIOYOND_PolymerStation_AdapterBlock(name: str) -> BottleCarrier: - """适配器块 - 单个中央位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 30.0 - - # 适配器尺寸 - adapter_diameter = 80.0 - - # 计算中央位置 - center_x = (carrier_size_x - adapter_diameter) / 2 - center_y = (carrier_size_y - adapter_diameter) / 2 - center_z = 0.0 - - 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=adapter_diameter, - resource_size_y=adapter_diameter, - name_prefix=name, - ), - model="AdapterBlock", - ) - carrier.num_items_x = 1 - carrier.num_items_y = 1 - carrier.num_items_z = 1 - # 适配器块本身不包含瓶子，只是一个支撑结构 - return carrier - - -def BIOYOND_PolymerStation_TipBox(name: str) -> BottleCarrier: - """枪头盒 - 8x12布局，96个位置""" - - # 载架尺寸 (mm) - carrier_size_x = 127.8 - carrier_size_y = 85.5 - carrier_size_z = 55.0 - - # 枪头尺寸 - tip_diameter = 10.0 - tip_spacing_x = 9.0 # X方向间距 - tip_spacing_y = 9.0 # Y方向间距 - - # 计算起始位置 (居中排列) - start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 - start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2 - - sites = create_ordered_items_2d( - klass=ResourceHolder, - num_items_x=12, - num_items_y=8, - dx=start_x, - dy=start_y, - dz=5.0, - item_dx=tip_spacing_x, - item_dy=tip_spacing_y, - size_x=tip_diameter, - size_y=tip_diameter, - size_z=carrier_size_z, - ) - for k, v in sites.items(): - v.name = f"{name}_{v.name}" - - carrier = BottleCarrier( - name=name, - size_x=carrier_size_x, - size_y=carrier_size_y, - size_z=carrier_size_z, - sites=sites, - model="TipBox", - ) - carrier.num_items_x = 12 - carrier.num_items_y = 8 - carrier.num_items_z = 1 - # 创建96个枪头 - for i in range(96): - row = chr(65 + i // 12) # A-H - col = (i % 12) + 1 # 1-12 - carrier[i] = BIOYOND_PolymerStation_Pipette_Tip(f"{name}_tip_{row}{col}") - return carrier - diff --git a/unilabos/resources/bioyond/bottles copy.py b/unilabos/resources/bioyond/bottles copy.py deleted file mode 100644 index 2504c37..0000000 --- a/unilabos/resources/bioyond/bottles copy.py +++ /dev/null @@ -1,24 +0,0 @@ -from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -# 工厂函数 - - -def YB_jia_yang_tou_da( - name: str, - diameter: float = 35.0, - height: float = 90.0, - max_volume: float = 50000.0, # 50mL - code: str = None, - barcode: str = None, -) -> Bottle: - """创建加样头(大)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - code=code, - model="YB_jia_yang_tou_da", - ) - - From ff25e814de7301c33bde397df1e71806cfcf157d Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 27 Oct 2025 22:08:02 +0800 Subject: [PATCH 025/104] feat: add new glove box internal stack configuration with site UUIDs --- .../workstation/bioyond_studio/config.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index f184a28..c6f8b11 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -130,6 +130,23 @@ WAREHOUSE_MAPPING = { "J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9" } }, + "4号手套箱内部堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a1baa20-a7b1-c665-8b9c-d8099d07d2f6", + "A02": "3a1baa20-a7b1-93a7-c988-f9c8ad6c58c9", + "A03": "3a1baa20-a7b1-00ee-f751-da9b20b6c464", + "A04": "3a1baa20-a7b1-4712-c37b-0b5b658ef7b9", + "B01": "3a1baa20-a7b1-9847-fc9c-96d604cd1a8e", + "B02": "3a1baa20-a7b1-4ae9-e604-0601db06249c", + "B03": "3a1baa20-a7b1-8329-ea75-81ca559d9ce1", + "B04": "3a1baa20-a7b1-89c5-d96f-36e98a8f7268", + "C01": "3a1baa20-a7b1-32ec-39e6-8044733839d6", + "C02": "3a1baa20-a7b1-b573-e426-4c86040348b2", + "C03": "3a1baa20-a7b1-cca7-781e-0522b729bf5d", + "C04": "3a1baa20-a7b1-7c98-5fd9-5855355ae4b3" + } + } } # 物料类型配置 From 2d58576937ea519d81a11b8828a481d084a2fccb Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Mon, 27 Oct 2025 22:23:09 +0800 Subject: [PATCH 026/104] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0YB=E7=93=B6?= =?UTF-8?q?=E5=AD=90=E5=92=8C=E8=BD=BD=E6=9E=B6=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 在YB_bottles.py中添加8种瓶子类型（100ml液体、高粘液、5ml分液瓶、20ml分液瓶、配液瓶小、配液瓶大、枪头等） - 在YB_bottle_carriers.py中添加12个载架函数（包括新增的高粘液载架和100ml液体载架） - 更新config.py的MATERIAL_TYPE_MAPPINGS配置，添加16种物料类型映射 - 创建YB_bottle_carriers.yaml注册文件，包含所有载架和瓶子函数 - 创建YB_bottle.yaml注册文件，包含独立的瓶子函数配置 - 移除不存在的瓶子函数引用（YB_Solid_Vial等4个函数） --- .../workstation/bioyond_studio/config.py | 20 +- .../registry/resources/bioyond/YB_bottle.yaml | 65 ++++++ .../resources/bioyond/YB_bottle_carriers.yaml | 189 +++++++++++++++++- .../resources/bioyond/YB_bottle_carriers.py | 120 +++++++++-- unilabos/resources/bioyond/YB_bottles.py | 127 +++++++++++- 5 files changed, 493 insertions(+), 28 deletions(-) create mode 100644 unilabos/registry/resources/bioyond/YB_bottle.yaml diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index f184a28..f6602b2 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -129,15 +129,27 @@ WAREHOUSE_MAPPING = { "J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205", "J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9" } - }, + } } # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - - "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), - # YB信息 + "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("YB_6x5ml_DispensingVialCarrier", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "20ml分液瓶": ("YB_6x20ml_DispensingVialCarrier", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)": ("YB_4x_LargeSolutionBottleCarrier", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("YB_TipBox", "b6196971-1050-46da-9927-333e8dea062d"), } SOLID_LIQUID_MAPPINGS = { diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml new file mode 100644 index 0000000..51ea6e4 --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -0,0 +1,65 @@ +YB_fen_ye_5ml_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle + type: pylabrobot + description: YB_fen_ye_5ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_fen_ye_20ml_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle + type: pylabrobot + description: YB_fen_ye_20ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_pei_ye_xiao_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle + type: pylabrobot + description: YB_pei_ye_xiao_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_pei_ye_da_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle + type: pylabrobot + description: YB_pei_ye_da_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_Pipette_Tip: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_Pipette_Tip + type: pylabrobot + description: YB_Pipette_Tip + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index 83320c5..1c5b029 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -1,10 +1,24 @@ -YB_jia_yang_tou_da_1X1_carrier: + +YB_6StockCarrier: category: - yb3 class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier type: pylabrobot - description: YB_jia_yang_tou_da_1X1_carrier + description: YB_6StockCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_6VialCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier + type: pylabrobot + description: YB_6VialCarrier handles: [] icon: '' init_param_schema: {} @@ -23,3 +37,172 @@ YB_1BottleCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 + +YB_1GaoNianYeBottleCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier + type: pylabrobot + description: YB_1GaoNianYeBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_1Bottle100mlCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1Bottle100mlCarrier + type: pylabrobot + description: YB_1Bottle100mlCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_6x5ml_DispensingVialCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier + type: pylabrobot + description: YB_6x5ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_6x20ml_DispensingVialCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier + type: pylabrobot + description: YB_6x20ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_6x_SmallSolutionBottleCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier + type: pylabrobot + description: YB_6x_SmallSolutionBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_4x_LargeSolutionBottleCarrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_4x_LargeSolutionBottleCarrier + type: pylabrobot + description: YB_4x_LargeSolutionBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_jia_yang_tou_da_1X1_carrier: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + type: pylabrobot + description: YB_jia_yang_tou_da_1X1_carrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_AdapterBlock: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_AdapterBlock + type: pylabrobot + description: YB_AdapterBlock + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_TipBox: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipBox + type: pylabrobot + description: YB_TipBox + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_ye_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + type: pylabrobot + description: YB_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_ye_100ml_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + type: pylabrobot + description: YB_ye_100ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_gao_nian_ye_Bottle: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle + type: pylabrobot + description: YB_gao_nian_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +YB_jia_yang_tou_da: + category: + - yb3 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + type: pylabrobot + description: YB_jia_yang_tou_da + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index a4a3601..01d64c5 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -3,7 +3,14 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou from unilabos.resources.itemized_carrier import Bottle, BottleCarrier from unilabos.resources.bioyond.YB_bottles import ( YB_jia_yang_tou_da, - YB_ye_Bottle + YB_ye_Bottle, + YB_ye_100ml_Bottle, + YB_gao_nian_ye_Bottle, + YB_fen_ye_5ml_Bottle, + YB_fen_ye_20ml_Bottle, + YB_pei_ye_xiao_Bottle, + YB_pei_ye_da_Bottle, + YB_Pipette_Tip, ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -53,8 +60,8 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 3 carrier.num_items_y = 2 carrier.num_items_z = 1 - for i in range(6): - carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") + # for i in range(6): + # carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") return carrier @@ -91,7 +98,7 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") + # carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") return carrier @@ -141,8 +148,8 @@ def YB_6StockCarrier(name: str) -> BottleCarrier: carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 - for i in range(6): - carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") + # for i in range(6): + # carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") return carrier @@ -192,13 +199,13 @@ def YB_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 - for i in range(3): - carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") - for i in range(3, 6): - carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") + # for i in range(3): + # carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") + # for i in range(3, 6): + # carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") return carrier -"""1瓶载架 - 单个中央位置""" +# 1瓶载架 - 单个中央位置 def YB_1BottleCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -235,7 +242,80 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier: return carrier -"""5ml分液瓶板 - 4x2布局，8个位置""" +# 高粘液瓶载架 - 单个中央位置 +def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + 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="1GaoNianYeBottleCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1") + return carrier + + +# 100ml液体瓶载架 - 单个中央位置 +def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + 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="1Bottle100mlCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1") + return carrier + +# 5ml分液瓶板 - 4x2布局，8个位置 def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: @@ -282,10 +362,10 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_fen_ye_5ml_Bottle(f"{name}_vial_{ordering[i]}") return carrier -"""20ml分液瓶板 - 4x2布局，8个位置""" +# 20ml分液瓶板 - 4x2布局，8个位置 def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: @@ -332,10 +412,10 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_fen_ye_20ml_Bottle(f"{name}_vial_{ordering[i]}") return carrier -"""配液瓶(小)板 - 4x2布局，8个位置""" +# 配液瓶(小)板 - 4x2布局，8个位置 def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: @@ -382,12 +462,12 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}") return carrier +# 配液瓶(大)板 - 2x2布局，4个位置 def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: - """配液瓶(大)板 - 2x2布局，4个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -432,10 +512,10 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "B1", "B2"] for i in range(4): - carrier[i] = YB_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}") return carrier -"""加样头(大)板 - 1x1布局，1个位置""" +# 加样头(大)板 - 1x1布局，1个位置 def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index f38dc36..8ebdb41 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -1,6 +1,5 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier # 工厂函数 - """加样头（大）""" def YB_jia_yang_tou_da( name: str, @@ -35,4 +34,130 @@ def YB_ye_Bottle( max_volume=max_volume, barcode=barcode, model="Liquid_Bottle", + ) + +"""100ml液体""" +def YB_ye_100ml_Bottle( + name: str, + diameter: float = 50.0, + height: float = 90.0, + max_volume: float = 100000.0, # 100mL + barcode: str = None, +) -> Bottle: + """创建100ml液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Liquid_Bottle_100ml", + ) + +"""高粘液""" +def YB_gao_nian_ye_Bottle( + name: str, + diameter: float = 40.0, + height: float = 70.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建高粘液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="High_Viscosity_Liquid", + ) + +"""5ml分液瓶""" +def YB_fen_ye_5ml_Bottle( + name: str, + diameter: float = 20.0, + height: float = 50.0, + max_volume: float = 5000.0, # 5mL + barcode: str = None, +) -> Bottle: + """创建5ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Separation_Bottle_5ml", + ) + +"""20ml分液瓶""" +def YB_fen_ye_20ml_Bottle( + name: str, + diameter: float = 30.0, + height: float = 65.0, + max_volume: float = 20000.0, # 20mL + barcode: str = None, +) -> Bottle: + """创建20ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Separation_Bottle_20ml", + ) + +"""配液瓶(小)""" +def YB_pei_ye_xiao_Bottle( + name: str, + diameter: float = 35.0, + height: float = 60.0, + max_volume: float = 30000.0, # 30mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(小)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Mixing_Bottle_Small", + ) + +"""配液瓶(大)""" +def YB_pei_ye_da_Bottle( + name: str, + diameter: float = 55.0, + height: float = 100.0, + max_volume: float = 150000.0, # 150mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(大)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Mixing_Bottle_Large", + ) + +"""枪头""" +def YB_Pipette_Tip( + name: str, + diameter: float = 10.0, + height: float = 50.0, + max_volume: float = 1000.0, # 1mL + barcode: str = None, +) -> Bottle: + """创建枪头""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Pipette_Tip", ) From c35edcece15df8d19a75c40b7b2cc094b481c38a Mon Sep 17 00:00:00 2001 From: calvincao Date: Tue, 28 Oct 2025 11:42:14 +0800 Subject: [PATCH 027/104] =?UTF-8?q?=E9=87=8D=E6=9E=84=20coin=5Fcell=5Fasse?= =?UTF-8?q?mbly=20=E7=9B=AE=E5=BD=95=E7=BB=93=E6=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- button_battery_station_resources_unilab.json | 2521 +++++++++++++++++ .../workstation/bioyond_studio/config.py | 2 +- .../{coin_cell_assembly => }/__init__.py | 0 .../button_battery_station.py | 0 .../coin_cell_assembly.py | 2 +- .../coin_cell_assembly_a.csv | 18 - .../new_cellconfig3c.json | 2 +- unilabos/registry/devices/laiyu_liquid.yaml | 11 +- unilabos/registry/devices/liquid_handler.yaml | 33 +- 9 files changed, 2552 insertions(+), 37 deletions(-) create mode 100644 button_battery_station_resources_unilab.json rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/__init__.py (100%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/button_battery_station.py (100%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/coin_cell_assembly.py (99%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/coin_cell_assembly_a.csv (70%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/new_cellconfig3c.json (99%) diff --git a/button_battery_station_resources_unilab.json b/button_battery_station_resources_unilab.json new file mode 100644 index 0000000..2d55750 --- /dev/null +++ b/button_battery_station_resources_unilab.json @@ -0,0 +1,2521 @@ +{ + "nodes": [ + { + "id": "coin_cell_deck", + "name": "coin_cell_deck", + "sample_id": null, + "children": [ + "liaopan1", + "liaopan2", + "\u7535\u6c60\u6599\u76d8" + ], + "parent": null, + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "size_x": 1000, + "size_y": 1000, + "size_z": 900, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "coin_cell_deck", + "barcode": null + }, + "data": {} + }, + { + "id": "liaopan1", + "name": "liaopan1", + "sample_id": null, + "children": [ + "liaopan1_materialhole_0_0", + "liaopan1_materialhole_0_1", + "liaopan1_materialhole_0_2", + "liaopan1_materialhole_0_3", + "liaopan1_materialhole_1_0", + "liaopan1_materialhole_1_1", + "liaopan1_materialhole_1_2", + "liaopan1_materialhole_1_3", + "liaopan1_materialhole_2_0", + "liaopan1_materialhole_2_1", + "liaopan1_materialhole_2_2", + "liaopan1_materialhole_2_3", + "liaopan1_materialhole_3_0", + "liaopan1_materialhole_3_1", + "liaopan1_materialhole_3_2", + "liaopan1_materialhole_3_3" + ], + "parent": "coin_cell_deck", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "MaterialPlate", + "size_x": 120.8, + "size_y": 120.5, + "size_z": 10.0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_plate", + "model": null, + "barcode": null, + "ordering": { + "A1": "liaopan1_materialhole_0_0", + "B1": "liaopan1_materialhole_0_1", + "C1": "liaopan1_materialhole_0_2", + "D1": "liaopan1_materialhole_0_3", + "A2": "liaopan1_materialhole_1_0", + "B2": "liaopan1_materialhole_1_1", + "C2": "liaopan1_materialhole_1_2", + "D2": "liaopan1_materialhole_1_3", + "A3": "liaopan1_materialhole_2_0", + "B3": "liaopan1_materialhole_2_1", + "C3": "liaopan1_materialhole_2_2", + "D3": "liaopan1_materialhole_2_3", + "A4": "liaopan1_materialhole_3_0", + "B4": "liaopan1_materialhole_3_1", + "C4": "liaopan1_materialhole_3_2", + "D4": "liaopan1_materialhole_3_3" + } + }, + "data": {} + }, + { + "id": "liaopan1_materialhole_0_0", + "name": "liaopan1_materialhole_0_0", + "sample_id": null, + "children": [ + "jipian1_0" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 84.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian1_0", + "name": "jipian1_0", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_0", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_1", + "name": "liaopan1_materialhole_0_1", + "sample_id": null, + "children": [ + "jipian1_1" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 60.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian1_1", + "name": "jipian1_1", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_1", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_2", + "name": "liaopan1_materialhole_0_2", + "sample_id": null, + "children": [ + "jipian1_2" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 36.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "material_hole", + "model": null, + "barcode": null + }, + "data": { + "diameter": 20, + "depth": 10, + "max_sheets": 1, + "info": null + } + }, + { + "id": "jipian1_2", + "name": "jipian1_2", + "sample_id": null, + "children": [], + "parent": "liaopan1_materialhole_0_2", + "type": "container", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, + { + "id": "liaopan1_materialhole_0_3", + "name": "liaopan1_materialhole_0_3", + "sample_id": null, + "children": [ + "jipian1_3" + ], + "parent": "liaopan1", + "type": "container", + "class": "", + "position": { + "x": 12.4, + "y": 12.25, + "z": 10.0 + }, + "config": { + "type": "MaterialHole", + "size_x": 16, + "size_y": 16, + "size_z": 16, + 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b/unilabos/devices/workstation/coin_cell_assembly/__init__.py similarity index 100% rename from unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/__init__.py rename to unilabos/devices/workstation/coin_cell_assembly/__init__.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py similarity index 100% rename from unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/button_battery_station.py rename to unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py similarity index 99% rename from unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py rename to unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 750a34f..a746eb8 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -22,7 +22,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, station_resource: CoincellDeck, - address: str = "192.168.1.20", + address: str = "172.21.32.20", port: str = "502", debug_mode: bool = True, *args, diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv similarity index 70% rename from unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv rename to unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index 836fb71..ebfb998 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,21 +43,3 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 -COIL_ALUMINUM_FOIL,BOOL,,ʹ,,coil,8340, -REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, -REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, -REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, -REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, -REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, -REG_MSG_PRESS_MODE,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ -,,,,,,, -,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ -,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ -,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, -,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ -,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ -,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ -,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ -,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ -,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ -,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json similarity index 99% rename from unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json rename to unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json index 630faa5..8efce63 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly/new_cellconfig3c.json +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json @@ -25,7 +25,7 @@ } }, - "address": "192.168.1.20", + "address": "172.21.32.20", "port": 502 }, "data": {} diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 64c0c18..98201a7 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,7 +1361,8 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -1491,9 +1492,11 @@ laiyu_liquid: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 99c9233..b21ccd7 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -3994,7 +3994,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4150,9 +4151,11 @@ liquid_handler: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5012,7 +5015,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5155,9 +5159,11 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -7801,7 +7807,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -7930,9 +7937,11 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 From a130c03ebdd45f6f406dd5bdf0ba30dbd3ddee5c Mon Sep 17 00:00:00 2001 From: calvincao Date: Wed, 29 Oct 2025 10:44:30 +0800 Subject: [PATCH 028/104] =?UTF-8?q?feat(workstation):=20=E7=A7=BB=E9=99=A4?= =?UTF-8?q?=E6=97=A7=E7=89=88bioyond=E8=AE=BE=E5=A4=87=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E5=B9=B6=E4=BC=98=E5=8C=96=E6=89=A3=E7=94=B5=E7=BB=84=E8=A3=85?= =?UTF-8?q?=E5=B7=A5=E4=BD=9C=E7=AB=99-=20=E5=88=A0=E9=99=A4bioyond.yaml?= =?UTF-8?q?=E5=92=8Cbioyond=5Fdispensing=5Fstation.yaml=E6=97=A7=E8=AE=BE?= =?UTF-8?q?=E5=A4=87=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6-=20=E4=BC=98?= =?UTF-8?q?=E5=8C=96=E6=89=A3=E7=94=B5=E7=BB=84=E8=A3=85=E5=B7=A5=E4=BD=9C?= =?UTF-8?q?=E7=AB=99=E9=85=8D=E7=BD=AE=EF=BC=8C=E7=A7=BB=E9=99=A4=E4=B8=8D?= =?UTF-8?q?=E5=BF=85=E8=A6=81=E7=9A=84=E5=AD=90=E8=B5=84=E6=BA=90=E5=BC=95?= =?UTF-8?q?=E7=94=A8-=20=E6=9B=B4=E6=96=B0Modbus=E9=80=9A=E4=BF=A1?= =?UTF-8?q?=E5=9C=B0=E5=9D=80=E5=92=8C=E7=AB=AF=E5=8F=A3=E9=85=8D=E7=BD=AE?= =?UTF-8?q?-=20=E7=AE=80=E5=8C=96CoinCellAssemblyWorkstation=E7=B1=BB?= =?UTF-8?q?=E7=9A=84=E5=88=9D=E5=A7=8B=E5=8C=96=E5=8F=82=E6=95=B0-=20?= =?UTF-8?q?=E7=A7=BB=E9=99=A4=E5=86=97=E4=BD=99=E7=9A=84deck=E8=B5=84?= =?UTF-8?q?=E6=BA=90=E5=88=9B=E5=BB=BA=E9=80=BB=E8=BE=91=20-=20=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E5=8F=8D=E5=BA=94=E7=AB=99=E9=85=8D=E7=BD=AE=E6=96=87?= =?UTF-8?q?=E4=BB=B6=E4=B8=ADdrip=5Fback=E5=91=BD=E4=BB=A4=E7=9A=84?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE=20-=20=E6=B7=BB=E5=8A=A0=E6=96=B0=E7=9A=84Mo?= =?UTF-8?q?dbus=E5=AF=84=E5=AD=98=E5=99=A8=E5=92=8C=E7=BA=BF=E5=9C=88?= =?UTF-8?q?=E5=AE=9A=E4=B9=89=20-=20=E7=A7=BB=E9=99=A4workstation=5Fbase.p?= =?UTF-8?q?y=E5=9F=BA=E7=B1=BB=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bioyond_yihua_YB.json | 23 +- .../coin_cell_assembly/coin_cell_assembly.py | 35 +- .../coin_cell_assembly_a.csv | 18 + .../coin_cell_assembly/workstation_base.py | 489 ------------------ unilabos/registry/devices/bioyond.yaml | 255 --------- .../devices/bioyond_dispensing_station.yaml | 404 --------------- .../devices/reaction_station_bioyond.yaml | 84 +-- 7 files changed, 88 insertions(+), 1220 deletions(-) delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/workstation_base.py delete mode 100644 unilabos/registry/devices/bioyond.yaml delete mode 100644 unilabos/registry/devices/bioyond_dispensing_station.yaml diff --git a/bioyond_yihua_YB.json b/bioyond_yihua_YB.json index 1cd7f00..c38179d 100644 --- a/bioyond_yihua_YB.json +++ b/bioyond_yihua_YB.json @@ -17,29 +17,16 @@ { "id": "BatteryStation", "name": "扣电组装工作站", - "children": [ - "coin_cell_deck" - ], + "children": [], "parent": null, "type": "device", "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, "config": { - "debug_mode": true, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", + "debug_mode": false, + "protocol_type": [], - "deck": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", + "deck": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck", + "address": "172.21.32.20", "port": 502 }, "data": {} diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index a746eb8..51d668b 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -8,34 +8,34 @@ from typing import Any, Dict, Optional from pylabrobot.resources import Resource as PLRResource from unilabos_msgs.msg import Resource from unilabos.device_comms.modbus_plc.client import ModbusTcpClient -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, - station_resource: CoincellDeck, + deck: Deck=None, address: str = "172.21.32.20", port: str = "502", - debug_mode: bool = True, + debug_mode: bool = False, *args, **kwargs, ): super().__init__( #桌子 - station_resource=station_resource, + deck=deck, *args, **kwargs, ) self.debug_mode = debug_mode - self.station_resource = station_resource + self.deck = deck """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) print("modbus_client", modbus_client) @@ -75,7 +75,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self._ros_node = ros_node #self.deck = create_a_coin_cell_deck() ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] + "resources": [self.deck] }) # 批量操作在这里写 @@ -85,7 +85,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): async def fill_plate(self): - plate_1: MaterialPlate = self.station_resource.children[0].children[0] + plate_1: MaterialPlate = self.deck.children[0].children[0] #plate_1 return await self._ros_node.update_resource(plate_1) @@ -342,7 +342,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def modify_deck_name(self, resource_name: str): # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) # print(f"!!! figure_res: {type(figure_res)}") - self.station_resource.children[1] + self.deck.children[1] return @property @@ -1105,8 +1105,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase): if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + # modbus_client = TCPClient(addr="172.21.32.20", port="502") + # # modbus_client.client.connect() + # nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + # client = modbus_client.register_node_list(nodes) + # # print("modbus_client", modbus_client) + # while True: + # time.sleep(1) + # cmd_feedback, read_err = modbus_client.use_node('COIL_SYS_AUTO_CMD').read(1) + # print("modbus_client", cmd_feedback) + Coin_Cell = CoinCellAssemblyWorkstation() + print(Coin_Cell.deck) #Coin_Cell.func_pack_device_init() #Coin_Cell.func_pack_device_auto() #Coin_Cell.func_pack_device_start() @@ -1121,7 +1130,7 @@ if __name__ == "__main__": #print("success") #创建一个物料台面 - deck = create_a_coin_cell_deck() + # deck = create_a_coin_cell_deck() #deck = create_a_full_coin_cell_deck() @@ -1169,4 +1178,6 @@ if __name__ == "__main__": #print(resources) http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - http_client.resource_add(resources) \ No newline at end of file + http_client.resource_add(resources) + + \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index ebfb998..836fb71 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,3 +43,21 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 +COIL_ALUMINUM_FOIL,BOOL,,ʹ,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ +,,,,,,, +,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ +,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ +,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, +,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ +,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ +,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ +,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ +,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ +,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ +,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ diff --git a/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py b/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py deleted file mode 100644 index 65b34a9..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py +++ /dev/null @@ -1,489 +0,0 @@ -""" -工作站基类 -Workstation Base Class - 简化版 - -基于PLR Deck的简化工作站架构 -专注于核心物料系统和工作流管理 -""" - -import collections -import time -from typing import Dict, Any, List, Optional, Union -from abc import ABC, abstractmethod -from dataclasses import dataclass -from enum import Enum -from pylabrobot.resources import Deck, Plate, Resource as PLRResource - -from pylabrobot.resources.coordinate import Coordinate -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -from unilabos.utils.log import logger - - -class WorkflowStatus(Enum): - """工作流状态""" - - IDLE = "idle" - INITIALIZING = "initializing" - RUNNING = "running" - PAUSED = "paused" - STOPPING = "stopping" - STOPPED = "stopped" - ERROR = "error" - COMPLETED = "completed" - - -@dataclass -class WorkflowInfo: - """工作流信息""" - - name: str - description: str - estimated_duration: float # 预估持续时间（秒） - required_materials: List[str] # 所需物料类型 - output_product: str # 输出产品类型 - parameters_schema: Dict[str, Any] # 参数架构 - - -class WorkStationContainer(Plate): - """ - WorkStation 专用 Container 类，继承自 Plate和TipRack - 注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化 - """ - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str, - ordering: collections.OrderedDict, - model: Optional[str] = None, - ): - """ - 这里的初始化入参要和plr的保持一致 - """ - super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) - self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的 - - 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]]: - data = super().serialize_state() - data.update( - self._unilabos_state - ) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法 - """ - 用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml - 可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错 - :param name: 资源名称 - :return: Resource对象 - """ - plate = WorkStationContainer( - name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() - ) - tip_rack = WorkStationContainer( - "tip_rack_inside_plate", - size_x=50, - size_y=50, - size_z=10, - category="tip_rack", - ordering=collections.OrderedDict(), - ) - plate.assign_child_resource(tip_rack, Coordinate.zero()) - return plate - - -class ResourceSynchronizer(ABC): - """资源同步器基类 - - 负责与外部物料系统的同步，并对 self.deck 做修改 - """ - - def __init__(self, workstation: "WorkstationBase"): - self.workstation = workstation - - @abstractmethod - async def sync_from_external(self) -> bool: - """从外部系统同步物料到本地deck""" - pass - - @abstractmethod - async def sync_to_external(self, plr_resource: PLRResource) -> bool: - """将本地物料同步到外部系统""" - pass - - @abstractmethod - async def handle_external_change(self, change_info: Dict[str, Any]) -> bool: - """处理外部系统的变更通知""" - pass - - -class WorkstationBase(ABC): - """工作站基类 - 简化版 - - 核心功能： - 1. 基于 PLR Deck 的物料系统，支持格式转换 - 2. 可选的资源同步器支持外部物料系统 - 3. 简化的工作流管理 - """ - - _ros_node: ROS2WorkstationNode - - @property - def _children(self) -> Dict[str, Any]: # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别 - return self._ros_node.children - - async def update_resource_example(self): - return await self._ros_node.update_resource([get_workstation_plate_resource("test")]) - - def __init__( - self, - station_resource: PLRResource, - *args, - **kwargs, # 必须有kwargs - ): - # 基本配置 - print(station_resource) - self.deck_config = station_resource - - # PLR 物料系统 - self.deck: Optional[Deck] = None - self.plr_resources: Dict[str, PLRResource] = {} - - # 资源同步器（可选） - # self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用 - - # 硬件接口 - self.hardware_interface: Union[Any, str] = None - - # 工作流状态 - self.current_workflow_status = WorkflowStatus.IDLE - self.current_workflow_info = None - self.workflow_start_time = None - self.workflow_parameters = {} - - # 支持的工作流（静态预定义） - self.supported_workflows: Dict[str, WorkflowInfo] = {} - - # 初始化物料系统 - self._initialize_material_system() - - # 注册支持的工作流 - # self._register_supported_workflows() - - # logger.info(f"工作站 {device_id} 初始化完成（简化版）") - - def _initialize_material_system(self): - """初始化物料系统 - 使用 graphio 转换""" - try: - from unilabos.resources.graphio import resource_ulab_to_plr - - # # 1. 合并 deck_config 和 children 创建完整的资源树 - # complete_resource_config = self._create_complete_resource_config() - - # # 2. 使用 graphio 转换为 PLR 资源 - # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True) - - # # 3. 建立资源映射 - # self._build_resource_mappings(self.deck) - - # # 4. 如果有资源同步器，执行初始同步 - # if self.resource_synchronizer: - # # 这里可以异步执行，暂时跳过 - # pass - - # logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源") - pass - except Exception as e: - # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}") - raise - - def _create_complete_resource_config(self) -> Dict[str, Any]: - """创建完整的资源配置 - 合并 deck_config 和 children""" - # 创建主 deck 配置 - deck_resource = { - "id": f"{self.device_id}_deck", - "name": f"{self.device_id}_deck", - "type": "deck", - "position": {"x": 0, "y": 0, "z": 0}, - "config": { - "size_x": self.deck_config.get("size_x", 1000.0), - "size_y": self.deck_config.get("size_y", 1000.0), - "size_z": self.deck_config.get("size_z", 100.0), - **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}, - }, - "data": {}, - "children": [], - "parent": None, - } - - # 添加子资源 - if self._children: - children_list = [] - for child_id, child_config in self._children.items(): - child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"]) - children_list.append(child_resource) - deck_resource["children"] = children_list - - return deck_resource - - def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]: - """标准化子资源配置""" - return { - "id": resource_id, - "name": config.get("name", resource_id), - "type": config.get("type", "container"), - "position": self._normalize_position(config.get("position", {})), - "config": config.get("config", {}), - "data": config.get("data", {}), - "children": [], # 简化版本：只支持一层子资源 - "parent": parent_id, - } - - def _normalize_position(self, position: Any) -> Dict[str, float]: - """标准化位置信息""" - if isinstance(position, dict): - return { - "x": float(position.get("x", 0)), - "y": float(position.get("y", 0)), - "z": float(position.get("z", 0)), - } - elif isinstance(position, (list, tuple)) and len(position) >= 2: - return { - "x": float(position[0]), - "y": float(position[1]), - "z": float(position[2]) if len(position) > 2 else 0.0, - } - else: - return {"x": 0.0, "y": 0.0, "z": 0.0} - - def _build_resource_mappings(self, deck: Deck): - """递归构建资源映射""" - - def add_resource_recursive(resource: PLRResource): - if hasattr(resource, "name"): - self.plr_resources[resource.name] = resource - - if hasattr(resource, "children"): - for child in resource.children: - add_resource_recursive(child) - - add_resource_recursive(deck) - - # ============ 硬件接口管理 ============ - - def set_hardware_interface(self, hardware_interface: Union[Any, str]): - """设置硬件接口""" - self.hardware_interface = hardware_interface - logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}") - - def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"): - """设置协议节点引用（用于代理模式）""" - self._ros_node = workstation_node - logger.info(f"工作站 {self.device_id} 关联协议节点") - - # ============ 设备操作接口 ============ - - def call_device_method(self, method: str, *args, **kwargs) -> Any: - """调用设备方法的统一接口""" - # 1. 代理模式：通过协议节点转发 - if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"): - if not self._ros_node: - raise RuntimeError("代理模式需要设置workstation_node") - - device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀 - return self._ros_node.call_device_method(device_id, method, *args, **kwargs) - - # 2. 直接模式：直接调用硬件接口方法 - elif self.hardware_interface and hasattr(self.hardware_interface, method): - return getattr(self.hardware_interface, method)(*args, **kwargs) - - else: - raise AttributeError(f"硬件接口不支持方法: {method}") - - def get_device_status(self) -> Dict[str, Any]: - """获取设备状态""" - try: - return self.call_device_method("get_status") - except AttributeError: - # 如果设备不支持get_status方法，返回基础状态 - return { - "status": "unknown", - "interface_type": type(self.hardware_interface).__name__, - "timestamp": time.time(), - } - - def is_device_available(self) -> bool: - """检查设备是否可用""" - try: - self.get_device_status() - return True - except: - return False - - # ============ 物料系统接口 ============ - - def get_deck(self) -> Deck: - """获取主 Deck""" - return self.deck - - def get_all_resources(self) -> Dict[str, PLRResource]: - """获取所有 PLR 资源""" - return self.plr_resources.copy() - - def find_resource_by_name(self, name: str) -> Optional[PLRResource]: - """按名称查找资源""" - return self.plr_resources.get(name) - - def find_resources_by_type(self, resource_type: type) -> List[PLRResource]: - """按类型查找资源""" - return [res for res in self.plr_resources.values() if isinstance(res, resource_type)] - - async def sync_with_external_system(self) -> bool: - """与外部物料系统同步""" - if not self.resource_synchronizer: - logger.info(f"工作站 {self.device_id} 没有配置资源同步器") - return True - - try: - success = await self.resource_synchronizer.sync_from_external() - if success: - logger.info(f"工作站 {self.device_id} 外部同步成功") - else: - logger.warning(f"工作站 {self.device_id} 外部同步失败") - return success - except Exception as e: - logger.error(f"工作站 {self.device_id} 外部同步异常: {e}") - return False - - # ============ 简化的工作流控制 ============ - - def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流""" - try: - # 设置工作流状态 - self.current_workflow_status = WorkflowStatus.INITIALIZING - self.workflow_parameters = parameters - self.workflow_start_time = time.time() - - # 委托给子类实现 - success = self._execute_workflow_impl(workflow_name, parameters) - - if success: - self.current_workflow_status = WorkflowStatus.RUNNING - logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}") - return False - - def stop_workflow(self, emergency: bool = False) -> bool: - """停止工作流""" - try: - if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]: - logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流") - return True - - self.current_workflow_status = WorkflowStatus.STOPPING - - # 委托给子类实现 - success = self._stop_workflow_impl(emergency) - - if success: - self.current_workflow_status = WorkflowStatus.STOPPED - logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流停止失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}") - return False - - # ============ 状态属性 ============ - - @property - def workflow_status(self) -> WorkflowStatus: - """获取当前工作流状态""" - return self.current_workflow_status - - @property - def is_busy(self) -> bool: - """检查工作站是否忙碌""" - return self.current_workflow_status in [ - WorkflowStatus.INITIALIZING, - WorkflowStatus.RUNNING, - WorkflowStatus.STOPPING, - ] - - @property - def workflow_runtime(self) -> float: - """获取工作流运行时间（秒）""" - if self.workflow_start_time is None: - return 0.0 - return time.time() - self.workflow_start_time - - # ============ 抽象方法 - 子类必须实现 ============ - - # @abstractmethod - # def _register_supported_workflows(self): - # """注册支持的工作流 - 子类必须实现""" - # pass - - # @abstractmethod - # def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - # """执行工作流的具体实现 - 子类必须实现""" - # pass - - # @abstractmethod - # def _stop_workflow_impl(self, emergency: bool = False) -> bool: - # """停止工作流的具体实现 - 子类必须实现""" - # pass - -class WorkstationExample(WorkstationBase): - """工作站示例实现""" - - def _register_supported_workflows(self): - """注册支持的工作流""" - self.supported_workflows["example_workflow"] = WorkflowInfo( - name="example_workflow", - description="这是一个示例工作流", - estimated_duration=300.0, - required_materials=["sample_plate"], - output_product="processed_plate", - parameters_schema={"param1": "string", "param2": "integer"}, - ) - - def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流的具体实现""" - if workflow_name not in self.supported_workflows: - logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}") - return False - - # 这里添加实际的工作流逻辑 - logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}") - return True - - def _stop_workflow_impl(self, emergency: bool = False) -> bool: - """停止工作流的具体实现""" - # 这里添加实际的停止逻辑 - logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})") - return True \ No newline at end of file diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml deleted file mode 100644 index fe6f090..0000000 --- a/unilabos/registry/devices/bioyond.yaml +++ /dev/null @@ -1,255 +0,0 @@ -workstation.bioyond_dispensing_station: - category: - - workstation - - bioyond - class: - action_value_mappings: - create_90_10_vial_feeding_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - order_name: order_name - percent_10_1_assign_material_name: percent_10_1_assign_material_name - percent_10_1_liquid_material_name: percent_10_1_liquid_material_name - percent_10_1_target_weigh: percent_10_1_target_weigh - percent_10_1_volume: percent_10_1_volume - percent_10_2_assign_material_name: percent_10_2_assign_material_name - percent_10_2_liquid_material_name: percent_10_2_liquid_material_name - percent_10_2_target_weigh: percent_10_2_target_weigh - percent_10_2_volume: percent_10_2_volume - percent_10_3_assign_material_name: percent_10_3_assign_material_name - percent_10_3_liquid_material_name: percent_10_3_liquid_material_name - percent_10_3_target_weigh: percent_10_3_target_weigh - percent_10_3_volume: percent_10_3_volume - percent_90_1_assign_material_name: percent_90_1_assign_material_name - percent_90_1_target_weigh: percent_90_1_target_weigh - percent_90_2_assign_material_name: percent_90_2_assign_material_name - percent_90_2_target_weigh: percent_90_2_target_weigh - percent_90_3_assign_material_name: percent_90_3_assign_material_name - percent_90_3_target_weigh: percent_90_3_target_weigh - speed: speed - temperature: temperature - goal_default: - delay_time: '' - hold_m_name: '' - order_name: '' - percent_10_1_assign_material_name: '' - percent_10_1_liquid_material_name: '' - percent_10_1_target_weigh: '' - percent_10_1_volume: '' - percent_10_2_assign_material_name: '' - percent_10_2_liquid_material_name: '' - percent_10_2_target_weigh: '' - percent_10_2_volume: '' - percent_10_3_assign_material_name: '' - percent_10_3_liquid_material_name: '' - percent_10_3_target_weigh: '' - percent_10_3_volume: '' - percent_90_1_assign_material_name: '' - percent_90_1_target_weigh: '' - percent_90_2_assign_material_name: '' - percent_90_2_target_weigh: '' - percent_90_3_assign_material_name: '' - percent_90_3_target_weigh: '' - speed: '' - temperature: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationVialFeed_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - order_name: - type: string - percent_10_1_assign_material_name: - type: string - percent_10_1_liquid_material_name: - type: string - percent_10_1_target_weigh: - type: string - percent_10_1_volume: - type: string - percent_10_2_assign_material_name: - type: string - percent_10_2_liquid_material_name: - type: string - percent_10_2_target_weigh: - type: string - percent_10_2_volume: - type: string - percent_10_3_assign_material_name: - type: string - percent_10_3_liquid_material_name: - type: string - percent_10_3_target_weigh: - type: string - percent_10_3_volume: - type: string - percent_90_1_assign_material_name: - type: string - percent_90_1_target_weigh: - type: string - percent_90_2_assign_material_name: - type: string - percent_90_2_target_weigh: - type: string - percent_90_3_assign_material_name: - type: string - percent_90_3_target_weigh: - type: string - speed: - type: string - temperature: - type: string - required: - - order_name - - percent_90_1_assign_material_name - - percent_90_1_target_weigh - - percent_90_2_assign_material_name - - percent_90_2_target_weigh - - percent_90_3_assign_material_name - - percent_90_3_target_weigh - - percent_10_1_assign_material_name - - percent_10_1_target_weigh - - percent_10_1_volume - - percent_10_1_liquid_material_name - - percent_10_2_assign_material_name - - percent_10_2_target_weigh - - percent_10_2_volume - - percent_10_2_liquid_material_name - - percent_10_3_assign_material_name - - percent_10_3_target_weigh - - percent_10_3_volume - - percent_10_3_liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationVialFeed_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationVialFeed_Result - type: object - required: - - goal - title: DispenStationVialFeed - type: object - type: DispenStationVialFeed - create_diamine_solution_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - material_name: material_name - order_name: order_name - speed: speed - target_weigh: target_weigh - temperature: temperature - volume: volume - goal_default: - delay_time: '' - hold_m_name: '' - liquid_material_name: '' - material_name: '' - order_name: '' - speed: '' - target_weigh: '' - temperature: '' - volume: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationSolnPrep_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - type: string - material_name: - type: string - order_name: - type: string - speed: - type: string - target_weigh: - type: string - temperature: - type: string - volume: - type: string - required: - - order_name - - material_name - - target_weigh - - volume - - liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationSolnPrep_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationSolnPrep_Result - type: object - required: - - goal - title: DispenStationSolnPrep - type: object - type: DispenStationSolnPrep - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: string - deck: - type: string - required: - - config - - deck - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml deleted file mode 100644 index 50a94be..0000000 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ /dev/null @@ -1,404 +0,0 @@ -bioyond_dispensing_station: - category: - - workstation - - bioyond - - bioyond_dispensing_station - class: - action_value_mappings: - batch_create_90_10_vial_feeding_tasks: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - speed: speed - temperature: temperature - titration: titration - goal_default: - delay_time: '600' - hold_m_name: '' - liquid_material_name: NMP - speed: '400' - temperature: '40' - titration: '' - handles: - input: - - data_key: titration - data_source: handle - data_type: object - handler_key: titration - io_type: source - label: Titration Data From Calculation Node - result: - return_info: return_info - schema: - description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。 - properties: - feedback: - properties: {} - required: [] - title: BatchCreate9010VialFeedingTasks_Feedback - type: object - goal: - properties: - delay_time: - default: '600' - description: 延迟时间(秒),默认600 - type: string - hold_m_name: - description: 库位名称,如"C01",必填参数 - type: string - liquid_material_name: - default: NMP - description: 10%物料的液体物料名称,默认为"NMP" - type: string - speed: - default: '400' - description: 搅拌速度,默认400 - type: string - temperature: - default: '40' - description: 温度(℃),默认40 - type: string - titration: - description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g), - titration_solvent(滴定溶液体积mL)' - type: string - required: - - titration - - hold_m_name - title: BatchCreate9010VialFeedingTasks_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: BatchCreate9010VialFeedingTasks_Result - type: object - required: - - goal - title: BatchCreate9010VialFeedingTasks - type: object - type: UniLabJsonCommand - batch_create_diamine_solution_tasks: - feedback: {} - goal: - delay_time: delay_time - liquid_material_name: liquid_material_name - solutions: solutions - speed: speed - temperature: temperature - goal_default: - delay_time: '600' - liquid_material_name: NMP - solutions: '' - speed: '400' - temperature: '20' - handles: - input: - - data_key: solutions - data_source: handle - data_type: array - handler_key: solutions - io_type: source - label: Solution Data From Python - result: - return_info: return_info - schema: - description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。 - properties: - feedback: - properties: {} - required: [] - title: BatchCreateDiamineSolutionTasks_Feedback - type: object - goal: - properties: - delay_time: - default: '600' - description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒 - type: string - liquid_material_name: - default: NMP - description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮） - type: string - solutions: - description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g), - solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass": - 5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass": - 4.5, "solvent_volume": 18}]' - type: string - speed: - default: '400' - description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟 - type: string - temperature: - default: '20' - description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温） - type: string - required: - - solutions - title: BatchCreateDiamineSolutionTasks_Goal - type: object - result: - properties: - return_info: - description: 批量任务创建结果汇总，JSON格式包含总数、成功数、失败数及每个任务的详细信息 - type: string - required: - - return_info - title: BatchCreateDiamineSolutionTasks_Result - type: object - required: - - goal - title: BatchCreateDiamineSolutionTasks - type: object - type: UniLabJsonCommand - create_90_10_vial_feeding_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - order_name: order_name - percent_10_1_assign_material_name: percent_10_1_assign_material_name - percent_10_1_liquid_material_name: percent_10_1_liquid_material_name - percent_10_1_target_weigh: percent_10_1_target_weigh - percent_10_1_volume: percent_10_1_volume - percent_10_2_assign_material_name: percent_10_2_assign_material_name - percent_10_2_liquid_material_name: percent_10_2_liquid_material_name - percent_10_2_target_weigh: percent_10_2_target_weigh - percent_10_2_volume: percent_10_2_volume - percent_10_3_assign_material_name: percent_10_3_assign_material_name - percent_10_3_liquid_material_name: percent_10_3_liquid_material_name - percent_10_3_target_weigh: percent_10_3_target_weigh - percent_10_3_volume: percent_10_3_volume - percent_90_1_assign_material_name: percent_90_1_assign_material_name - percent_90_1_target_weigh: percent_90_1_target_weigh - percent_90_2_assign_material_name: percent_90_2_assign_material_name - percent_90_2_target_weigh: percent_90_2_target_weigh - percent_90_3_assign_material_name: percent_90_3_assign_material_name - percent_90_3_target_weigh: percent_90_3_target_weigh - speed: speed - temperature: temperature - goal_default: - delay_time: '' - hold_m_name: '' - order_name: '' - percent_10_1_assign_material_name: '' - percent_10_1_liquid_material_name: '' - percent_10_1_target_weigh: '' - percent_10_1_volume: '' - percent_10_2_assign_material_name: '' - percent_10_2_liquid_material_name: '' - percent_10_2_target_weigh: '' - percent_10_2_volume: '' - percent_10_3_assign_material_name: '' - percent_10_3_liquid_material_name: '' - percent_10_3_target_weigh: '' - percent_10_3_volume: '' - percent_90_1_assign_material_name: '' - percent_90_1_target_weigh: '' - percent_90_2_assign_material_name: '' - percent_90_2_target_weigh: '' - percent_90_3_assign_material_name: '' - percent_90_3_target_weigh: '' - speed: '' - temperature: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationVialFeed_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - order_name: - type: string - percent_10_1_assign_material_name: - type: string - percent_10_1_liquid_material_name: - type: string - percent_10_1_target_weigh: - type: string - percent_10_1_volume: - type: string - percent_10_2_assign_material_name: - type: string - percent_10_2_liquid_material_name: - type: string - percent_10_2_target_weigh: - type: string - percent_10_2_volume: - type: string - percent_10_3_assign_material_name: - type: string - percent_10_3_liquid_material_name: - type: string - percent_10_3_target_weigh: - type: string - percent_10_3_volume: - type: string - percent_90_1_assign_material_name: - type: string - percent_90_1_target_weigh: - type: string - percent_90_2_assign_material_name: - type: string - percent_90_2_target_weigh: - type: string - percent_90_3_assign_material_name: - type: string - percent_90_3_target_weigh: - type: string - speed: - type: string - temperature: - type: string - required: - - order_name - - percent_90_1_assign_material_name - - percent_90_1_target_weigh - - percent_90_2_assign_material_name - - percent_90_2_target_weigh - - percent_90_3_assign_material_name - - percent_90_3_target_weigh - - percent_10_1_assign_material_name - - percent_10_1_target_weigh - - percent_10_1_volume - - percent_10_1_liquid_material_name - - percent_10_2_assign_material_name - - percent_10_2_target_weigh - - percent_10_2_volume - - percent_10_2_liquid_material_name - - percent_10_3_assign_material_name - - percent_10_3_target_weigh - - percent_10_3_volume - - percent_10_3_liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationVialFeed_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationVialFeed_Result - type: object - required: - - goal - title: DispenStationVialFeed - type: object - type: DispenStationVialFeed - create_diamine_solution_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - material_name: material_name - order_name: order_name - speed: speed - target_weigh: target_weigh - temperature: temperature - volume: volume - goal_default: - delay_time: '' - hold_m_name: '' - liquid_material_name: '' - material_name: '' - order_name: '' - speed: '' - target_weigh: '' - temperature: '' - volume: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationSolnPrep_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - type: string - material_name: - type: string - order_name: - type: string - speed: - type: string - target_weigh: - type: string - temperature: - type: string - volume: - type: string - required: - - order_name - - material_name - - target_weigh - - volume - - liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationSolnPrep_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationSolnPrep_Result - type: object - required: - - goal - title: DispenStationSolnPrep - type: object - type: DispenStationSolnPrep - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: preparation_station.webp - init_param_schema: - config: - properties: - config: - type: string - required: - - config - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index c88a47c..f1a16ec 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -4,48 +4,6 @@ reaction_station.bioyond: - reaction_station_bioyond class: action_value_mappings: - drip_back: - feedback: {} - goal: - assign_material_name: assign_material_name - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' - handles: {} - result: {} - schema: - description: 滴回去 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称（不能为空） - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: load_bioyond_data_from_file参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -104,6 +62,48 @@ reaction_station.bioyond: title: drip_back参数 type: object type: UniLabJsonCommand + drip_back: + feedback: {} + goal: + assign_material_name: assign_material_name + temperature: temperature + time: time + titration_type: titration_type + torque_variation: torque_variation + volume: volume + goal_default: + assign_material_name: '' + temperature: '' + time: '' + titration_type: '' + torque_variation: '' + volume: '' + handles: {} + result: {} + schema: + description: 滴回去 + properties: + feedback: {} + goal: + properties: + assign_material_name: + description: 物料名称（不能为空） + type: string + temperature: + description: 温度设定(°C) + type: string + time: + description: 观察时间(分钟) + type: string + required: + - file_path + type: object + result: {} + required: + - goal + title: load_bioyond_data_from_file参数 + type: object + type: UniLabJsonCommand liquid_feeding_beaker: feedback: {} goal: From 39bc317bfcf0c89a6fe1717bb478febb3c236650 Mon Sep 17 00:00:00 2001 From: calvincao Date: Wed, 29 Oct 2025 18:39:22 +0800 Subject: [PATCH 029/104] =?UTF-8?q?feat(workstation):=20=E6=94=AF=E6=8C=81?= =?UTF-8?q?=E5=A4=9A=E7=A7=8D=E8=BE=93=E5=85=A5=E7=B1=BB=E5=9E=8B=E7=9A=84?= =?UTF-8?q?=20station=5Fresource=20=E5=B9=B6=E4=BC=98=E5=8C=96=E7=89=A9?= =?UTF-8?q?=E6=96=99=E7=B3=BB=E7=BB=9F=E5=88=9D=E5=A7=8B=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 新增 `_coerce_station_resource_input` 函数以支持 dict、list 和其他类型转换为 Deck - 添加对 Modbus 客户端方法的兼容性封装，确保 slave/unit 参数正确传递- 在初始化时根据 station_resource 动态创建或赋值 deck - 自动构建默认物料台面及三个料盘，并分配初始电极片资源 - 移除旧有的硬编码物料系统注释代码 - 更新资源导出逻辑以使用工作站实例中的 deck 属性 --- .../coin_cell_assembly/coin_cell_assembly.py | 147 +++++++++++++++++- 1 file changed, 139 insertions(+), 8 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 51d668b..966de33 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -1,11 +1,15 @@ + import csv +import inspect import json import os import threading import time +import types from datetime import datetime from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource +from functools import wraps +from pylabrobot.resources import Deck, Resource as PLRResource from unilabos_msgs.msg import Resource from unilabos.device_comms.modbus_plc.client import ModbusTcpClient from unilabos.devices.workstation.workstation_base import WorkstationBase @@ -15,12 +19,99 @@ from unilabos.devices.workstation.coin_cell_assembly.button_battery_station impo from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck +from unilabos.resources.graphio import convert_resources_to_type +from unilabos.utils.log import logger + + +def _ensure_modbus_slave_kw_alias(modbus_client): + if modbus_client is None: + return + + method_names = [ + "read_coils", + "write_coils", + "write_coil", + "read_discrete_inputs", + "read_holding_registers", + "write_register", + "write_registers", + ] + + def _wrap(func): + signature = inspect.signature(func) + has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values()) + accepts_unit = has_var_kwargs or "unit" in signature.parameters + accepts_slave = has_var_kwargs or "slave" in signature.parameters + + @wraps(func) + def _wrapped(self, *args, **kwargs): + if "slave" in kwargs and not accepts_slave: + slave_value = kwargs.pop("slave") + if accepts_unit and "unit" not in kwargs: + kwargs["unit"] = slave_value + if "unit" in kwargs and not accepts_unit: + unit_value = kwargs.pop("unit") + if accepts_slave and "slave" not in kwargs: + kwargs["slave"] = unit_value + return func(self, *args, **kwargs) + + _wrapped._has_slave_alias = True + return _wrapped + + for name in method_names: + if not hasattr(modbus_client, name): + continue + bound_method = getattr(modbus_client, name) + func = getattr(bound_method, "__func__", None) + if func is None: + continue + if getattr(func, "_has_slave_alias", False): + continue + wrapped = _wrap(func) + setattr(modbus_client, name, types.MethodType(wrapped, modbus_client)) + + +def _coerce_station_resource_input(station_resource: Any) -> Optional[Deck]: + if station_resource is None: + return None + + if isinstance(station_resource, Deck): + return station_resource + + if isinstance(station_resource, PLRResource): + return station_resource if isinstance(station_resource, Deck) else None + + candidates = None + if isinstance(station_resource, dict): + if "nodes" in station_resource and isinstance(station_resource["nodes"], list): + candidates = station_resource["nodes"] + else: + candidates = [station_resource] + elif isinstance(station_resource, list): + candidates = station_resource + + if candidates is None: + return None + + try: + converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck) + if isinstance(converted, Deck): + return converted + if isinstance(converted, list): + for item in converted: + if isinstance(item, Deck): + return item + except Exception as exc: + logger.warning(f"station_resource 转换 Deck 失败: {exc}") + return None + #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, + station_resource: Optional[Any] = None, deck: Deck=None, address: str = "172.21.32.20", port: str = "502", @@ -28,6 +119,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase): *args, **kwargs, ): + if station_resource is None and "station_resource" in kwargs: + station_resource = kwargs.pop("station_resource") + else: + kwargs.pop("station_resource", None) + + normalized_station_resource = _coerce_station_resource_input(station_resource) + + if deck is None and isinstance(normalized_station_resource, Deck): + deck = normalized_station_resource + super().__init__( #桌子 deck=deck, @@ -35,10 +136,34 @@ class CoinCellAssemblyWorkstation(WorkstationBase): **kwargs, ) self.debug_mode = debug_mode - self.deck = deck + + self.station_resource = normalized_station_resource if isinstance(normalized_station_resource, Deck) else None + + if self.deck is None: + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900) + self.station_resource = self.deck + # 创建料盘1并添加极片 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + self.deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) + for i in range(16): + jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian, location=None) + # 创建料盘2 + liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) + self.deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) + # 创建电池料盘 + liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) + self.deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) + else: + if self.station_resource is None: + self.station_resource = self.deck + elif self.deck is not self.station_resource: + self.deck = self.station_resource + """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) print("modbus_client", modbus_client) + _ensure_modbus_slave_kw_alias(modbus_client.client) if not debug_mode: modbus_client.client.connect() count = 100 @@ -62,8 +187,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.csv_export_file = None self.coin_num_N = 0 #已组装电池数量 #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - #self._ros_node.update_resource(self.deck) #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ @@ -907,7 +1030,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": [self.station_resource] }) - time.sleep(4) + # for i in range(40): + # print(f"fun_wuliao_test 运行结束{i}") + # time.sleep(1) + # time.sleep(40) # 数据读取与输出 def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 @@ -1145,8 +1271,11 @@ if __name__ == "__main__": #liaopan2.children[1].assign_child_resource(jipian1, location=None) ##print(jipian2.parent) - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") + # 使用 Coin_Cell 对象的 deck 属性 + deck = Coin_Cell.deck + + liaopan1 = Coin_Cell.deck.get_resource("liaopan1") + liaopan2 = Coin_Cell.deck.get_resource("liaopan2") for i in range(16): #找到liaopan1上每一个jipian jipian_linshi = liaopan1.children[i].children[0] @@ -1172,7 +1301,7 @@ if __name__ == "__main__": BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" from unilabos.app.web.client import http_client - resources = convert_resources_from_type([deck], [Resource]) + resources = convert_resources_from_type([Coin_Cell.deck], [Resource]) json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) #print(resources) @@ -1180,4 +1309,6 @@ if __name__ == "__main__": http_client.resource_add(resources) + + \ No newline at end of file From 9fe8f4f28fe1c663ed9b0428dd694d4ba0d460dd Mon Sep 17 00:00:00 2001 From: calvincao Date: Wed, 29 Oct 2025 21:36:52 +0800 Subject: [PATCH 030/104] =?UTF-8?q?fix(workstation):=20=E4=BF=AE=E5=A4=8D?= =?UTF-8?q?=20coin=5Fcell=5Fassembly=5Fa.csv=20=E6=96=87=E4=BB=B6=E4=B8=AD?= =?UTF-8?q?=E7=9A=84=E5=AF=84=E5=AD=98=E5=99=A8=E5=92=8C=E7=BA=BF=E5=9C=88?= =?UTF-8?q?=E5=AE=9A=E4=B9=89=E6=A0=BC=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 重新排列并清理了 coin_cell_assembly_a.csv 中的寄存器和线圈定义 - 确保所有定义的格式一致，提升可读性和维护性 --- .../coin_cell_assembly_a.csv | 25 ++++++------------- 1 file changed, 7 insertions(+), 18 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index 836fb71..1805c23 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,21 +43,10 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 -COIL_ALUMINUM_FOIL,BOOL,,ʹ,,coil,8340, -REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, -REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, -REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, -REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, -REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, -REG_MSG_PRESS_MODE,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ -,,,,,,, -,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ -,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ -,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, -,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ -,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ -,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ -,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ -,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ -,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ -,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ +COIL_ALUMINUM_FOIL,BOOL,,ʹ��������,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,����Ƭ�����λ,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,��Ĥ�����λ,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,��Һǹͷ�����λ,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,����Ƭ����,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,��Ĥ����,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,ѹ��ģʽ��false:ѹ�����ģʽ��True:����ģʽ��,,coil,8360,���ѹ��ģʽ From b3e28196c665de6f0819543b4e48eb319091852d Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 30 Oct 2025 11:22:17 +0800 Subject: [PATCH 031/104] =?UTF-8?q?feat(battery):=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E7=94=B5=E6=B1=A0=E5=B7=A5=E4=BD=8D=E8=B5=84=E6=BA=90=E9=85=8D?= =?UTF-8?q?=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 将 coin_cell_deck 类型从 container 更改为 coin_cell_deck - 将 material_plate 类型从 container 更改为 material_plate - 将 material_hole 类型从 container 更改为 material_hole- 移除电极片容器结构，直接使用 electrode_sheet 类型 - 更新物料孔配置参数，包括直径、深度和最大片数 -重新组织料盘结构，明确父子节点关系 - 添加新的电极片定义并关联到对应的物料孔 - 调整所有物料孔坐标位置以匹配新布局 - 为 liaopan2 添加完整的子节点结构和排序规则 --- button_battery_station_resources_unilab.json | 1384 ++++++++--------- .../workstation/bioyond_studio/config.py | 2 +- ..._battery_station.py => YB_YH_materials.py} | 0 .../coin_cell_assembly/coin_cell_assembly.py | 68 +- .../coin_cell_assembly_a.csv | 25 +- .../coin_cell_assembly/new_cellconfig3c.json | 683 +------- 6 files changed, 759 insertions(+), 1403 deletions(-) rename unilabos/devices/workstation/coin_cell_assembly/{button_battery_station.py => YB_YH_materials.py} (100%) diff --git a/button_battery_station_resources_unilab.json b/button_battery_station_resources_unilab.json index 2d55750..f60d1c7 100644 --- a/button_battery_station_resources_unilab.json +++ b/button_battery_station_resources_unilab.json @@ -10,7 +10,7 @@ "\u7535\u6c60\u6599\u76d8" ], "parent": null, - "type": "container", + "type": "coin_cell_deck", "class": "", "position": { "x": 0, @@ -56,7 +56,7 @@ "liaopan1_materialhole_3_3" ], "parent": "coin_cell_deck", - "type": "container", + "type": "material_plate", "class": "", "position": { "x": 0, @@ -102,11 +102,9 @@ "id": "liaopan1_materialhole_0_0", "name": "liaopan1_materialhole_0_0", "sample_id": null, - "children": [ - "jipian1_0" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -135,51 +133,13 @@ "info": null } }, - { - "id": "jipian1_0", - "name": "jipian1_0", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_0_1", "name": "liaopan1_materialhole_0_1", "sample_id": null, - "children": [ - "jipian1_1" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -208,51 +168,13 @@ "info": null } }, - { - "id": "jipian1_1", - "name": "jipian1_1", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_0_2", "name": "liaopan1_materialhole_0_2", "sample_id": null, - "children": [ - "jipian1_2" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -281,51 +203,13 @@ "info": null } }, - { - "id": "jipian1_2", - "name": "jipian1_2", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_0_3", "name": "liaopan1_materialhole_0_3", "sample_id": null, - "children": [ - "jipian1_3" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -354,51 +238,13 @@ "info": null } }, - { - "id": "jipian1_3", - "name": "jipian1_3", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_0_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_1_0", "name": "liaopan1_materialhole_1_0", "sample_id": null, - "children": [ - "jipian1_4" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -427,51 +273,13 @@ "info": null } }, - { - "id": "jipian1_4", - "name": "jipian1_4", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_1_1", "name": "liaopan1_materialhole_1_1", "sample_id": null, - "children": [ - "jipian1_5" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -500,51 +308,13 @@ "info": null } }, - { - "id": "jipian1_5", - "name": "jipian1_5", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_1_2", "name": "liaopan1_materialhole_1_2", "sample_id": null, - "children": [ - "jipian1_6" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -573,51 +343,13 @@ "info": null } }, - { - "id": "jipian1_6", - "name": "jipian1_6", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_1_3", "name": "liaopan1_materialhole_1_3", "sample_id": null, - "children": [ - "jipian1_7" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -646,51 +378,13 @@ "info": null } }, - { - "id": "jipian1_7", - "name": "jipian1_7", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_1_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_2_0", "name": "liaopan1_materialhole_2_0", "sample_id": null, - "children": [ - "jipian1_8" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -719,51 +413,13 @@ "info": null } }, - { - "id": "jipian1_8", - "name": "jipian1_8", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_2_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_2_1", "name": "liaopan1_materialhole_2_1", "sample_id": null, - "children": [ - "jipian1_9" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -792,51 +448,13 @@ "info": null } }, - { - "id": "jipian1_9", - "name": "jipian1_9", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_2_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_2_2", "name": "liaopan1_materialhole_2_2", "sample_id": null, - "children": [ - "jipian1_10" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -865,51 +483,13 @@ "info": null } }, - { - "id": "jipian1_10", - "name": "jipian1_10", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_2_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_2_3", "name": "liaopan1_materialhole_2_3", "sample_id": null, - "children": [ - "jipian1_11" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -938,51 +518,13 @@ "info": null } }, - { - "id": "jipian1_11", - "name": "jipian1_11", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_2_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_3_0", "name": "liaopan1_materialhole_3_0", "sample_id": null, - "children": [ - "jipian1_12" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1011,51 +553,13 @@ "info": null } }, - { - "id": "jipian1_12", - "name": "jipian1_12", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_3_0", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_3_1", "name": "liaopan1_materialhole_3_1", "sample_id": null, - "children": [ - "jipian1_13" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1084,51 +588,13 @@ "info": null } }, - { - "id": "jipian1_13", - "name": "jipian1_13", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_3_1", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_3_2", "name": "liaopan1_materialhole_3_2", "sample_id": null, - "children": [ - "jipian1_14" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1157,51 +623,13 @@ "info": null } }, - { - "id": "jipian1_14", - "name": "jipian1_14", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_3_2", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan1_materialhole_3_3", "name": "liaopan1_materialhole_3_3", "sample_id": null, - "children": [ - "jipian1_15" - ], + "children": [], "parent": "liaopan1", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1230,42 +658,6 @@ "info": null } }, - { - "id": "jipian1_15", - "name": "jipian1_15", - "sample_id": null, - "children": [], - "parent": "liaopan1_materialhole_3_3", - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null - }, - "data": { - "diameter": 14, - "thickness": 0.1, - "mass": 0.5, - "material_type": "copper", - "info": null - } - }, { "id": "liaopan2", "name": "liaopan2", @@ -1289,7 +681,7 @@ "liaopan2_materialhole_3_3" ], "parent": "coin_cell_deck", - "type": "container", + "type": "material_plate", "class": "", "position": { "x": 500, @@ -1335,9 +727,11 @@ "id": "liaopan2_materialhole_0_0", "name": "liaopan2_materialhole_0_0", "sample_id": null, - "children": [], + "children": [ + "jipian1_0" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -1366,13 +760,51 @@ "info": null } }, + { + "id": "jipian1_0", + "name": "jipian1_0", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_0_0", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_0_1", "name": "liaopan2_materialhole_0_1", "sample_id": null, - "children": [], + "children": [ + "jipian1_1" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -1401,13 +833,51 @@ "info": null } }, + { + "id": "jipian1_1", + "name": "jipian1_1", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_0_1", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_0_2", "name": "liaopan2_materialhole_0_2", "sample_id": null, - "children": [], + "children": [ + "jipian1_2" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -1436,13 +906,51 @@ "info": null } }, + { + "id": "jipian1_2", + "name": "jipian1_2", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_0_2", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_0_3", "name": "liaopan2_materialhole_0_3", "sample_id": null, - "children": [], + "children": [ + "jipian1_3" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -1471,13 +979,51 @@ "info": null } }, + { + "id": "jipian1_3", + "name": "jipian1_3", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_0_3", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_1_0", "name": "liaopan2_materialhole_1_0", "sample_id": null, - "children": [], + "children": [ + "jipian1_4" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -1506,13 +1052,51 @@ "info": null } }, + { + "id": "jipian1_4", + "name": "jipian1_4", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_1_0", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_1_1", "name": "liaopan2_materialhole_1_1", "sample_id": null, - "children": [], + "children": [ + "jipian1_5" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -1541,13 +1125,51 @@ "info": null } }, + { + "id": "jipian1_5", + "name": "jipian1_5", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_1_1", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_1_2", "name": "liaopan2_materialhole_1_2", "sample_id": null, - "children": [], + "children": [ + "jipian1_6" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -1576,13 +1198,51 @@ "info": null } }, + { + "id": "jipian1_6", + "name": "jipian1_6", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_1_2", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_1_3", "name": "liaopan2_materialhole_1_3", "sample_id": null, - "children": [], + "children": [ + "jipian1_7" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -1611,13 +1271,51 @@ "info": null } }, + { + "id": "jipian1_7", + "name": "jipian1_7", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_1_3", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_2_0", "name": "liaopan2_materialhole_2_0", "sample_id": null, - "children": [], + "children": [ + "jipian1_8" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -1646,13 +1344,51 @@ "info": null } }, + { + "id": "jipian1_8", + "name": "jipian1_8", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_2_0", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_2_1", "name": "liaopan2_materialhole_2_1", "sample_id": null, - "children": [], + "children": [ + "jipian1_9" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -1681,13 +1417,51 @@ "info": null } }, + { + "id": "jipian1_9", + "name": "jipian1_9", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_2_1", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_2_2", "name": "liaopan2_materialhole_2_2", "sample_id": null, - "children": [], + "children": [ + "jipian1_10" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -1716,13 +1490,51 @@ "info": null } }, + { + "id": "jipian1_10", + "name": "jipian1_10", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_2_2", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_2_3", "name": "liaopan2_materialhole_2_3", "sample_id": null, - "children": [], + "children": [ + "jipian1_11" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -1751,13 +1563,51 @@ "info": null } }, + { + "id": "jipian1_11", + "name": "jipian1_11", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_2_3", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_3_0", "name": "liaopan2_materialhole_3_0", "sample_id": null, - "children": [], + "children": [ + "jipian1_12" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1786,13 +1636,51 @@ "info": null } }, + { + "id": "jipian1_12", + "name": "jipian1_12", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_3_0", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_3_1", "name": "liaopan2_materialhole_3_1", "sample_id": null, - "children": [], + "children": [ + "jipian1_13" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1821,13 +1709,51 @@ "info": null } }, + { + "id": "jipian1_13", + "name": "jipian1_13", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_3_1", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_3_2", "name": "liaopan2_materialhole_3_2", "sample_id": null, - "children": [], + "children": [ + "jipian1_14" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1856,13 +1782,51 @@ "info": null } }, + { + "id": "jipian1_14", + "name": "jipian1_14", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_3_2", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "liaopan2_materialhole_3_3", "name": "liaopan2_materialhole_3_3", "sample_id": null, - "children": [], + "children": [ + "jipian1_15" + ], "parent": "liaopan2", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -1891,6 +1855,42 @@ "info": null } }, + { + "id": "jipian1_15", + "name": "jipian1_15", + "sample_id": null, + "children": [], + "parent": "liaopan2_materialhole_3_3", + "type": "electrode_sheet", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "ElectrodeSheet", + "size_x": 12, + "size_y": 12, + "size_z": 0.1, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "electrode_sheet", + "model": null, + "barcode": null + }, + "data": { + "diameter": 14, + "thickness": 0.1, + "mass": 0.5, + "material_type": "copper", + "info": null + } + }, { "id": "\u7535\u6c60\u6599\u76d8", "name": "\u7535\u6c60\u6599\u76d8", @@ -1914,7 +1914,7 @@ "\u7535\u6c60\u6599\u76d8_materialhole_3_3" ], "parent": "coin_cell_deck", - "type": "container", + "type": "material_plate", "class": "", "position": { "x": 100, @@ -1962,7 +1962,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -1997,7 +1997,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -2032,7 +2032,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -2067,7 +2067,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 12.4, @@ -2102,7 +2102,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -2137,7 +2137,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -2172,7 +2172,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -2207,7 +2207,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 36.4, @@ -2242,7 +2242,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -2277,7 +2277,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -2312,7 +2312,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -2347,7 +2347,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 60.4, @@ -2382,7 +2382,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -2417,7 +2417,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -2452,7 +2452,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, @@ -2487,7 +2487,7 @@ "sample_id": null, "children": [], "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", + "type": "material_hole", "class": "", "position": { "x": 84.4, diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 1141dfa..504cf45 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -16,7 +16,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.161"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.210"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py similarity index 100% rename from unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py rename to unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 966de33..7ca5627 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -15,10 +15,10 @@ from unilabos.device_comms.modbus_plc.client import ModbusTcpClient from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import * from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck from unilabos.resources.graphio import convert_resources_to_type from unilabos.utils.log import logger @@ -71,24 +71,24 @@ def _ensure_modbus_slave_kw_alias(modbus_client): setattr(modbus_client, name, types.MethodType(wrapped, modbus_client)) -def _coerce_station_resource_input(station_resource: Any) -> Optional[Deck]: - if station_resource is None: +def _coerce_deck_input(deck: Any) -> Optional[Deck]: + if deck is None: return None - if isinstance(station_resource, Deck): - return station_resource + if isinstance(deck, Deck): + return deck - if isinstance(station_resource, PLRResource): - return station_resource if isinstance(station_resource, Deck) else None + if isinstance(deck, PLRResource): + return deck if isinstance(deck, Deck) else None candidates = None - if isinstance(station_resource, dict): - if "nodes" in station_resource and isinstance(station_resource["nodes"], list): - candidates = station_resource["nodes"] + if isinstance(deck, dict): + if "nodes" in deck and isinstance(deck["nodes"], list): + candidates = deck["nodes"] else: - candidates = [station_resource] - elif isinstance(station_resource, list): - candidates = station_resource + candidates = [deck] + elif isinstance(deck, list): + candidates = deck if candidates is None: return None @@ -102,7 +102,7 @@ def _coerce_station_resource_input(station_resource: Any) -> Optional[Deck]: if isinstance(item, Deck): return item except Exception as exc: - logger.warning(f"station_resource 转换 Deck 失败: {exc}") + logger.warning(f"deck 转换 Deck 失败: {exc}") return None @@ -111,23 +111,22 @@ def _coerce_station_resource_input(station_resource: Any) -> Optional[Deck]: class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, - station_resource: Optional[Any] = None, deck: Deck=None, - address: str = "172.21.32.20", + address: str = "172.21.32.111", port: str = "502", debug_mode: bool = False, *args, **kwargs, ): - if station_resource is None and "station_resource" in kwargs: - station_resource = kwargs.pop("station_resource") + if deck is None and "deck" in kwargs: + deck = kwargs.pop("deck") else: - kwargs.pop("station_resource", None) + kwargs.pop("deck", None) - normalized_station_resource = _coerce_station_resource_input(station_resource) + normalized_deck = _coerce_deck_input(deck) - if deck is None and isinstance(normalized_station_resource, Deck): - deck = normalized_station_resource + if deck is None and isinstance(normalized_deck, Deck): + deck = normalized_deck super().__init__( #桌子 @@ -137,11 +136,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ) self.debug_mode = debug_mode - self.station_resource = normalized_station_resource if isinstance(normalized_station_resource, Deck) else None + self.deck = None if self.deck is None: self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900) - self.station_resource = self.deck # 创建料盘1并添加极片 liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) self.deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) @@ -155,10 +153,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase): liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) self.deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) else: - if self.station_resource is None: - self.station_resource = self.deck - elif self.deck is not self.station_resource: - self.deck = self.station_resource + if self.deck is None: + self.deck = self.deck + elif self.deck is not self.deck: + self.deck = self.deck """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) @@ -831,7 +829,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): print("data_electrolyte_code", data_electrolyte_code) print("data_coin_cell_code", data_coin_cell_code) #接收完信息后，读取完毕标志位置True - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") #把物料解绑后放到另一盘上 battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) battery._unilabos_state = { @@ -844,7 +842,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) #print(jipian2.parent) ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] + "resources": [self.deck] }) @@ -1015,7 +1013,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def fun_wuliao_test(self) -> bool: #找到data_init中构建的2个物料盘 - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") for i in range(16): battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) battery._unilabos_state = { @@ -1028,7 +1026,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): liaopan3.children[i].assign_child_resource(battery, location=None) ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] + "resources": [self.deck] }) # for i in range(40): # print(f"fun_wuliao_test 运行结束{i}") @@ -1286,7 +1284,7 @@ if __name__ == "__main__": from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: + #with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f: # bioyond_resources_unilab = json.load(f) #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) @@ -1302,7 +1300,7 @@ if __name__ == "__main__": from unilabos.app.web.client import http_client resources = convert_resources_from_type([Coin_Cell.deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) + json.dump({"nodes": resources, "links": []}, open("button_battery_decks_unilab.json", "w"), indent=2) #print(resources) http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index 1805c23..d8ece23 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,10 +43,21 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 -COIL_ALUMINUM_FOIL,BOOL,,ʹ��������,,coil,8340, -REG_MSG_NE_PLATE_MATRIX,INT16,,����Ƭ�����λ,,hold_register,440, -REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,��Ĥ�����λ,,hold_register,450, -REG_MSG_TIP_BOX_MATRIX,INT16,,��Һǹͷ�����λ,,hold_register,480, -REG_MSG_NE_PLATE_NUM,INT16,,����Ƭ����,,hold_register,443, -REG_MSG_SEPARATOR_PLATE_NUM,INT16,,��Ĥ����,,hold_register,453, -REG_MSG_PRESS_MODE,BOOL,,ѹ��ģʽ��false:ѹ�����ģʽ��True:����ģʽ��,,coil,8360,���ѹ��ģʽ +COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, +,,,,,,, +,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ +,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ +,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, +,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ +,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ +,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ +,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ +,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ +,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ +,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ +,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json index 8efce63..c96e6b2 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json @@ -1,6 +1,20 @@ { "nodes": [ { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {} + }, + "data": {} + }, + { "id": "BatteryStation", "name": "扣电工作站", "children": [ @@ -16,674 +30,7 @@ }, "config": { "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", - "protocol_type": [], - "station_resource": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "172.21.32.20", - "port": 502 - }, - "data": {} - }, - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "\u7535\u6c60\u6599\u76d8" - ], - "parent": null, - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1000, - "size_y": 1000, - "size_z": 900, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "\u7535\u6c60\u6599\u76d8", - "name": "\u7535\u6c60\u6599\u76d8", - "sample_id": null, - "children": [ - "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "\u7535\u6c60\u6599\u76d8_materialhole_1_3", - "\u7535\u6c60\u6599\u76d8_materialhole_2_0", - "\u7535\u6c60\u6599\u76d8_materialhole_2_1", - "\u7535\u6c60\u6599\u76d8_materialhole_2_2", - "\u7535\u6c60\u6599\u76d8_materialhole_2_3", - "\u7535\u6c60\u6599\u76d8_materialhole_3_0", - "\u7535\u6c60\u6599\u76d8_materialhole_3_1", - "\u7535\u6c60\u6599\u76d8_materialhole_3_2", - "\u7535\u6c60\u6599\u76d8_materialhole_3_3" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 100, - "y": 100, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 120.8, - "size_y": 160.5, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "B1": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "C1": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "D1": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "A2": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "B2": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "C2": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "D2": "\u7535\u6c60\u6599\u76d8_materialhole_1_3", - "A3": "\u7535\u6c60\u6599\u76d8_materialhole_2_0", - "B3": "\u7535\u6c60\u6599\u76d8_materialhole_2_1", - "C3": "\u7535\u6c60\u6599\u76d8_materialhole_2_2", - "D3": "\u7535\u6c60\u6599\u76d8_materialhole_2_3", - "A4": "\u7535\u6c60\u6599\u76d8_materialhole_3_0", - "B4": "\u7535\u6c60\u6599\u76d8_materialhole_3_1", - "C4": "\u7535\u6c60\u6599\u76d8_materialhole_3_2", - "D4": "\u7535\u6c60\u6599\u76d8_materialhole_3_3" - } - }, - "data": {} - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 104.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 80.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 56.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 32.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 104.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 80.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "sample_id": null, - "children": [], - "parent": 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Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 30 Oct 2025 14:25:33 +0800 Subject: [PATCH 032/104] =?UTF-8?q?fix(workstation):=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=20coin=5Fcell=5Fassembly=5Fa.csv=20=E4=B8=AD=E7=9A=84=E5=AF=84?= =?UTF-8?q?=E5=AD=98=E5=99=A8=E5=92=8C=E7=BA=BF=E5=9C=88=E5=AE=9A=E4=B9=89?= =?UTF-8?q?=E4=B8=BA=E4=B8=AD=E6=96=87=E6=8F=8F=E8=BF=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 将寄存器和线圈定义中的英文描述替换为中文，提升可读性 - 确保所有定义格式一致，保持文件的整洁性和维护性 --- .../coin_cell_assembly_a.csv | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index d8ece23..bb66a7a 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -44,20 +44,20 @@ UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, -REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, -REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, -REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, -REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, -REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, +REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453, ,,,,,,, -,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ -,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ -,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, -,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ -,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ -,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ -,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ -,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ -,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ -,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ -,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ +,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位 +,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检 +,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓 +,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓 +,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知 +,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式 +,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式 +,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重 +,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装 +,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁 +,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式 From f58921ef823cfb45a3a10064aac68d1d37c464a4 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Thu, 30 Oct 2025 16:16:53 +0800 Subject: [PATCH 033/104] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0=E6=89=A3?= =?UTF-8?q?=E7=94=B5=E5=B7=A5=E4=BD=9C=E7=AB=99=20setup()=20=E6=96=B9?= =?UTF-8?q?=E6=B3=95=E5=B9=B6=E4=BF=AE=E5=A4=8D=E6=98=BE=E7=A4=BA=E9=97=AE?= =?UTF-8?q?=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 主要改动: - ✅ 在 CoincellDeck 实现 setup() 方法（模仿 decks.py 三步配置模式） - ✅ 统一 Deck 默认尺寸为 1000x1000x900mm - ✅ 优化料盘布局：横向排列，留50mm边距 - ✅ 简化工作站 deck 创建逻辑（从30行减至1行） - ✅ 新增 create_coin_cell_deck() 便捷函数 - ✅ 修复 ClipMagazine 参数错误 - ✅ 删除约200行冗余代码 - ✅ 修复底座不显示问题 技术细节: - MaterialPlate 位置: liaopan1(50,50), liaopan2(250,50), 电池料盘(450,50) - 自动为 liaopan1 添加16个初始极片 - 支持3种 deck 创建方式 - 智能判断是否需要 setup --- .../coin_cell_assembly/YB_YH_materials.py | 976 +++++++++++++ .../coin_cell_assembly/coin_cell_assembly.py | 1224 +++++++++++++++++ 2 files changed, 2200 insertions(+) create mode 100644 unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py new file mode 100644 index 0000000..6ea8939 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -0,0 +1,976 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 20.0, + hole_depth: float = 50.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1000.0, # 1m + size_y: float = 1000.0, # 1m + size_z: float = 900.0, # 0.9m + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + setup: bool = False, # 是否自动执行 setup + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 1m + size_y: 宽度 (mm) - 1m + size_z: 高度 (mm) - 0.9m + origin: 原点坐标 + category: 类别 + setup: 是否自动执行 setup 配置标准布局 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + if setup: + self.setup() + + def setup(self) -> None: + """设置工作站的标准布局 - 包含3个料盘""" + # 步骤 1: 创建所有料盘 + self.plates = { + "liaopan1": MaterialPlate( + name="liaopan1", + size_x=120.8, + size_y=120.5, + size_z=10.0, + fill=True + ), + "liaopan2": MaterialPlate( + name="liaopan2", + size_x=120.8, + size_y=120.5, + size_z=10.0, + fill=True + ), + "电池料盘": MaterialPlate( + name="电池料盘", + size_x=120.8, + size_y=160.5, + size_z=10.0, + fill=True + ), + } + + # 步骤 2: 定义料盘在 deck 上的位置 + # Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm + self.plate_locations = { + "liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距 + "liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧 + "电池料盘": Coordinate(x=450, y=50, z=0), # 右侧 + } + + # 步骤 3: 将料盘分配到 deck 上 + for plate_name, plate in self.plates.items(): + self.assign_child_resource( + plate, + location=self.plate_locations[plate_name] + ) + + # 步骤 4: 为 liaopan1 添加初始极片 + for i in range(16): + jipian = ElectrodeSheet( + name=f"jipian1_{i}", + size_x=12, + size_y=12, + size_z=0.1 + ) + self.plates["liaopan1"].children[i].assign_child_resource( + jipian, + location=None + ) + + +def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck: + """创建并配置标准的纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + + Returns: + 已配置好的 CoincellDeck 对象 + """ + deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z) + deck.setup() + return deck \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py new file mode 100644 index 0000000..cf06f70 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -0,0 +1,1224 @@ + +import csv +import inspect +import json +import os +import threading +import time +import types +from datetime import datetime +from typing import Any, Dict, Optional +from functools import wraps +from pylabrobot.resources import Deck, Resource as PLRResource +from unilabos_msgs.msg import Resource +from unilabos.device_comms.modbus_plc.client import ModbusTcpClient +from unilabos.devices.workstation.workstation_base import WorkstationBase +from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient +from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import * +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck +from unilabos.resources.graphio import convert_resources_to_type +from unilabos.utils.log import logger + + +def _ensure_modbus_slave_kw_alias(modbus_client): + if modbus_client is None: + return + + method_names = [ + "read_coils", + "write_coils", + "write_coil", + "read_discrete_inputs", + "read_holding_registers", + "write_register", + "write_registers", + ] + + def _wrap(func): + signature = inspect.signature(func) + has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values()) + accepts_unit = has_var_kwargs or "unit" in signature.parameters + accepts_slave = has_var_kwargs or "slave" in signature.parameters + + @wraps(func) + def _wrapped(self, *args, **kwargs): + if "slave" in kwargs and not accepts_slave: + slave_value = kwargs.pop("slave") + if accepts_unit and "unit" not in kwargs: + kwargs["unit"] = slave_value + if "unit" in kwargs and not accepts_unit: + unit_value = kwargs.pop("unit") + if accepts_slave and "slave" not in kwargs: + kwargs["slave"] = unit_value + return func(self, *args, **kwargs) + + _wrapped._has_slave_alias = True + return _wrapped + + for name in method_names: + if not hasattr(modbus_client, name): + continue + bound_method = getattr(modbus_client, name) + func = getattr(bound_method, "__func__", None) + if func is None: + continue + if getattr(func, "_has_slave_alias", False): + continue + wrapped = _wrap(func) + setattr(modbus_client, name, types.MethodType(wrapped, modbus_client)) + + +def _coerce_deck_input(deck: Any) -> Optional[Deck]: + if deck is None: + return None + + if isinstance(deck, Deck): + return deck + + if isinstance(deck, PLRResource): + return deck if isinstance(deck, Deck) else None + + candidates = None + if isinstance(deck, dict): + if "nodes" in deck and isinstance(deck["nodes"], list): + candidates = deck["nodes"] + else: + candidates = [deck] + elif isinstance(deck, list): + candidates = deck + + if candidates is None: + return None + + try: + converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck) + if isinstance(converted, Deck): + return converted + if isinstance(converted, list): + for item in converted: + if isinstance(item, Deck): + return item + except Exception as exc: + logger.warning(f"deck 转换 Deck 失败: {exc}") + return None + + +#构建物料系统 + +class CoinCellAssemblyWorkstation(WorkstationBase): + def __init__( + self, + deck: Deck=None, + address: str = "172.21.32.111", + port: str = "502", + debug_mode: bool = False, + *args, + **kwargs, + ): + if deck is None and "deck" in kwargs: + deck = kwargs.pop("deck") + else: + kwargs.pop("deck", None) + + normalized_deck = _coerce_deck_input(deck) + + if deck is None and isinstance(normalized_deck, Deck): + deck = normalized_deck + + super().__init__( + #桌子 + deck=deck, + *args, + **kwargs, + ) + self.debug_mode = debug_mode + + # 如果没有传入 deck，则创建标准配置的 deck + if self.deck is None: + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, setup=True) + else: + # 如果传入了 deck 但还没有 setup，可以选择是否 setup + if self.deck is not None and len(self.deck.children) == 0: + # deck 为空，执行 setup + self.deck.setup() + # 否则使用传入的 deck（可能已经配置好了） + self.deck = self.deck + + """ 连接初始化 """ + modbus_client = TCPClient(addr=address, port=port) + print("modbus_client", modbus_client) + _ensure_modbus_slave_kw_alias(modbus_client.client) + if not debug_mode: + modbus_client.client.connect() + count = 100 + while count >0: + count -=1 + if modbus_client.client.is_socket_open(): + break + time.sleep(2) + if not modbus_client.client.is_socket_open(): + raise ValueError('modbus tcp connection failed') + else: + print("测试模式，跳过连接") + + """ 工站的配置 """ + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) + self.success = False + self.allow_data_read = False #允许读取函数运行标志位 + self.csv_export_thread = None + self.csv_export_running = False + self.csv_export_file = None + self.coin_num_N = 0 #已组装电池数量 + #创建一个物料台面，包含两个极片板 + #self._ros_node.update_resource(self.deck) + + #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + # "resources": [self.deck] + #}) + + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) + + # 批量操作在这里写 + async def change_hole_sheet_to_2(self, hole: MaterialHole): + hole._unilabos_state["max_sheets"] = 2 + return await self._ros_node.update_resource(hole) + + + async def fill_plate(self): + plate_1: MaterialPlate = self.deck.children[0].children[0] + #plate_1 + return await self._ros_node.update_resource(plate_1) + + #def run_assembly(self, wf_name: str, resource: PLRResource, params: str = "\{\}"): + # """启动工作流""" + # self.current_workflow_status = WorkflowStatus.RUNNING + # logger.info(f"工作站 {self.device_id} 启动工作流: {wf_name}") +# + # # TODO: 实现工作流逻辑 +# + # anode_sheet = self.deck.get_resource("anode_sheet") + + """ Action逻辑代码 """ + def _sys_start_cmd(self, cmd=None): + """设备启动命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_START_CMD') + ret = node.write(cmd) + print(ret) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_START_CMD').read(1) + return cmd_feedback[0] + + def _sys_stop_cmd(self, cmd=None): + """设备停止命令 (可读写)""" + if cmd is not None: # 写入模式 + self.success = False + node = self.client.use_node('COIL_SYS_STOP_CMD') + node.write(cmd) + self.success = True + return self.success + else: # 读取模式 + cmd_feedback, read_err = self.client.use_node('COIL_SYS_STOP_CMD').read(1) + return cmd_feedback[0] + + def _sys_reset_cmd(self, cmd=None): + """设备复位命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_RESET_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_RESET_CMD').read(1) + return cmd_feedback[0] + + def _sys_hand_cmd(self, cmd=None): + """手动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_HAND_CMD').write(cmd) + self.success = True + print("步骤0") + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_HAND_CMD').read(1) + return cmd_feedback[0] + + def _sys_auto_cmd(self, cmd=None): + """自动模式命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_AUTO_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_AUTO_CMD').read(1) + return cmd_feedback[0] + + def _sys_init_cmd(self, cmd=None): + """初始化命令 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_SYS_INIT_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_SYS_INIT_CMD').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_succ_cmd(self, cmd=None): + """UNILAB发送配方完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_SEND_MSG_SUCC_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rec_msg_succ_cmd(self, cmd=None): + """UNILAB接收测试电池数据完毕 (可读写)""" + if cmd is not None: + self.success = False + self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').write(cmd) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('COIL_UNILAB_REC_MSG_SUCC_CMD').read(1) + return cmd_feedback + + + # ====================== 命令类指令（REG_x_） ====================== + def _unilab_send_msg_electrolyte_num(self, num=None): + """UNILAB写电解液使用瓶数(可读写)""" + if num is not None: + self.success = False + ret = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + print(ret) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_use_num(self, use_num=None): + """UNILAB写单次电解液使用瓶数(可读写)""" + if use_num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_USE_NUM').write(use_num) + self.success = True + return self.success + else: + return False + + def _unilab_send_msg_assembly_type(self, num=None): + """UNILAB写组装参数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_TYPE').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_TYPE').read(1) + return cmd_feedback[0] + + def _unilab_send_msg_electrolyte_vol(self, vol=None): + """UNILAB写电解液吸取量参数""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_VOLUME').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + def _unilab_send_msg_assembly_pressure(self, vol=None): + """UNILAB写电池压制力""" + if vol is not None: + self.success = False + self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(vol, data_type=DataType.FLOAT32, word_order=WorderOrder.LITTLE) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return cmd_feedback[0] + + # ==================== 0905新增内容（COIL_x_STATUS） ==================== + def _unilab_send_electrolyte_bottle_num(self, num=None): + """UNILAB发送电解液瓶数完毕""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_rece_electrolyte_bottle_num(self, num=None): + """设备请求接受电解液瓶数""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM').read(1) + return cmd_feedback[0] + + def _reg_msg_electrolyte_num(self, num=None): + """电解液已使用瓶数""" + if num is not None: + self.success = False + self.client.use_node('REG_MSG_ELECTROLYTE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_MSG_ELECTROLYTE_NUM').read(1) + return cmd_feedback[0] + + def _reg_data_electrolyte_use_num(self, num=None): + """单瓶电解液完成组装数""" + if num is not None: + self.success = False + self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_USE_NUM').read(1) + return cmd_feedback[0] + + def _unilab_send_finished_cmd(self, num=None): + """Unilab发送已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_SEND_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_SEND_FINISHED_CMD').read(1) + return cmd_feedback[0] + + def _unilab_rece_finished_cmd(self, num=None): + """Unilab接收已知一组组装完成信号""" + if num is not None: + self.success = False + self.client.use_node('UNILAB_RECE_FINISHED_CMD').write(num) + self.success = True + return self.success + else: + cmd_feedback, read_err = self.client.use_node('UNILAB_RECE_FINISHED_CMD').read(1) + return cmd_feedback[0] + + + + # ==================== 状态类属性（COIL_x_STATUS） ==================== + def _sys_start_status(self) -> bool: + """设备启动中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_START_STATUS').read(1) + return status[0] + + def _sys_stop_status(self) -> bool: + """设备停止中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_STOP_STATUS').read(1) + return status[0] + + def _sys_reset_status(self) -> bool: + """设备复位中( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_RESET_STATUS').read(1) + return status[0] + + def _sys_init_status(self) -> bool: + """设备初始化完成( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_INIT_STATUS').read(1) + return status[0] + + # 查找资源 + def modify_deck_name(self, resource_name: str): + # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) + # print(f"!!! figure_res: {type(figure_res)}") + self.deck.children[1] + return + + @property + def sys_status(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_start_status(): + return "设备启动中" + elif self._sys_stop_status(): + return "设备停止中" + elif self._sys_reset_status(): + return "设备复位中" + elif self._sys_init_status(): + return "设备初始化中" + else: + return "未知状态" + + def _sys_hand_status(self) -> bool: + """设备手动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_HAND_STATUS').read(1) + return status[0] + + def _sys_auto_status(self) -> bool: + """设备自动模式( BOOL)""" + status, read_err = self.client.use_node('COIL_SYS_AUTO_STATUS').read(1) + return status[0] + + @property + def sys_mode(self) -> str: + if self.debug_mode: + return "设备调试模式" + if self._sys_hand_status(): + return "设备手动模式" + elif self._sys_auto_status(): + return "设备自动模式" + else: + return "未知模式" + + @property + def request_rec_msg_status(self) -> bool: + """设备请求接受配方( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_REC_MSG_STATUS').read(1) + return status[0] + + @property + def request_send_msg_status(self) -> bool: + """设备请求发送测试数据( BOOL)""" + if self.debug_mode: + return True + status, read_err = self.client.use_node('COIL_REQUEST_SEND_MSG_STATUS').read(1) + return status[0] + + # ======================= 其他属性（特殊功能） ======================== + ''' + @property + def warning_1(self) -> bool: + status, read_err = self.client.use_node('COIL_WARNING_1').read(1) + return status[0] + ''' + # ===================== 生产数据区 ====================== + + @property + def data_assembly_coin_cell_num(self) -> int: + """已完成电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_ASSEMBLY_COIN_CELL_NUM').read(1) + return num + + @property + def data_assembly_time(self) -> float: + """单颗电池组装时间 (秒, REAL/FLOAT32)""" + if self.debug_mode: + return 0 + time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) + return time + + @property + def data_open_circuit_voltage(self) -> float: + """开路电压值 (FLOAT32)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) + return vol + + @property + def data_axis_x_pos(self) -> float: + """分液X轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_y_pos(self) -> float: + """分液Y轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_axis_z_pos(self) -> float: + """分液Z轴当前位置 (FLOAT32)""" + if self.debug_mode: + return 0 + pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) + return pos + + @property + def data_pole_weight(self) -> float: + """当前电池正极片称重数据 (FLOAT32)""" + if self.debug_mode: + return 0 + weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) + return weight + + @property + def data_assembly_pressure(self) -> int: + """当前电池压制力 (INT16)""" + if self.debug_mode: + return 0 + pressure, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1) + return pressure + + @property + def data_electrolyte_volume(self) -> int: + """当前电解液加注量 (INT16)""" + if self.debug_mode: + return 0 + vol, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_VOLUME').read(1) + return vol + + @property + def data_coin_num(self) -> int: + """当前电池数量 (INT16)""" + if self.debug_mode: + return 0 + num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1) + return num + + @property + def data_coin_cell_code(self) -> str: + """电池二维码序列号 (STRING)""" + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + return "N/A" + + + @property + def data_electrolyte_code(self) -> str: + try: + # 尝试不同的字节序读取 + code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) + print(code_little) + clean_code = code_little[-8:][::-1] + return clean_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + return "N/A" + + # ===================== 环境监控区 ====================== + @property + def data_glove_box_pressure(self) -> float: + """手套箱压力 (bar, FLOAT32)""" + if self.debug_mode: + return 0 + status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) + return status + + @property + def data_glove_box_o2_content(self) -> float: + """手套箱氧含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + + @property + def data_glove_box_water_content(self) -> float: + """手套箱水含量 (ppm, FLOAT32)""" + if self.debug_mode: + return 0 + value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) + return value + +# @property +# def data_stack_vision_code(self) -> int: +# """物料堆叠复检图片编码 (INT16)""" +# if self.debug_mode: +# return 0 +# code, read_err = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1) +# #code, _ = self.client.use_node('REG_DATA_STACK_VISON_CODE').read(1).type +# print(f"读取物料堆叠复检图片编码", {code}, "error", type(code)) +# #print(code.type) +# # print(read_err) +# return int(code) + + def func_pack_device_init(self): + #切换手动模式 + print("切换手动模式") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + print("waiting for hand_cmd") + time.sleep(1) + #设备初始化 + self._sys_init_cmd(True) + time.sleep(1) + #sys_init_status为bool值，不加括号 + while (self._sys_init_status())== False: + print("waiting for init_cmd") + time.sleep(1) + #手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + print("waiting for hand_cmd to False") + time.sleep(1) + #初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + print("waiting for init_cmd to False") + time.sleep(1) + + def func_pack_device_auto(self): + #切换自动 + print("切换自动模式") + self._sys_auto_cmd(True) + time.sleep(1) + while (self._sys_auto_status()) == False: + print("waiting for auto_status") + time.sleep(1) + #自动按钮置False + self._sys_auto_cmd(False) + time.sleep(1) + while (self._sys_auto_cmd()) == True: + print("waiting for auto_cmd") + time.sleep(1) + + def func_pack_device_start(self): + #切换自动 + print("启动") + self._sys_start_cmd(True) + time.sleep(1) + while (self._sys_start_status()) == False: + print("waiting for start_status") + time.sleep(1) + #自动按钮置False + self._sys_start_cmd(False) + time.sleep(1) + while (self._sys_start_cmd()) == True: + print("waiting for start_cmd") + time.sleep(1) + + def func_pack_send_bottle_num(self, bottle_num): + bottle_num = int(bottle_num) + #发送电解液平台数 + print("启动") + while (self._unilab_rece_electrolyte_bottle_num()) == False: + print("waiting for rece_electrolyte_bottle_num to True") + # self.client.use_node('8520').write(True) + time.sleep(1) + #发送电解液瓶数为2 + self._reg_msg_electrolyte_num(bottle_num) + time.sleep(1) + #完成信号置True + self._unilab_send_electrolyte_bottle_num(True) + time.sleep(1) + #检测到依华已接收 + while (self._unilab_rece_electrolyte_bottle_num()) == True: + print("waiting for rece_electrolyte_bottle_num to False") + time.sleep(1) + #完成信号置False + self._unilab_send_electrolyte_bottle_num(False) + time.sleep(1) + #自动按钮置False + + + # 下发参数 + #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: + # """UNILAB写参数""" + # while (self.request_rec_msg_status) == False: + # print("wait for res_msg") + # time.sleep(1) + # self.success = False + # self._unilab_send_msg_electrolyte_num(elec_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_use_num(elec_use_num) + # time.sleep(1) + # self._unilab_send_msg_electrolyte_vol(elec_vol) + # time.sleep(1) + # self._unilab_send_msg_assembly_type(assembly_type) + # time.sleep(1) + # self._unilab_send_msg_assembly_pressure(assembly_pressure) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(True) + # time.sleep(1) + # self._unilab_send_msg_succ_cmd(False) + # #将允许读取标志位置True + # self.allow_data_read = True + # self.success = True + # return self.success + + def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool: + """UNILAB写参数""" + while (self.request_rec_msg_status) == False: + print("wait for request_rec_msg_status to True") + time.sleep(1) + self.success = False + #self._unilab_send_msg_electrolyte_num(elec_num) + #设置平行样数目 + self._unilab_send_msg_electrolyte_use_num(elec_use_num) + time.sleep(1) + #发送电解液加注量 + self._unilab_send_msg_electrolyte_vol(elec_vol) + time.sleep(1) + #发送电解液组装类型 + self._unilab_send_msg_assembly_type(assembly_type) + time.sleep(1) + #发送电池压制力 + self._unilab_send_msg_assembly_pressure(assembly_pressure) + time.sleep(1) + self._unilab_send_msg_succ_cmd(True) + time.sleep(1) + while (self.request_rec_msg_status) == True: + print("wait for request_rec_msg_status to False") + time.sleep(1) + self._unilab_send_msg_succ_cmd(False) + #将允许读取标志位置True + self.allow_data_read = True + self.success = True + return self.success + + def func_pack_get_msg_cmd(self, file_path: str="D:\\coin_cell_data") -> bool: + """UNILAB读参数""" + while self.request_send_msg_status == False: + print("waiting for send_read_msg_status to True") + time.sleep(1) + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + print("data_open_circuit_voltage", data_open_circuit_voltage) + print("data_pole_weight", data_pole_weight) + print("data_assembly_time", data_assembly_time) + print("data_assembly_pressure", data_assembly_pressure) + print("data_electrolyte_volume", data_electrolyte_volume) + print("data_coin_num", data_coin_num) + print("data_electrolyte_code", data_electrolyte_code) + print("data_coin_cell_code", data_coin_cell_code) + #接收完信息后，读取完毕标志位置True + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") + #把物料解绑后放到另一盘上 + battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) + battery._unilabos_state = { + "electrolyte_name": data_coin_cell_code, + "data_electrolyte_code": data_electrolyte_code, + "open_circuit_voltage": data_open_circuit_voltage, + "assembly_pressure": data_assembly_pressure, + "electrolyte_volume": data_electrolyte_volume + } + liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) + + + self._unilab_rec_msg_succ_cmd(True) + time.sleep(1) + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd(False) + time.sleep(1) + #将允许读取标志位置True + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + #将数据存入csv文件 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + self.success = True + return self.success + + + + def func_pack_send_finished_cmd(self) -> bool: + """UNILAB写参数""" + while (self._unilab_rece_finished_cmd()) == False: + print("wait for rece_finished_cmd to True") + time.sleep(1) + self.success = False + self._unilab_send_finished_cmd(True) + time.sleep(1) + while (self._unilab_rece_finished_cmd()) == True: + print("wait for rece_finished_cmd to False") + time.sleep(1) + self._unilab_send_finished_cmd(False) + #将允许读取标志位置True + self.success = True + return self.success + + + + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) + summary_csv_file = os.path.join(file_path, "duandian.csv") + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return False + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 + if read_status_flag == False: + pass + #初始化 + #self.func_pack_device_init() + #切换自动 + #self.func_pack_device_auto() + #启动，小车收回 + #self.func_pack_device_start() + #发送电解液瓶数量，启动搬运,多搬运没事 + #self.func_pack_send_bottle_num(elec_num) + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + #第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + time.sleep(1) + # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 + + + + # 生成断点文件 + # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + self.coin_num_N = coin_num_N + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + #循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + #全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + + def func_pack_device_stop(self) -> bool: + """打包指令：设备停止""" + for i in range(3): + time.sleep(2) + print(f"输出{i}") + #print("_sys_hand_cmd", self._sys_hand_cmd()) + #time.sleep(1) + #print("_sys_hand_status", self._sys_hand_status()) + #time.sleep(1) + #print("_sys_init_cmd", self._sys_init_cmd()) + #time.sleep(1) + #print("_sys_init_status", self._sys_init_status()) + #time.sleep(1) + #print("_sys_auto_status", self._sys_auto_status()) + #time.sleep(1) + #print("data_axis_y_pos", self.data_axis_y_pos) + #time.sleep(1) + #self.success = False + #with open('action_device_stop.json', 'r', encoding='utf-8') as f: + # action_json = json.load(f) + #self.client.execute_procedure_from_json(action_json) + #self.success = True + #return self.success + + def fun_wuliao_test(self) -> bool: + #找到data_init中构建的2个物料盘 + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") + for i in range(16): + battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) + battery._unilabos_state = { + "diameter": 20.0, + "height": 20.0, + "assembly_pressure": i, + "electrolyte_volume": 20.0, + "electrolyte_name": f"DP{i}" + } + liaopan3.children[i].assign_child_resource(battery, location=None) + + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) + # for i in range(40): + # print(f"fun_wuliao_test 运行结束{i}") + # time.sleep(1) + # time.sleep(40) + # 数据读取与输出 + def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 + if self.csv_export_running: + return False, "读取已在运行中" + + #若不存在该目录则创建 + if not os.path.exists(file_path): + os.makedirs(file_path) + print(f"创建目录: {file_path}") + + # 只要允许读取标志位为true，就持续运行该函数，直到触发停止条件 + while self.allow_data_read: + + #函数运行标志位，确保只同时启动一个导出函数 + self.csv_export_running = True + + #等待接收结果标志位置True + while self.request_send_msg_status == False: + print("waiting for send_msg_status to True") + time.sleep(1) + #日期时间戳用于按天存放csv文件 + time_date = datetime.now().strftime("%Y%m%d") + #秒级时间戳用于标记每一行电池数据 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + #生成输出文件的变量 + self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv") + + #接收信息 + data_open_circuit_voltage = self.data_open_circuit_voltage + data_pole_weight = self.data_pole_weight + data_assembly_time = self.data_assembly_time + data_assembly_pressure = self.data_assembly_pressure + data_electrolyte_volume = self.data_electrolyte_volume + data_coin_num = self.data_coin_num + data_electrolyte_code = self.data_electrolyte_code + data_coin_cell_code = self.data_coin_cell_code + # 电解液瓶位置 + elec_bottle_site = 2 + # 极片夹取位置(应当通过寄存器读光标) + Pos_elec_site = 0 + Al_elec_site = 0 + Gasket_site = 0 + + #接收完信息后，读取完毕标志位置True + self._unilab_rec_msg_succ_cmd()# = True + #等待允许读取标志位置False + while self.request_send_msg_status == True: + print("waiting for send_msg_status to False") + time.sleep(1) + self._unilab_rec_msg_succ_cmd()# = False + + #此处操作物料信息（如果中途报错停止，如何） + #报错怎么办（加个判断标志位，如果发生错误，则根据停止位置扣除物料） + #根据物料光标判断取哪个物料（人工摆盘，电解液瓶，移液枪头都有光标位置，寄存器读即可） + + #物料读取操作写在这里 + #在这里进行物料调取 + #转移物料瓶，elec_bottle_site对应第几瓶电解液（从依华寄存器读取） + # transfer_bottle(deck, elec_bottle_site) + # #找到电解液瓶的对象 + # electrolyte_rack = deck.get_resource("electrolyte_rack") + # pending_positions = electrolyte_rack.get_pending_positions()[elec_bottle_site] + # # TODO: 瓶子取液体操作需要加入 +# +# + # #找到压制工站对应的对象 + # battery_press_slot = deck.get_resource("battery_press_1") + # #创建一个新电池 + # test_battery = Battery( + # name=f"test_battery_{data_coin_num}", + # diameter=20.0, # 与压制槽直径匹配 + # height=3.0, # 电池高度 + # max_volume=100.0, # 100μL容量 + # barcode=data_coin_cell_code, # 电池条码 + # ) + # if battery_press_slot.has_battery(): + # return False, "压制工站已有电池，无法放置新电池" + # #在压制位放置电池 + # battery_press_slot.place_battery(test_battery) + # #从第一个子弹夹中取料 + # clip_magazine_1_hole = self.deck.get_resource("clip_magazine_1").get_item(Pos_elec_site) + # clip_magazine_2_hole = self.deck.get_resource("clip_magazine_2").get_item(Al_elec_site) + # clip_magazine_3_hole = self.deck.get_resource("clip_magazine_3").get_item(Gasket_site) + # + # if clip_magazine_1_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_1 = clip_magazine_1_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_1) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_1.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_2_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_2 = clip_magazine_2_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_2) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_2.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") +# + # if clip_magazine_3_hole.get_sheet_count() > 0: # 检查洞位是否有极片 + # electrode_sheet_3 = clip_magazine_3_hole.take_sheet() # 从洞位取出极片 + # test_battery.add_electrode_sheet(electrode_sheet_3) # 添加到电池中 + # print(f"已将极片 {electrode_sheet_3.name} 从子弹夹转移到电池") + # else: + # print("子弹夹洞位0没有极片") + # + # # TODO:#把电解液从瓶中取到电池夹子中 + # battery_site = deck.get_resource("battery_press_1") + # clip_magazine_battery = deck.get_resource("clip_magazine_battery") + # if battery_site.has_battery(): + # battery = battery_site.take_battery() #从压制槽取出电池 + # clip_magazine_battery.add_battery(battery) #从压制槽取出电池 +# +# +# +# + # # 保存配置到文件 + # self.deck.save("button_battery_station_layout.json", indent=2) + # print("\n台面配置已保存到: button_battery_station_layout.json") + # + # # 保存状态到文件 + # self.deck.save_state_to_file("button_battery_station_state.json", indent=2) + # print("台面状态已保存到: button_battery_station_state.json") + + + + + + + #将数据写入csv中 + #如当前目录下无同名文件则新建一个csv用于存放数据 + if not os.path.exists(self.csv_export_file): + #创建一个表头 + with open(self.csv_export_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + 'Time', 'open_circuit_voltage', 'pole_weight', + 'assembly_time', 'assembly_pressure', 'electrolyte_volume', + 'coin_num', 'electrolyte_code', 'coin_cell_code' + ]) + #立刻写入磁盘 + csvfile.flush() + #开始追加电池信息 + with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow([ + timestamp, data_open_circuit_voltage, data_pole_weight, + data_assembly_time, data_assembly_pressure, data_electrolyte_volume, + data_coin_num, data_electrolyte_code, data_coin_cell_code + ]) + #立刻写入磁盘 + csvfile.flush() + + # 只要不在自动模式运行中，就将允许标志位置False + if self.sys_auto_status == False or self.sys_start_status == False: + self.allow_data_read = False + self.csv_export_running = False + time.sleep(1) + + def func_stop_read_data(self): + """停止CSV导出""" + if not self.csv_export_running: + return False, "read data未在运行" + + self.csv_export_running = False + self.allow_data_read = False + + if self.csv_export_thread and self.csv_export_thread.is_alive(): + self.csv_export_thread.join(timeout=5) + + def func_get_csv_export_status(self): + """获取CSV导出状态""" + return { + 'allow_read': self.allow_data_read, + 'running': self.csv_export_running, + 'thread_alive': self.csv_export_thread.is_alive() if self.csv_export_thread else False + } + + + ''' + # ===================== 物料管理区 ====================== + @property + def data_material_inventory(self) -> int: + """主物料库存 (数量, INT16)""" + inventory, read_err = self.client.use_node('REG_DATA_MATERIAL_INVENTORY').read(1) + return inventory + + @property + def data_tips_inventory(self) -> int: + """移液枪头库存 (数量, INT16)""" + inventory, read_err = self.client.register_node_list(self.nodes).use_node('REG_DATA_TIPS_INVENTORY').read(1) + return inventory + + ''' + + +if __name__ == "__main__": + # 简单测试 + workstation = CoinCellAssemblyWorkstation() + print(f"工作站创建成功: {workstation.deck.name}") + print(f"料盘数量: {len(workstation.deck.children)}") From 0fba4cf2752853f403da4ee55a7d4faddd6deaa1 Mon Sep 17 00:00:00 2001 From: calvincao Date: Thu, 30 Oct 2025 19:56:34 +0800 Subject: [PATCH 034/104] =?UTF-8?q?feat(unilabos):=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E8=AE=BE=E5=A4=87=E9=85=8D=E7=BD=AE=E5=92=8C=E8=B5=84=E6=BA=90?= =?UTF-8?q?=E5=AE=9A=E4=B9=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改了 bioyond_cell.yaml 中的 xlsx_path 路径分隔符为反斜杠- 在 bioyond_cell.yaml 中新增多个自动命令定义，包括创建物料、处理报告和调度重置等功能- 修改 coin_cell_assembly.py 中 func_pack_send_msg_cmd 函数签名并调整调用参数 - 新增 qiming_coin_cell_code 方法用于设置启明扣电配置参数 - 更新 coin_cell_assembly_a.csv 文件中的寄存器描述和新增压制模式及清洁忽略选项- 修改 bioyond_studio 配置文件中的默认 API 主机地址 - 更新 new_cellconfig3c.json 中的设备类名为 coincellassemblyworkstation_device- 删除 reaction_station_bioyond.yaml 的全部内容，仅保留空对象 -重新组织 YB_bottle.yaml 和 YB_bottle_carriers.yaml 中的资源分类和命名定义 --- .../bioyond_cell/2025092701.xlsx | Bin 9287 -> 18159 bytes .../bioyond_cell/样品导入模板.xlsx | Bin 9686 -> 22129 bytes .../workstation/bioyond_studio/config.py | 2 +- .../coin_cell_assembly/coin_cell_assembly.py | 27 +- .../coin_cell_assembly_a.csv | 5 +- 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zA{-W*M+Ez!^>7sN)#h+g%D!38hK>@V`J$_8lg`|zjA@k-sm@5S9b36q_u0})M+)U^ zd;REk_v-Sgb?sw)O~FCAt91>_{U|hUNkpCKuxJJ0i%ebC0m{z;k%nu5h1tN9-{szr|ChkASe|euqS?=!!{@&~V z5Ae5R3gnW1>HPl+{I&o2C$t5UhyKzH{T2N8PST%H0HEU8Pw@Yzuk@>(U)u|RTG~MV ze>d@uX2Y*mel0KkX@wr^UyDt@8u&E>|I>gJ;ZFm9=HtIYf6ZY2go={<4*fNs`PIVT xmGVzK06Qxi diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 504cf45..52feff6 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -8,7 +8,7 @@ import os # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"), + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.21.32.103:44388"), "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index cf06f70..e520628 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -766,7 +766,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # self.success = True # return self.success - def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool: + def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type) -> bool: """UNILAB写参数""" while (self.request_rec_msg_status) == False: print("wait for request_rec_msg_status to True") @@ -782,9 +782,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase): #发送电解液组装类型 self._unilab_send_msg_assembly_type(assembly_type) time.sleep(1) - #发送电池压制力 - self._unilab_send_msg_assembly_pressure(assembly_pressure) - time.sleep(1) self._unilab_send_msg_succ_cmd(True) time.sleep(1) while (self.request_rec_msg_status) == True: @@ -892,10 +889,22 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.success = True return self.success + def qiming_coin_cell_code(self, fujipian_panshu:int, fujipian_juzhendianwei:int=0, gemopanshu:int=0, gemo_juzhendianwei:int=0, lvbodian:bool=True, battery_pressure_mode:bool=True, battery_pressure:int=4000, battery_clean_ignore:bool=False) -> bool: + self.success = False + self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu) + self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei) + self.client.use_node('COIL_ALUMINUM_FOIL').write(lvbodian) + self.client.use_node('REG_MSG_PRESS_MODE').write(battery_pressure_mode) + # self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure) + self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore) + self.success = True + + return self.success - - def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool: - elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num, elec_vol, assembly_type = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type) summary_csv_file = os.path.join(file_path, "duandian.csv") # 如果断点文件存在，先读取之前的进度 if os.path.exists(summary_csv_file): @@ -945,7 +954,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): print(f"开始第{last_i+i+1}瓶电解液的组装") #第一个循环从上次断点继续，后续循环从0开始 j_start = last_j if i == last_i else 0 - self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure) + self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type) for j in range(j_start, elec_use_num): print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") @@ -1217,8 +1226,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ''' + if __name__ == "__main__": # 简单测试 workstation = CoinCellAssemblyWorkstation() + workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False) print(f"工作站创建成功: {workstation.deck.name}") print(f"料盘数量: {len(workstation.deck.children)}") diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index bb66a7a..98f9038 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,21 +43,22 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 -COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, +COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340, REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440, REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450, REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480, REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443, REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式 ,,,,,,, ,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位 ,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检 ,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓 ,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓 ,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知 -,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式 ,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式 ,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重 ,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装 ,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁 ,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式 +REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,8460, \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json index c96e6b2..3619085 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json @@ -22,7 +22,7 @@ ], "parent": null, "type": "device", - "class": "bettery_station_registry", + "class": "coincellassemblyworkstation_device", "position": { "x": 600, "y": 400, diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index c50a1a8..a54e702 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -137,7 +137,7 @@ bioyond_cell: WH4_x5_y1_z1_5_quantity: 0.0 WH4_x5_y2_z1_10_materialName: '' WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx + xlsx_path: unilabos\devices\workstation\bioyond_studio\bioyond_cell\样品导入模板.xlsx handles: {} placeholder_keys: {} result: {} @@ -463,7 +463,7 @@ bioyond_cell: default: 0.0 type: number xlsx_path: - default: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx + default: unilabos\devices\workstation\bioyond_studio\bioyond_cell\样品导入模板.xlsx type: string required: [] type: object @@ -498,6 +498,63 @@ bioyond_cell: title: auto_feeding4to3_from_xlsx参数 type: object type: UniLabJsonCommand + auto-create_and_inbound_materials: + feedback: {} + goal: {} + goal_default: + material_names: null + type_id: 3a190ca0-b2f6-9aeb-8067-547e72c11469 + warehouse_name: 粉末加样头堆栈 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_names: + type: string + type_id: + default: 3a190ca0-b2f6-9aeb-8067-547e72c11469 + type: string + warehouse_name: + default: 粉末加样头堆栈 + type: string + required: [] + type: object + result: {} + required: + - goal + title: create_and_inbound_materials参数 + type: object + type: UniLabJsonCommand + auto-create_materials: + feedback: {} + goal: {} + goal_default: + mappings: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + mappings: + type: object + required: + - mappings + type: object + result: {} + required: + - goal + title: create_materials参数 + type: object + type: UniLabJsonCommand auto-create_orders: feedback: {} goal: {} @@ -576,6 +633,84 @@ bioyond_cell: title: order_list_v2参数 type: object type: UniLabJsonCommand + auto-process_order_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + used_materials: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + used_materials: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_order_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_sample_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_sample_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_step_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_step_finish_report参数 + type: object + type: UniLabJsonCommand auto-report_material_change: feedback: {} goal: {} @@ -622,6 +757,27 @@ bioyond_cell: title: scheduler_continue参数 type: object type: UniLabJsonCommand + auto-scheduler_reset: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_reset参数 + type: object + type: UniLabJsonCommand auto-scheduler_start: feedback: {} goal: {} @@ -778,6 +934,62 @@ bioyond_cell: title: transfer_3_to_2_to_1参数 type: object type: UniLabJsonCommand + auto-update_push_ip: + feedback: {} + goal: {} + goal_default: + ip: null + port: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ip: + type: string + port: + type: string + required: [] + type: object + result: {} + required: + - goal + title: update_push_ip参数 + type: object + type: UniLabJsonCommand + auto-wait_for_order_finish: + feedback: {} + goal: {} + goal_default: + order_code: null + timeout: 1800 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + order_code: + type: string + timeout: + default: 1800 + type: integer + required: + - order_code + type: object + result: {} + required: + - goal + title: wait_for_order_finish参数 + type: object + type: UniLabJsonCommand auto-wait_for_transfer_task: feedback: {} goal: {} diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml new file mode 100644 index 0000000..7e541eb --- /dev/null +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -0,0 +1,576 @@ +coincellassemblyworkstation_device: + category: + - coin_cell_workstation + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + assembly_type: 7 + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_type: + default: 7 + type: integer + elec_num: + type: string + elec_use_num: + type: string + elec_vol: + default: 50 + type: integer + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: string + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + assembly_type: null + elec_use_num: null + elec_vol: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_type: + type: string + elec_use_num: + type: string + elec_vol: + type: string + required: + - elec_use_num + - elec_vol + - assembly_type + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + auto-qiming_coin_cell_code: + feedback: {} + goal: {} + goal_default: + battery_clean_ignore: false + battery_pressure: 4000 + battery_pressure_mode: true + fujipian_juzhendianwei: 0 + fujipian_panshu: null + gemo_juzhendianwei: 0 + gemopanshu: 0 + lvbodian: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + battery_clean_ignore: + default: false + type: boolean + battery_pressure: + default: 4000 + type: integer + battery_pressure_mode: + default: true + type: boolean + fujipian_juzhendianwei: + default: 0 + type: integer + fujipian_panshu: + type: integer + gemo_juzhendianwei: + default: 0 + type: integer + gemopanshu: + default: 0 + type: integer + lvbodian: + default: true + type: boolean + required: + - fujipian_panshu + type: object + result: {} + required: + - goal + title: qiming_coin_cell_code参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 172.21.32.111 + type: string + debug_mode: + default: false + type: boolean + deck: + type: object + port: + default: '502' + type: string + required: [] + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index f1a16ec..0967ef4 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -1,527 +1 @@ -reaction_station.bioyond: - category: - - work_station - - reaction_station_bioyond - class: - action_value_mappings: - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - auto-process_web_workflows: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - volume: - description: 分液公式(μL) - type: string - required: - - volume - - assign_material_name - - time - - torque_variation - - titration_type - - temperature - type: object - result: {} - required: - - goal - title: drip_back参数 - type: object - type: UniLabJsonCommand - drip_back: - feedback: {} - goal: - assign_material_name: assign_material_name - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' - handles: {} - result: {} - schema: - description: 滴回去 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称（不能为空） - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: load_bioyond_data_from_file参数 - type: object - type: UniLabJsonCommand - liquid_feeding_beaker: - feedback: {} - goal: - assign_material_name: assign_material_name - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' - handles: {} - result: {} - schema: - description: 液体进料烧杯 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称 - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - titration_type: - description: 是否滴定(1=否, 2=是) - type: string - torque_variation: - description: 是否观察 (1=否, 2=是) - type: string - volume: - description: 分液公式(μL) - type: string - required: - - volume - - assign_material_name - - time - - torque_variation - - titration_type - - temperature - type: object - result: {} - required: - - goal - title: liquid_feeding_beaker参数 - type: object - type: UniLabJsonCommand - liquid_feeding_solvents: - feedback: {} - goal: - assign_material_name: assign_material_name - solvents: solvents - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - solvents: '' - temperature: '25.00' - time: '360' - titration_type: '1' - torque_variation: '2' - volume: '' - handles: - input: - - data_key: solvents - data_source: handle - data_type: object - handler_key: solvents - io_type: source - label: Solvents Data From Calculation Node - result: {} - schema: - description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称 - type: string - solvents: - description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume' - type: string - temperature: - default: '25.00' - description: 温度设定(°C),默认25.00 - type: string - time: - default: '360' - description: 观察时间(分钟),默认360 - type: string - titration_type: - default: '1' - description: 是否滴定(1=否, 2=是),默认1 - type: string - torque_variation: - default: '2' - description: 是否观察 (1=否, 2=是),默认2 - type: string - volume: - description: 分液量(μL)。可直接提供,或通过solvents参数自动计算 - type: string - required: - - assign_material_name - type: object - result: {} - required: - - goal - title: liquid_feeding_solvents参数 - type: object - type: UniLabJsonCommand - liquid_feeding_titration: - feedback: {} - goal: - assign_material_name: assign_material_name - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume_formula: volume_formula - goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume_formula: '' - handles: {} - result: {} - schema: - description: 液体进料(滴定) - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称 - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - titration_type: - description: 是否滴定(1=否, 2=是) - type: string - torque_variation: - description: 是否观察 (1=否, 2=是) - type: string - volume_formula: - description: 分液公式(μL) - type: string - required: - - volume_formula - - assign_material_name - - time - - torque_variation - - titration_type - - temperature - type: object - result: {} - required: - - goal - title: liquid_feeding_titration参数 - type: object - type: UniLabJsonCommand - liquid_feeding_vials_non_titration: - feedback: {} - goal: - assign_material_name: assign_material_name - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume_formula: volume_formula - goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume_formula: '' - handles: {} - result: {} - schema: - description: 液体进料小瓶(非滴定) - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称 - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - titration_type: - description: 是否滴定(1=否, 2=是) - type: string - torque_variation: - description: 是否观察 (1=否, 2=是) - type: string - volume_formula: - description: 分液公式(μL) - type: string - required: - - volume_formula - - assign_material_name - - time - - torque_variation - - titration_type - - temperature - type: object - result: {} - required: - - goal - title: liquid_feeding_vials_non_titration参数 - type: object - type: UniLabJsonCommand - process_and_execute_workflow: - feedback: {} - goal: - task_name: task_name - workflow_name: workflow_name - goal_default: - task_name: '' - workflow_name: '' - handles: {} - result: {} - schema: - description: 处理并执行工作流 - properties: - feedback: {} - goal: - properties: - task_name: - description: 任务名称 - type: string - workflow_name: - description: 工作流名称 - type: string - required: - - workflow_name - - task_name - type: object - result: {} - required: - - goal - title: process_and_execute_workflow参数 - type: object - type: UniLabJsonCommand - reactor_taken_in: - feedback: {} - goal: - assign_material_name: assign_material_name - cutoff: cutoff - temperature: temperature - goal_default: - assign_material_name: '' - cutoff: '' - temperature: '' - handles: {} - result: {} - schema: - description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称 - type: string - cutoff: - description: 粘度上限 - type: string - temperature: - description: 温度设定(°C) - type: string - required: - - cutoff - - temperature - - assign_material_name - type: object - result: {} - required: - - goal - title: reactor_taken_in参数 - type: object - type: UniLabJsonCommand - reactor_taken_out: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: - properties: - code: - description: 操作结果代码(1表示成功,0表示失败) - type: integer - return_info: - description: 操作结果详细信息 - type: string - type: object - required: - - goal - title: reactor_taken_out参数 - type: object - type: UniLabJsonCommand - solid_feeding_vials: - feedback: {} - goal: - assign_material_name: assign_material_name - material_id: material_id - temperature: temperature - time: time - torque_variation: torque_variation - goal_default: - assign_material_name: '' - material_id: '' - temperature: '' - time: '' - torque_variation: '' - handles: {} - result: {} - schema: - description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA) - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称(用于获取试剂瓶位ID) - type: string - material_id: - description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟） - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - torque_variation: - description: 是否观察 (1=否, 2=是) - type: string - required: - - assign_material_name - - material_id - - time - - torque_variation - - temperature - type: object - result: {} - required: - - goal - title: solid_feeding_vials参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation - protocol_type: [] - status_types: - all_workflows: dict - bioyond_status: dict - station_info: dict - workstation_status: dict - type: python - config_info: [] - description: Bioyond反应站 - handles: [] - icon: reaction_station.webp - init_param_schema: - config: - properties: - config: - type: object - deck: - type: string - required: [] - type: object - data: - properties: - all_workflows: - type: object - bioyond_status: - type: object - station_info: - type: object - workstation_status: - type: object - required: - - bioyond_status - - all_workflows - - station_info - - workstation_status - type: object - version: 1.0.0 +{} diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml deleted file mode 100644 index ba07691..0000000 --- a/unilabos/registry/devices/work_station.yaml +++ /dev/null @@ -1,6698 +0,0 @@ -bettery_station_registry: - category: - - work_station - class: - action_value_mappings: - auto-change_hole_sheet_to_2: - feedback: {} - goal: {} - goal_default: - hole: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - hole: - type: object - required: - - hole - type: object - result: {} - required: - - goal - title: change_hole_sheet_to_2参数 - type: object - type: UniLabJsonCommandAsync - auto-fill_plate: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fill_plate参数 - type: object - type: UniLabJsonCommandAsync - auto-fun_wuliao_test: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fun_wuliao_test参数 - type: object - type: UniLabJsonCommand - auto-func_allpack_cmd: - feedback: {} - goal: {} - goal_default: - assembly_pressure: 4200 - assembly_type: 7 - elec_num: null - elec_use_num: null - elec_vol: 50 - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - assembly_pressure: - default: 4200 - type: integer - assembly_type: - default: 7 - type: integer - elec_num: - type: string - elec_use_num: - type: string - elec_vol: - default: 50 - type: integer - file_path: - default: D:\coin_cell_data - type: string - required: - - elec_num - - elec_use_num - type: object - result: {} - required: - - goal - title: func_allpack_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_get_csv_export_status: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_get_csv_export_status参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_auto: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_auto参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_init: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_init参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_start: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_start参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_stop: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_stop参数 - type: object - type: UniLabJsonCommand - auto-func_pack_get_msg_cmd: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_pack_get_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_bottle_num: - feedback: {} - goal: {} - goal_default: - bottle_num: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - bottle_num: - type: string - required: - - bottle_num - type: object - result: {} - required: - - goal - title: func_pack_send_bottle_num参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_finished_cmd: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_send_finished_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_msg_cmd: - feedback: {} - goal: {} - goal_default: - assembly_pressure: null - assembly_type: null - elec_use_num: null - elec_vol: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - assembly_pressure: - type: string - assembly_type: - type: string - elec_use_num: - type: string - elec_vol: - type: string - required: - - elec_use_num - - elec_vol - - assembly_type - - assembly_pressure - type: object - result: {} - required: - - goal - title: func_pack_send_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_read_data_and_output: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_read_data_and_output参数 - type: object - type: UniLabJsonCommand - auto-func_stop_read_data: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_stop_read_data参数 - type: object - type: UniLabJsonCommand - auto-modify_deck_name: - feedback: {} - goal: {} - goal_default: - resource_name: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resource_name: - type: string - required: - - resource_name - type: object - result: {} - required: - - goal - title: modify_deck_name参数 - type: object - type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation - status_types: - data_assembly_coin_cell_num: int - data_assembly_pressure: int - data_assembly_time: float - data_axis_x_pos: float - data_axis_y_pos: float - data_axis_z_pos: float - data_coin_cell_code: str - data_coin_num: int - data_electrolyte_code: str - data_electrolyte_volume: int - data_glove_box_o2_content: float - data_glove_box_pressure: float - data_glove_box_water_content: float - data_open_circuit_voltage: float - data_pole_weight: float - request_rec_msg_status: bool - request_send_msg_status: bool - sys_mode: str - sys_status: str - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - address: - default: 192.168.1.20 - type: string - debug_mode: - default: true - type: boolean - port: - default: '502' - type: string - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: - data_assembly_coin_cell_num: - type: integer - data_assembly_pressure: - type: integer - data_assembly_time: - type: number - data_axis_x_pos: - type: number - data_axis_y_pos: - type: number - data_axis_z_pos: - type: number - data_coin_cell_code: - type: string - data_coin_num: - type: integer - data_electrolyte_code: - type: string - data_electrolyte_volume: - type: integer - data_glove_box_o2_content: - type: number - data_glove_box_pressure: - type: number - data_glove_box_water_content: - type: number - data_open_circuit_voltage: - type: number - data_pole_weight: - type: number - request_rec_msg_status: - type: boolean - request_send_msg_status: - type: boolean - sys_mode: - type: string - sys_status: - type: string - required: - - sys_status - - sys_mode - - request_rec_msg_status - - request_send_msg_status - - data_assembly_coin_cell_num - - data_assembly_time - - data_open_circuit_voltage - - data_axis_x_pos - - data_axis_y_pos - - data_axis_z_pos - - data_pole_weight - - data_assembly_pressure - - data_electrolyte_volume - - data_coin_num - - data_coin_cell_code - - data_electrolyte_code - - data_glove_box_pressure - - data_glove_box_o2_content - - data_glove_box_water_content - type: object - version: 1.0.0 -workstation: - category: - - work_station - class: - action_value_mappings: - AGVTransferProtocol: - feedback: {} - goal: - from_repo: from_repo - from_repo_position: from_repo_position - to_repo: to_repo - to_repo_position: to_repo_position - goal_default: - from_repo: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - from_repo_position: '' - to_repo: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - to_repo_position: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: AGVTransfer_Feedback - type: object - goal: - properties: - from_repo: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_repo - type: object - from_repo_position: - type: string - to_repo: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_repo - type: object - to_repo_position: - type: string - required: - - from_repo - - from_repo_position - - to_repo - - to_repo_position - title: AGVTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: AGVTransfer_Result - type: object - required: - - goal - title: AGVTransfer - type: object - type: AGVTransfer - AddProtocol: - feedback: {} - goal: - amount: amount - equiv: equiv - event: event - mass: mass - mol: mol - purpose: purpose - rate_spec: rate_spec - ratio: ratio - reagent: reagent - stir: stir - stir_speed: stir_speed - time: time - vessel: vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - equiv: '' - event: '' - mass: '' - mol: '' - purpose: '' - rate_spec: '' - ratio: '' - reagent: '' - stir: false - stir_speed: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - viscous: false - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: Add_Feedback - type: object - goal: - properties: - amount: - type: string - equiv: - type: string - event: - type: string - mass: - type: string - mol: - type: string - purpose: - type: string - rate_spec: - type: string - ratio: - type: string - reagent: - type: string - stir: - type: boolean - stir_speed: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - viscous: - type: boolean - volume: - type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio - title: Add_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Add_Result - type: object - required: - - goal - title: Add - type: object - type: Add - AdjustPHProtocol: - feedback: {} - goal: - ph_value: ph_value - reagent: reagent - settling_time: settling_time - stir: stir - stir_speed: stir_speed - stir_time: stir_time - vessel: vessel - volume: volume - goal_default: - ph_value: 0.0 - reagent: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: AdjustPH_Feedback - type: object - goal: - properties: - ph_value: - type: number - reagent: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - ph_value - - reagent - title: AdjustPH_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: AdjustPH_Result - type: object - required: - - goal - title: AdjustPH - type: object - type: AdjustPH - CentrifugeProtocol: - feedback: {} - goal: - speed: speed - temp: temp - time: time - vessel: vessel - goal_default: - speed: 0.0 - temp: 0.0 - time: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - current_temp: - type: number - progress: - type: number - required: - - progress - - current_speed - - current_temp - - current_status - title: Centrifuge_Feedback - type: object - goal: - properties: - speed: - type: number - temp: - type: number - time: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - speed - - time - - temp - title: Centrifuge_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Centrifuge_Result - type: object - required: - - goal - title: Centrifuge - type: object - type: Centrifuge - CleanProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Clean_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: Clean_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Clean_Result - type: object - required: - - goal - title: Clean - type: object - type: Clean - CleanVesselProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: CleanVessel_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: CleanVessel_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: CleanVessel_Result - type: object - required: - - goal - title: CleanVessel - type: object - type: CleanVessel - DissolveProtocol: - feedback: {} - goal: - amount: amount - event: event - mass: mass - mol: mol - reagent: reagent - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - amount: '' - event: '' - mass: '' - mol: '' - reagent: '' - solvent: '' - stir_speed: 0.0 - temp: '' - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dissolve_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - mass: - type: string - mol: - type: string - reagent: - type: string - solvent: - type: string - stir_speed: - type: number - temp: - type: string - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - required: - - vessel - - solvent - - volume - - amount - - temp - - time - - stir_speed - - mass - - mol - - reagent - - event - title: Dissolve_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dissolve_Result - type: object - required: - - goal - title: Dissolve - type: object - type: Dissolve - DryProtocol: - feedback: {} - goal: - compound: compound - vessel: vessel - goal_default: - compound: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dry_Feedback - type: object - goal: - properties: - compound: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - compound - - vessel - title: Dry_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dry_Result - type: object - required: - - goal - title: Dry - type: object - type: Dry - EvacuateAndRefillProtocol: - feedback: {} - goal: - gas: gas - vessel: vessel - goal_default: - gas: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: EvacuateAndRefill_Feedback - type: object - goal: - properties: - gas: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - gas - title: EvacuateAndRefill_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: EvacuateAndRefill_Result - type: object - required: - - goal - title: EvacuateAndRefill - type: object - type: EvacuateAndRefill - EvaporateProtocol: - feedback: {} - goal: - pressure: pressure - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: 0.0 - solvent: '' - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Evaporation Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Evaporation Vessel - placeholder_keys: - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Evaporate_Feedback - type: object - goal: - properties: - pressure: - type: number - solvent: - type: string - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent - title: Evaporate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Evaporate_Result - type: object - required: - - goal - title: Evaporate - type: object - type: Evaporate - FilterProtocol: - feedback: {} - goal: - continue_heatchill: continue_heatchill - filtrate_vessel: filtrate_vessel - stir: stir - stir_speed: stir_speed - temp: temp - vessel: vessel - volume: volume - goal_default: - continue_heatchill: false - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: FiltrateVessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: FiltrateOut - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - progress: - type: number - required: - - progress - - current_temp - - filtered_volume - - current_status - title: Filter_Feedback - type: object - goal: - properties: - continue_heatchill: - type: boolean - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume - title: Filter_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Filter_Result - type: object - required: - - goal - title: Filter - type: object - type: Filter - FilterThroughProtocol: - feedback: {} - goal: - eluting_repeats: eluting_repeats - eluting_solvent: eluting_solvent - eluting_volume: eluting_volume - filter_through: filter_through - from_vessel: from_vessel - residence_time: residence_time - to_vessel: to_vessel - goal_default: - eluting_repeats: 0 - eluting_solvent: '' - eluting_volume: 0.0 - filter_through: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - residence_time: 0.0 - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: FilterThrough_Feedback - type: object - goal: - properties: - eluting_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - eluting_solvent: - type: string - eluting_volume: - type: number - filter_through: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filter_through - type: object - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - residence_time: - type: number - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - filter_through - - eluting_solvent - - eluting_volume - - eluting_repeats - - residence_time - title: FilterThrough_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: FilterThrough_Result - type: object - required: - - goal - title: FilterThrough - type: object - type: FilterThrough - HeatChillProtocol: - feedback: {} - goal: - pressure: pressure - purpose: purpose - reflux_solvent: reflux_solvent - stir: stir - stir_speed: stir_speed - temp: temp - temp_spec: temp_spec - time: time - time_spec: time_spec - vessel: vessel - goal_default: - pressure: '' - purpose: '' - reflux_solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - temp_spec: '' - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChill_Feedback - type: object - goal: - properties: - pressure: - type: string - purpose: - type: string - reflux_solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - temp_spec: - type: string - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose - title: HeatChill_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: HeatChill_Result - type: object - required: - - goal - title: HeatChill - type: object - type: HeatChill - HeatChillStartProtocol: - feedback: {} - goal: - purpose: purpose - temp: temp - vessel: vessel - goal_default: - purpose: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStart_Feedback - type: object - goal: - properties: - purpose: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - purpose - title: HeatChillStart_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStart_Result - type: object - required: - - goal - title: HeatChillStart - type: object - type: HeatChillStart - HeatChillStopProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStop_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: HeatChillStop_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStop_Result - type: object - required: - - goal - title: HeatChillStop - type: object - type: HeatChillStop - HydrogenateProtocol: - feedback: {} - goal: - temp: temp - time: time - vessel: vessel - goal_default: - temp: '' - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Hydrogenate_Feedback - type: object - goal: - properties: - temp: - type: string - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - temp - - time - - vessel - title: Hydrogenate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Hydrogenate_Result - type: object - required: - - goal - title: Hydrogenate - type: object - type: Hydrogenate - PumpTransferProtocol: - feedback: {} - goal: - amount: amount - event: event - flowrate: flowrate - from_vessel: from_vessel - rate_spec: rate_spec - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - through: through - time: time - to_vessel: to_vessel - transfer_flowrate: transfer_flowrate - viscous: viscous - volume: volume - goal_default: - amount: '' - event: '' - flowrate: 0.0 - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - rate_spec: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - through: '' - time: 0.0 - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - transfer_flowrate: 0.0 - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: PumpTransfer_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - flowrate: - type: number - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - rate_spec: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - through: - type: string - time: - type: number - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - transfer_flowrate: - type: number - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - - flowrate - - transfer_flowrate - - rate_spec - - event - - through - title: PumpTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: PumpTransfer_Result - type: object - required: - - goal - title: PumpTransfer - type: object - type: PumpTransfer - RecrystallizeProtocol: - feedback: {} - goal: - ratio: ratio - solvent1: solvent1 - solvent2: solvent2 - vessel: vessel - volume: volume - goal_default: - ratio: '' - solvent1: '' - solvent2: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent1 - data_source: handle - data_type: resource - handler_key: solvent1 - label: Solvent 1 - - data_key: solvent2 - data_source: handle - data_type: resource - handler_key: solvent2 - label: Solvent 2 - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Recrystallize_Feedback - type: object - goal: - properties: - ratio: - type: string - solvent1: - type: string - solvent2: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - required: - - ratio - - solvent1 - - solvent2 - - vessel - - volume - title: Recrystallize_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Recrystallize_Result - type: object - required: - - goal - title: Recrystallize - type: object - type: Recrystallize - ResetHandlingProtocol: - feedback: {} - goal: - solvent: solvent - goal_default: - solvent: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: [] - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: ResetHandling_Feedback - type: object - goal: - properties: - solvent: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - solvent - - vessel - title: ResetHandling_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: ResetHandling_Result - type: object - required: - - goal - title: ResetHandling - type: object - type: ResetHandling - RunColumnProtocol: - feedback: {} - goal: - column: column - from_vessel: from_vessel - to_vessel: to_vessel - goal_default: - column: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - pct1: '' - pct2: '' - ratio: '' - rf: '' - solvent1: '' - solvent2: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - column: unilabos_devices - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: RunColumn_Feedback - type: object - goal: - properties: - column: - type: string - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - pct1: - type: string - pct2: - type: string - ratio: - type: string - rf: - type: string - solvent1: - type: string - solvent2: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio - title: RunColumn_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: RunColumn_Result - type: object - required: - - goal - title: RunColumn - type: object - type: RunColumn - SeparateProtocol: - feedback: {} - goal: - from_vessel: from_vessel - product_phase: product_phase - purpose: purpose - repeats: repeats - separation_vessel: separation_vessel - settling_time: settling_time - solvent: solvent - solvent_volume: solvent_volume - stir_speed: stir_speed - stir_time: stir_time - through: through - to_vessel: to_vessel - waste_phase_to_vessel: waste_phase_to_vessel - goal_default: - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - product_phase: '' - product_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - purpose: '' - repeats: 0 - separation_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - settling_time: 0.0 - solvent: '' - solvent_volume: '' - stir_speed: 0.0 - stir_time: 0.0 - through: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - waste_phase_to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - waste_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - waste_phase_to_vessel: unilabos_resources - waste_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Separate_Feedback - type: object - goal: - properties: - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - product_phase: - type: string - product_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: product_vessel - type: object - purpose: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - separation_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: separation_vessel - type: object - settling_time: - type: number - solvent: - type: string - solvent_volume: - type: string - stir_speed: - type: number - stir_time: - type: number - through: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - waste_phase_to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_phase_to_vessel - type: object - waste_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_vessel - type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time - title: Separate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Separate_Result - type: object - required: - - goal - title: Separate - type: object - type: Separate - StartStirProtocol: - feedback: {} - goal: - purpose: purpose - stir_speed: stir_speed - vessel: vessel - goal_default: - purpose: '' - stir_speed: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - progress: - type: number - required: - - progress - - current_speed - - current_status - title: StartStir_Feedback - type: object - goal: - properties: - purpose: - type: string - stir_speed: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - stir_speed - - purpose - title: StartStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StartStir_Result - type: object - required: - - goal - title: StartStir - type: object - type: StartStir - StirProtocol: - feedback: {} - goal: - event: event - settling_time: settling_time - stir_speed: stir_speed - stir_time: stir_time - time: time - time_spec: time_spec - vessel: vessel - goal_default: - event: '' - settling_time: '' - stir_speed: 0.0 - stir_time: 0.0 - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: Stir_Feedback - type: object - goal: - properties: - event: - type: string - settling_time: - type: string - stir_speed: - type: number - stir_time: - type: number - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time - title: Stir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Stir_Result - type: object - required: - - goal - title: Stir - type: object - type: Stir - StopStirProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: StopStir_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: StopStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StopStir_Result - type: object - required: - - goal - title: StopStir - type: object - type: StopStir - TransferProtocol: - feedback: {} - goal: - amount: amount - from_vessel: from_vessel - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - time: time - to_vessel: to_vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - from_vessel: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - time: 0.0 - to_vessel: '' - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - transferred_volume: - type: number - required: - - progress - - transferred_volume - - current_status - title: Transfer_Feedback - type: object - goal: - properties: - amount: - type: string - from_vessel: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - time: - type: number - to_vessel: - type: string - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - title: Transfer_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Transfer_Result - type: object - required: - - goal - title: Transfer - type: object - type: Transfer - WashSolidProtocol: - feedback: {} - goal: - filtrate_vessel: filtrate_vessel - repeats: repeats - solvent: solvent - stir: stir - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - event: '' - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - mass: '' - repeats: 0 - repeats_spec: '' - solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - volume_spec: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: filtrate_vessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Vessel Out - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: filtrate_vessel_out - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: WashSolid_Feedback - type: object - goal: - properties: - event: - type: string - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - mass: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - repeats_spec: - type: string - solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - volume_spec: - type: string - required: - - vessel - - solvent - - volume - - filtrate_vessel - - temp - - stir - - stir_speed - - time - - repeats - - volume_spec - - repeats_spec - - mass - - event - title: WashSolid_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: WashSolid_Result - type: object - required: - - goal - title: WashSolid - type: object - type: WashSolid - auto-create_ros_action_server: - feedback: {} - goal: {} - goal_default: - action_name: null - action_value_mapping: null - handles: {} - result: {} - schema: - description: create_ros_action_server的参数schema - properties: - feedback: {} - goal: - properties: - action_name: - type: string - action_value_mapping: - type: string - required: - - action_name - - action_value_mapping - type: object - result: {} - required: - - goal - title: create_ros_action_server参数 - type: object - type: UniLabJsonCommand - auto-execute_single_action: - feedback: {} - goal: {} - goal_default: - action_kwargs: null - action_name: null - device_id: null - handles: {} - result: {} - schema: - description: execute_single_action的参数schema - properties: - feedback: {} - goal: - properties: - action_kwargs: - type: string - action_name: - type: string - device_id: - type: string - required: - - device_id - - action_name - - action_kwargs - type: object - result: {} - required: - - goal - title: execute_single_action参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize_device: - feedback: {} - goal: {} - goal_default: - device_config: null - device_id: null - handles: {} - result: {} - schema: - description: initialize_device的参数schema - properties: - feedback: {} - goal: - properties: - device_config: - type: string - device_id: - type: string - required: - - device_id - - device_config - type: object - result: {} - required: - - goal - title: initialize_device参数 - type: object - type: UniLabJsonCommand - module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode - status_types: {} - type: ros2 - config_info: [] - description: Workstation - handles: [] - icon: '' - init_param_schema: - config: - properties: - action_value_mappings: - type: object - children: - type: object - device_id: - type: string - driver_instance: - type: string - hardware_interface: - type: object - print_publish: - default: true - type: string - protocol_type: - items: - type: string - type: array - resource_tracker: - type: string - status_types: - type: object - required: - - protocol_type - - children - - driver_instance - - device_id - - status_types - - action_value_mappings - - hardware_interface - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 -workstation.example: - category: - - work_station - class: - action_value_mappings: {} - module: unilabos.devices.workstation.workstation_base:WorkstationExample - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml index 51ea6e4..6d8a380 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -1,58 +1,7 @@ -YB_fen_ye_5ml_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle - type: pylabrobot - description: YB_fen_ye_5ml_Bottle - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_fen_ye_20ml_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle - type: pylabrobot - description: YB_fen_ye_20ml_Bottle - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_pei_ye_xiao_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle - type: pylabrobot - description: YB_pei_ye_xiao_Bottle - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_pei_ye_da_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle - type: pylabrobot - description: YB_pei_ye_da_Bottle - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - YB_Pipette_Tip: category: - yb3 + - YB_bottle class: module: unilabos.resources.bioyond.YB_bottles:YB_Pipette_Tip type: pylabrobot @@ -62,4 +11,55 @@ YB_Pipette_Tip: init_param_schema: {} registry_type: resource version: 1.0.0 - +YB_fen_ye_20ml_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle + type: pylabrobot + description: YB_fen_ye_20ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_fen_ye_5ml_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle + type: pylabrobot + description: YB_fen_ye_5ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_pei_ye_da_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle + type: pylabrobot + description: YB_pei_ye_da_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_pei_ye_xiao_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle + type: pylabrobot + description: YB_pei_ye_xiao_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index 1c5b029..eb2ff6f 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -1,59 +1,7 @@ - -YB_6StockCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier - type: pylabrobot - description: YB_6StockCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_6VialCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier - type: pylabrobot - description: YB_6VialCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_1BottleCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier - type: pylabrobot - description: YB_1BottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_1GaoNianYeBottleCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier - type: pylabrobot - description: YB_1GaoNianYeBottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - YB_1Bottle100mlCarrier: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1Bottle100mlCarrier type: pylabrobot @@ -63,49 +11,36 @@ YB_1Bottle100mlCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 - -YB_6x5ml_DispensingVialCarrier: +YB_1BottleCarrier: category: - yb3 + - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier type: pylabrobot - description: YB_6x5ml_DispensingVialCarrier + description: YB_1BottleCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 - -YB_6x20ml_DispensingVialCarrier: +YB_1GaoNianYeBottleCarrier: category: - yb3 + - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier type: pylabrobot - description: YB_6x20ml_DispensingVialCarrier + description: YB_1GaoNianYeBottleCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 - -YB_6x_SmallSolutionBottleCarrier: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier - type: pylabrobot - description: YB_6x_SmallSolutionBottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - YB_4x_LargeSolutionBottleCarrier: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottle_carriers:YB_4x_LargeSolutionBottleCarrier type: pylabrobot @@ -115,23 +50,75 @@ YB_4x_LargeSolutionBottleCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 - -YB_jia_yang_tou_da_1X1_carrier: +YB_6StockCarrier: category: - yb3 + - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier type: pylabrobot - description: YB_jia_yang_tou_da_1X1_carrier + description: YB_6StockCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6VialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier + type: pylabrobot + description: YB_6VialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6x20ml_DispensingVialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier + type: pylabrobot + description: YB_6x20ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6x5ml_DispensingVialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier + type: pylabrobot + description: YB_6x5ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6x_SmallSolutionBottleCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier + type: pylabrobot + description: YB_6x_SmallSolutionBottleCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 - YB_AdapterBlock: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottle_carriers:YB_AdapterBlock type: pylabrobot @@ -141,10 +128,10 @@ YB_AdapterBlock: init_param_schema: {} registry_type: resource version: 1.0.0 - YB_TipBox: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipBox type: pylabrobot @@ -154,36 +141,10 @@ YB_TipBox: init_param_schema: {} registry_type: resource version: 1.0.0 - -YB_ye_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle - type: pylabrobot - description: YB_ye_Bottle - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - -YB_ye_100ml_Bottle: - category: - - yb3 - class: - module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle - type: pylabrobot - description: YB_ye_100ml_Bottle - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 - YB_gao_nian_ye_Bottle: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle type: pylabrobot @@ -193,10 +154,10 @@ YB_gao_nian_ye_Bottle: init_param_schema: {} registry_type: resource version: 1.0.0 - YB_jia_yang_tou_da: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da type: pylabrobot @@ -206,3 +167,42 @@ YB_jia_yang_tou_da: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_jia_yang_tou_da_1X1_carrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + type: pylabrobot + description: YB_jia_yang_tou_da_1X1_carrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_ye_100ml_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + type: pylabrobot + description: YB_ye_100ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_ye_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + type: pylabrobot + description: YB_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 From fe4e49e56d69cb7257ef1b597add40c671a17283 Mon Sep 17 00:00:00 2001 From: calvincao Date: Fri, 31 Oct 2025 13:53:58 +0800 Subject: [PATCH 035/104] =?UTF-8?q?feat(workstation):=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=20Bioyond=20=E5=92=8C=20Coin=20Cell=20=E7=BB=84=E8=A3=85?= =?UTF-8?q?=E5=B7=A5=E4=BD=9C=E7=AB=99=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改 Bioyond Studio 配置文件中的 API 主机地址 - 更新 bioyond_cell_workstation.py 中的默认模板路径 - 新增物料模板文件 material_template.xlsx - 扩展 func_pack_send_msg_cmd 函数以支持 assembly_pressure 参数 - 更新 coin_cell_workstation.yaml 文件以包含 assembly_pressure 的默认值和类型定义 --- .../bioyond_cell/bioyond_cell_workstation.py | 2 +- ...品导入模板.xlsx => material_template.xlsx} | Bin 22129 -> 22168 bytes .../workstation/bioyond_studio/config.py | 2 +- .../coin_cell_assembly/coin_cell_assembly.py | 15 +++++++++------ .../devices/coin_cell_workstation.yaml | 8 ++++++++ 5 files changed, 19 insertions(+), 8 deletions(-) rename unilabos/devices/workstation/bioyond_studio/bioyond_cell/{样品导入模板.xlsx => material_template.xlsx} (88%) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index ff29574..5ce49e0 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -253,7 +253,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\样品导入模板.xlsx", + xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx similarity index 88% rename from unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx rename to unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx index 0d8d0e297d6ff5c2d304bc438c499a27da375b01..844fc84d932f618891abbdf6efdefc4bcf16289f 100644 GIT binary patch delta 128 zcmeykhH=JP#tr?de40E$H#?*l7(iHpVe*9#smFu?W$XZCM#I-ZC+quEyD>{GWkhJ vIHSa5n@}6Zvy&@g-0L> diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 52feff6..504cf45 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -8,7 +8,7 @@ import os # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.21.32.103:44388"), + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"), "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index e520628..d8bb597 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -766,7 +766,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # self.success = True # return self.success - def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type) -> bool: + def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool: """UNILAB写参数""" while (self.request_rec_msg_status) == False: print("wait for request_rec_msg_status to True") @@ -782,6 +782,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase): #发送电解液组装类型 self._unilab_send_msg_assembly_type(assembly_type) time.sleep(1) + #发送电池压制力 + self._unilab_send_msg_assembly_pressure(assembly_pressure) + time.sleep(1) self._unilab_send_msg_succ_cmd(True) time.sleep(1) while (self.request_rec_msg_status) == True: @@ -895,16 +898,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei) self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu) self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei) - self.client.use_node('COIL_ALUMINUM_FOIL').write(lvbodian) - self.client.use_node('REG_MSG_PRESS_MODE').write(battery_pressure_mode) + self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian) + self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode) # self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure) self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore) self.success = True return self.success - def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, file_path: str="D:\\coin_cell_data") -> bool: - elec_num, elec_use_num, elec_vol, assembly_type = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type) + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool: + elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) summary_csv_file = os.path.join(file_path, "duandian.csv") # 如果断点文件存在，先读取之前的进度 if os.path.exists(summary_csv_file): @@ -954,7 +957,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): print(f"开始第{last_i+i+1}瓶电解液的组装") #第一个循环从上次断点继续，后续循环从0开始 j_start = last_j if i == last_i else 0 - self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type) + self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure) for j in range(j_start, elec_use_num): print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index 7e541eb..4738946 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -74,6 +74,7 @@ coincellassemblyworkstation_device: feedback: {} goal: {} goal_default: + assembly_pressure: 4200 assembly_type: 7 elec_num: null elec_use_num: null @@ -88,6 +89,9 @@ coincellassemblyworkstation_device: feedback: {} goal: properties: + assembly_pressure: + default: 4200 + type: integer assembly_type: default: 7 type: integer @@ -291,6 +295,7 @@ coincellassemblyworkstation_device: feedback: {} goal: {} goal_default: + assembly_pressure: null assembly_type: null elec_use_num: null elec_vol: null @@ -303,6 +308,8 @@ coincellassemblyworkstation_device: feedback: {} goal: properties: + assembly_pressure: + type: string assembly_type: type: string elec_use_num: @@ -313,6 +320,7 @@ coincellassemblyworkstation_device: - elec_use_num - elec_vol - assembly_type + - assembly_pressure type: object result: {} required: From 2eb9986edb662c73d7f91369d24df48a0b456f75 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Fri, 31 Oct 2025 13:54:58 +0800 Subject: [PATCH 036/104] 123 --- .../workstation/coin_cell_assembly.zip | Bin 0 -> 19794 bytes .../{coin_cell_assembly => }/__init__.py | 0 .../button_battery_station.py | 0 .../coin_cell_assembly.py | 14 +- .../coin_cell_assembly_a.csv | 0 .../new_cellconfig3c.json | 0 .../coin_cell_assembly/workstation_base.py | 489 ------------------ 7 files changed, 7 insertions(+), 496 deletions(-) create mode 100644 unilabos/devices/workstation/coin_cell_assembly.zip rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/__init__.py (100%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/button_battery_station.py (100%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/coin_cell_assembly.py (99%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/coin_cell_assembly_a.csv (100%) rename unilabos/devices/workstation/coin_cell_assembly/{coin_cell_assembly => }/new_cellconfig3c.json (100%) delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/workstation_base.py diff --git a/unilabos/devices/workstation/coin_cell_assembly.zip b/unilabos/devices/workstation/coin_cell_assembly.zip new file mode 100644 index 0000000000000000000000000000000000000000..b95b7f4a3f731c9d33a00a977343af3c5962ded5 GIT binary patch literal 19794 zcmZsiLv$|;?51nmwr#t;wQbwBZQHhO+s3c$EpBZa^Ua+9IkT9_BFQG}H_4MI%7B8Q z0sU{Yh||^iKgs_%)c>N1gO$C3iJ7gffsu=gnVqq%7o+0;6hHx;RO;yHw%|Ae;{XAL zhX4W5{r?M$-CSKA>=_)ruJNs0w#A-&EItTBu^@2qOioGW zh|IYl%{#+!S+L`bX`=?)`PxC8c=Dhn0HMj{LJd!W7}_9Dk}zd*E{g$!1w_qx3SZ!V z36|?ylWWNs=w+AXjc@z;|895O_W9k`khsFSZ?0u7<*nU9*QcD4U#X-%k 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zmC1EdVrhM7_4*vSsnqsAp+TQ_+TUy}SBU*5(r$6Zc@5{!dZ^6$BEH;yJvHX-$4;Ul z%sL3{Mja9k8l$zKkxcJwzQG;(<<++COd(en^q>x-*!mInbgHEYLMmqg%B*=}M6kP; zYhBH~>d9ag^~x>HMgqk)MAnLi2c}Xe!16JpChCcnN_q5btL_b(-I6%R#D)7g78(33KYX2y8jDuc6HR``VLw@X4;vtp zAwK4M{S-EEFJO4(_q}x0L6C{-pONBw5^wu^w~aFT*to_x#EVwFvJmM$pDc%_JHyGS zTUCd>9SHUzW5EzmkW@CqfUP@ed;EIN<3-7jxra1%qma5WXsRnfTxFUY-_?O=!LnVlvyKV$ zYC_(JqFEYrA-WJ)ug38XmU$dexGzZ{E6ubr3yw5b>txAjUgVua2nz&P+}-j-GMsjA z(Z?~(%{~(7Gpo?blULD&kaO-{ND>&KMg?4u50H?am_LXO+ox3e%Ciy3rR`qd7dO7nkJh~{Um+0&aNw$J7UmX^Ntp1 z8(wW(e68j)U;Hx7-t2XVxmveOV^z}qII#RXv&5aHK)d0V; zJSFx`4%;{XC$bI!guZ4T0Pq6(3E_H6dLswEmHx~78}c)2RewVEpFn 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]]: - data = super().serialize_state() - data.update( - self._unilabos_state - ) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法 - """ - 用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml - 可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错 - :param name: 资源名称 - :return: Resource对象 - """ - plate = WorkStationContainer( - name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() - ) - tip_rack = WorkStationContainer( - "tip_rack_inside_plate", - size_x=50, - size_y=50, - size_z=10, - category="tip_rack", - ordering=collections.OrderedDict(), - ) - plate.assign_child_resource(tip_rack, Coordinate.zero()) - return plate - - -class ResourceSynchronizer(ABC): - """资源同步器基类 - - 负责与外部物料系统的同步，并对 self.deck 做修改 - """ - - def __init__(self, workstation: "WorkstationBase"): - self.workstation = workstation - - @abstractmethod - async def sync_from_external(self) -> bool: - """从外部系统同步物料到本地deck""" - pass - - @abstractmethod - async def sync_to_external(self, plr_resource: PLRResource) -> bool: - """将本地物料同步到外部系统""" - pass - - @abstractmethod - async def handle_external_change(self, change_info: Dict[str, Any]) -> bool: - """处理外部系统的变更通知""" - pass - - -class WorkstationBase(ABC): - """工作站基类 - 简化版 - - 核心功能： - 1. 基于 PLR Deck 的物料系统，支持格式转换 - 2. 可选的资源同步器支持外部物料系统 - 3. 简化的工作流管理 - """ - - _ros_node: ROS2WorkstationNode - - @property - def _children(self) -> Dict[str, Any]: # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别 - return self._ros_node.children - - async def update_resource_example(self): - return await self._ros_node.update_resource([get_workstation_plate_resource("test")]) - - def __init__( - self, - station_resource: PLRResource, - *args, - **kwargs, # 必须有kwargs - ): - # 基本配置 - print(station_resource) - self.deck_config = station_resource - - # PLR 物料系统 - self.deck: Optional[Deck] = None - self.plr_resources: Dict[str, PLRResource] = {} - - # 资源同步器（可选） - # self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用 - - # 硬件接口 - self.hardware_interface: Union[Any, str] = None - - # 工作流状态 - self.current_workflow_status = WorkflowStatus.IDLE - self.current_workflow_info = None - self.workflow_start_time = None - self.workflow_parameters = {} - - # 支持的工作流（静态预定义） - self.supported_workflows: Dict[str, WorkflowInfo] = {} - - # 初始化物料系统 - self._initialize_material_system() - - # 注册支持的工作流 - # self._register_supported_workflows() - - # logger.info(f"工作站 {device_id} 初始化完成（简化版）") - - def _initialize_material_system(self): - """初始化物料系统 - 使用 graphio 转换""" - try: - from unilabos.resources.graphio import resource_ulab_to_plr - - # # 1. 合并 deck_config 和 children 创建完整的资源树 - # complete_resource_config = self._create_complete_resource_config() - - # # 2. 使用 graphio 转换为 PLR 资源 - # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True) - - # # 3. 建立资源映射 - # self._build_resource_mappings(self.deck) - - # # 4. 如果有资源同步器，执行初始同步 - # if self.resource_synchronizer: - # # 这里可以异步执行，暂时跳过 - # pass - - # logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源") - pass - except Exception as e: - # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}") - raise - - def _create_complete_resource_config(self) -> Dict[str, Any]: - """创建完整的资源配置 - 合并 deck_config 和 children""" - # 创建主 deck 配置 - deck_resource = { - "id": f"{self.device_id}_deck", - "name": f"{self.device_id}_deck", - "type": "deck", - "position": {"x": 0, "y": 0, "z": 0}, - "config": { - "size_x": self.deck_config.get("size_x", 1000.0), - "size_y": self.deck_config.get("size_y", 1000.0), - "size_z": self.deck_config.get("size_z", 100.0), - **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}, - }, - "data": {}, - "children": [], - "parent": None, - } - - # 添加子资源 - if self._children: - children_list = [] - for child_id, child_config in self._children.items(): - child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"]) - children_list.append(child_resource) - deck_resource["children"] = children_list - - return deck_resource - - def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]: - """标准化子资源配置""" - return { - "id": resource_id, - "name": config.get("name", resource_id), - "type": config.get("type", "container"), - "position": self._normalize_position(config.get("position", {})), - "config": config.get("config", {}), - "data": config.get("data", {}), - "children": [], # 简化版本：只支持一层子资源 - "parent": parent_id, - } - - def _normalize_position(self, position: Any) -> Dict[str, float]: - """标准化位置信息""" - if isinstance(position, dict): - return { - "x": float(position.get("x", 0)), - "y": float(position.get("y", 0)), - "z": float(position.get("z", 0)), - } - elif isinstance(position, (list, tuple)) and len(position) >= 2: - return { - "x": float(position[0]), - "y": float(position[1]), - "z": float(position[2]) if len(position) > 2 else 0.0, - } - else: - return {"x": 0.0, "y": 0.0, "z": 0.0} - - def _build_resource_mappings(self, deck: Deck): - """递归构建资源映射""" - - def add_resource_recursive(resource: PLRResource): - if hasattr(resource, "name"): - self.plr_resources[resource.name] = resource - - if hasattr(resource, "children"): - for child in resource.children: - add_resource_recursive(child) - - add_resource_recursive(deck) - - # ============ 硬件接口管理 ============ - - def set_hardware_interface(self, hardware_interface: Union[Any, str]): - """设置硬件接口""" - self.hardware_interface = hardware_interface - logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}") - - def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"): - """设置协议节点引用（用于代理模式）""" - self._ros_node = workstation_node - logger.info(f"工作站 {self.device_id} 关联协议节点") - - # ============ 设备操作接口 ============ - - def call_device_method(self, method: str, *args, **kwargs) -> Any: - """调用设备方法的统一接口""" - # 1. 代理模式：通过协议节点转发 - if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"): - if not self._ros_node: - raise RuntimeError("代理模式需要设置workstation_node") - - device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀 - return self._ros_node.call_device_method(device_id, method, *args, **kwargs) - - # 2. 直接模式：直接调用硬件接口方法 - elif self.hardware_interface and hasattr(self.hardware_interface, method): - return getattr(self.hardware_interface, method)(*args, **kwargs) - - else: - raise AttributeError(f"硬件接口不支持方法: {method}") - - def get_device_status(self) -> Dict[str, Any]: - """获取设备状态""" - try: - return self.call_device_method("get_status") - except AttributeError: - # 如果设备不支持get_status方法，返回基础状态 - return { - "status": "unknown", - "interface_type": type(self.hardware_interface).__name__, - "timestamp": time.time(), - } - - def is_device_available(self) -> bool: - """检查设备是否可用""" - try: - self.get_device_status() - return True - except: - return False - - # ============ 物料系统接口 ============ - - def get_deck(self) -> Deck: - """获取主 Deck""" - return self.deck - - def get_all_resources(self) -> Dict[str, PLRResource]: - """获取所有 PLR 资源""" - return self.plr_resources.copy() - - def find_resource_by_name(self, name: str) -> Optional[PLRResource]: - """按名称查找资源""" - return self.plr_resources.get(name) - - def find_resources_by_type(self, resource_type: type) -> List[PLRResource]: - """按类型查找资源""" - return [res for res in self.plr_resources.values() if isinstance(res, resource_type)] - - async def sync_with_external_system(self) -> bool: - """与外部物料系统同步""" - if not self.resource_synchronizer: - logger.info(f"工作站 {self.device_id} 没有配置资源同步器") - return True - - try: - success = await self.resource_synchronizer.sync_from_external() - if success: - logger.info(f"工作站 {self.device_id} 外部同步成功") - else: - logger.warning(f"工作站 {self.device_id} 外部同步失败") - return success - except Exception as e: - logger.error(f"工作站 {self.device_id} 外部同步异常: {e}") - return False - - # ============ 简化的工作流控制 ============ - - def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流""" - try: - # 设置工作流状态 - self.current_workflow_status = WorkflowStatus.INITIALIZING - self.workflow_parameters = parameters - self.workflow_start_time = time.time() - - # 委托给子类实现 - success = self._execute_workflow_impl(workflow_name, parameters) - - if success: - self.current_workflow_status = WorkflowStatus.RUNNING - logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}") - return False - - def stop_workflow(self, emergency: bool = False) -> bool: - """停止工作流""" - try: - if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]: - logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流") - return True - - self.current_workflow_status = WorkflowStatus.STOPPING - - # 委托给子类实现 - success = self._stop_workflow_impl(emergency) - - if success: - self.current_workflow_status = WorkflowStatus.STOPPED - logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流停止失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}") - return False - - # ============ 状态属性 ============ - - @property - def workflow_status(self) -> WorkflowStatus: - """获取当前工作流状态""" - return self.current_workflow_status - - @property - def is_busy(self) -> bool: - """检查工作站是否忙碌""" - return self.current_workflow_status in [ - WorkflowStatus.INITIALIZING, - WorkflowStatus.RUNNING, - WorkflowStatus.STOPPING, - ] - - @property - def workflow_runtime(self) -> float: - """获取工作流运行时间（秒）""" - if self.workflow_start_time is None: - return 0.0 - return time.time() - self.workflow_start_time - - # ============ 抽象方法 - 子类必须实现 ============ - - # @abstractmethod - # def _register_supported_workflows(self): - # """注册支持的工作流 - 子类必须实现""" - # pass - - # @abstractmethod - # def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - # """执行工作流的具体实现 - 子类必须实现""" - # pass - - # @abstractmethod - # def _stop_workflow_impl(self, emergency: bool = False) -> bool: - # """停止工作流的具体实现 - 子类必须实现""" - # pass - -class WorkstationExample(WorkstationBase): - """工作站示例实现""" - - def _register_supported_workflows(self): - """注册支持的工作流""" - self.supported_workflows["example_workflow"] = WorkflowInfo( - name="example_workflow", - description="这是一个示例工作流", - estimated_duration=300.0, - required_materials=["sample_plate"], - output_product="processed_plate", - parameters_schema={"param1": "string", "param2": "integer"}, - ) - - def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流的具体实现""" - if workflow_name not in self.supported_workflows: - logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}") - return False - - # 这里添加实际的工作流逻辑 - logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}") - return True - - def _stop_workflow_impl(self, emergency: bool = False) -> bool: - """停止工作流的具体实现""" - # 这里添加实际的停止逻辑 - logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})") - return True \ No newline at end of file From eb93b83415589aff5eb05234a8cf656263d97b5a Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Fri, 31 Oct 2025 15:05:21 +0800 Subject: [PATCH 037/104] =?UTF-8?q?fix:=20=E6=9B=B4=E6=96=B0=E7=89=A9?= =?UTF-8?q?=E6=96=99=E7=B1=BB=E5=9E=8B=E9=85=8D=E7=BD=AE=E6=98=A0=E5=B0=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../devices/workstation/bioyond_studio/config.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 504cf45..2eb3dbb 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -154,19 +154,19 @@ MATERIAL_TYPE_MAPPINGS = { "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"), - "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), - "5ml分液瓶": ("YB_6x5ml_DispensingVialCarrier", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), - "20ml分液瓶": ("YB_6x20ml_DispensingVialCarrier", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "20ml分液瓶": ("YB_fen_ye_20ml_Bottler", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), - "配液瓶(小)": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), - "配液瓶(大)": ("YB_4x_LargeSolutionBottleCarrier", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "配液瓶(大)": ("YB_pei_ye_da_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), - "枪头": ("YB_TipBox", "b6196971-1050-46da-9927-333e8dea062d"), + "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), } SOLID_LIQUID_MAPPINGS = { From 6d7c39da9e9e5ddb2b1727aec4bfa0a8055d3d64 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Fri, 31 Oct 2025 15:29:59 +0800 Subject: [PATCH 038/104] 1031 --- test/resources/test.json | 191 ++++++++++++++++++ .../bioyond_cell/bioyond_cell_workstation.py | 132 +++++++++++- .../workstation/bioyond_studio/config.py | 2 +- unilabos/registry/devices/laiyu_liquid.yaml | 11 +- unilabos/registry/devices/liquid_handler.yaml | 33 ++- 5 files changed, 333 insertions(+), 36 deletions(-) create mode 100644 test/resources/test.json diff --git a/test/resources/test.json b/test/resources/test.json new file mode 100644 index 0000000..9fa9237 --- /dev/null +++ b/test/resources/test.json @@ -0,0 +1,191 @@ +{ + "data": [ + { + "orderCode": "BSO2025103100006", + "orderName": "DP20250927001", + "errorMessage": null, + "usedMaterials": [ + { + "id": "3a1d4b13-25a6-cfb2-7315-159f14b32425", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", + "materialId": "3a1d4b13-2467-e64d-d8bc-3957fb6e3240", + "materialName": "适配器块", + "materialCode": "0018-00065", + "quantity": "1块", + "materialTypeId": "efc3bb32-d504-4890-91c0-b64ed3ac80cf", + "materialTypeCode": "0018", + "materialTypeMode": "Consumables", + "materialTypeName": "适配器块", + "locationId": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c", + "locationCode": "0014-0001", + "locationShowName": "0014-0001" + }, + { + "id": "3a1d4b13-2420-8cfe-17f1-5f77a6ff6dc3", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", + "materialId": "3a1d4b11-e448-bf90-d0bd-b20758425370", + "materialName": "test1", + "materialCode": "0001-00063", + "quantity": "1块", + "materialTypeId": "3a190c8b-3284-af78-d29f-9a69463ad047", + "materialTypeCode": "0001", + "materialTypeMode": "Sample", + "materialTypeName": "配液瓶(小)板", + "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "locationCode": "4", + "locationShowName": "4" + }, + { + "id": "3a1d4b13-2420-73a1-2b4d-7bf6dd993c36", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", + "materialId": "3a1d4b11-e448-fea3-8291-0b66ecd06d72", + "materialName": "test1", + "materialCode": "0002-00282", + "quantity": "1块", + "materialTypeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "materialTypeCode": "0002", + "materialTypeMode": "Sample", + "materialTypeName": "配液瓶(小)", + "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "locationCode": "4-1/1", + "locationShowName": "4-1/1" + }, + { + "id": "3a1d4b13-2420-e45f-192d-639887ad73b7", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", + "materialId": "3a1d4b12-67fc-5f91-13ed-c223d0155399", + "materialName": "test2", + "materialCode": "0010-00059", + "quantity": "1块", + "materialTypeId": "3a192fa4-007d-ec7b-456e-2a8be7a13f23", + "materialTypeCode": "0010", + "materialTypeMode": "Sample", + "materialTypeName": "5ml分液瓶板", + "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "locationCode": "5", + "locationShowName": "5" + }, + { + "id": "3a1d4b13-2420-c052-93cc-002f0aae79fc", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", + "materialId": "3a1d4b12-67fc-60f7-1129-3d1ef2a2d1f8", + "materialName": "test2", + "materialCode": "0007-00211", + "quantity": "1块", + "materialTypeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4", + "materialTypeCode": "0007", + "materialTypeMode": "Sample", + "materialTypeName": "5ml分液瓶", + "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "locationCode": "5-1/1", + "locationShowName": "5-1/1" + } + ] + }, + { + "orderCode": "BSO2025103100007", + "orderName": "DP20250927002", + "errorMessage": null, + "usedMaterials": [ + { + "id": "3a1d4b13-264b-aca7-9e97-ab4df186d5c2", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", + "materialId": "3a1d4b13-2467-e64d-d8bc-3957fb6e3240", + "materialName": "适配器块", + "materialCode": "0018-00065", + "quantity": "1块", + "materialTypeId": "efc3bb32-d504-4890-91c0-b64ed3ac80cf", + "materialTypeCode": "0018", + "materialTypeMode": "Consumables", + "materialTypeName": "适配器块", + "locationId": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c", + "locationCode": "0014-0001", + "locationShowName": "0014-0001" + }, + { + "id": "3a1d4b13-263e-873e-1331-7e668b411e98", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", + "materialId": "3a1d4b11-e448-bf90-d0bd-b20758425370", + "materialName": "test1", + "materialCode": "0001-00063", + "quantity": "1块", + "materialTypeId": "3a190c8b-3284-af78-d29f-9a69463ad047", + "materialTypeCode": "0001", + "materialTypeMode": "Sample", + "materialTypeName": "配液瓶(小)板", + "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "locationCode": "4", + "locationShowName": "4" + }, + { + "id": "3a1d4b13-263e-7884-d9e0-b010478b7448", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", + "materialId": "3a1d4b11-e448-82e0-6a64-6230ee1bf0a9", + "materialName": "test1", + "materialCode": "0002-00283", + "quantity": "1块", + "materialTypeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "materialTypeCode": "0002", + "materialTypeMode": "Sample", + "materialTypeName": "配液瓶(小)", + "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "locationCode": "4-1/2", + "locationShowName": "4-1/2" + }, + { + "id": "3a1d4b13-263e-6e99-b513-66047191643f", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", + "materialId": "3a1d4b12-67fc-5f91-13ed-c223d0155399", + "materialName": "test2", + "materialCode": "0010-00059", + "quantity": "1块", + "materialTypeId": "3a192fa4-007d-ec7b-456e-2a8be7a13f23", + "materialTypeCode": "0010", + "materialTypeMode": "Sample", + "materialTypeName": "5ml分液瓶板", + "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "locationCode": "5", + "locationShowName": "5" + }, + { + "id": "3a1d4b13-263e-5b21-2c41-53e4ea7fe947", + "destinationType": "TempOrder", + "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", + "materialId": "3a1d4b12-67fc-131a-82ff-87e9e7708f9f", + "materialName": "test2", + "materialCode": "0007-00212", + "quantity": "1块", + "materialTypeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4", + "materialTypeCode": "0007", + "materialTypeMode": "Sample", + "materialTypeName": "5ml分液瓶", + "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "locationCode": "5-1/2", + "locationShowName": "5-1/2" + } + ] + } + ], + "code": 1, + "message": "", + "timestamp": 1761891208109 +} + +25-10-31 [14:27:52,203] [ERROR] 从Bioyond同步物料数据失败: 'BottleCarrier' object has no attribute 'tracker' [sync_from_external:83] [unilabos.utils.log.station] +Traceback (most recent call last): + File "C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\station.py", line 73, in sync_from_external + unilab_resources = resource_bioyond_to_plr( + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "C:\ML\GitHub\Uni-Lab-OS\unilabos\resources\graphio.py", line 661, in resource_bioyond_to_plr + bottle.tracker.liquids = [ + ^^^^^^^^^^^^^^ +AttributeError: 'BottleCarrier' object has no attribute 'tracker' \ No newline at end of file diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 5ce49e0..c40945e 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -253,7 +253,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", + xlsx_path: Optional[str] = "unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -630,7 +630,12 @@ class BioyondCellWorkstation(BioyondWorkstation): response = self._post_lims("/api/lims/order/orders", orders) print(response) # 等待任务报送成功 - order_code = response.get("data", {}).get("orderCode") + data_list = response.get("data", []) + if data_list: + order_code = data_list[0].get("orderCode") + else: + order_code = None + if not order_code: logger.error("上料任务未返回有效 orderCode！") return response @@ -963,6 +968,119 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.error(f"✗ 执行失败: {e}") return {"success": False, "error": str(e)} +def create_material( + self, + material_name: str, + type_id: str, + warehouse_name: str, + location_name_or_id: Optional[str] = None + ) -> Dict[str, Any]: + """创建单个物料并可选入库。 + Args: + material_name: 物料名称（会优先匹配配置模板）。 + type_id: 物料类型 ID（若为空则尝试从配置推断）。 + warehouse_name: 需要入库的仓库名称；若为空则仅创建不入库。 + location_name_or_id: 具体库位名称（如 A01）或库位 UUID，由用户指定。 + Returns: + 包含创建结果、物料ID以及入库结果的字典。 + """ + material_name = (material_name or "").strip() + if not material_name: + raise ValueError("material_name 不能为空") + resolved_type_id = (type_id or "").strip() + # 优先从 SOLID_LIQUID_MAPPINGS 中获取模板数据 + template = SOLID_LIQUID_MAPPINGS.get(material_name) + if not template: + raise ValueError(f"在配置中未找到物料 {material_name} 的模板，请检查 SOLID_LIQUID_MAPPINGS。") + material_data: Dict[str, Any] + material_data = deepcopy(template) + # 最终确保 typeId 为调用方传入的值 + if resolved_type_id: + material_data["typeId"] = resolved_type_id + material_data["name"] = material_name + # 生成唯一编码 + def _generate_code(prefix: str) -> str: + normalized = re.sub(r"\W+", "_", prefix) + normalized = normalized.strip("_") or "material" + return f"{normalized}_{datetime.now().strftime('%Y%m%d%H%M%S')}" + if not material_data.get("code"): + material_data["code"] = _generate_code(material_name) + if not material_data.get("barCode"): + material_data["barCode"] = "" + # 处理数量字段类型 + def _to_number(value: Any, default: float = 0.0) -> float: + try: + if value is None: + return default + if isinstance(value, (int, float)): + return float(value) + if isinstance(value, str) and value.strip() == "": + return default + return float(value) + except (TypeError, ValueError): + return default + material_data["quantity"] = _to_number(material_data.get("quantity"), 1.0) + material_data["warningQuantity"] = _to_number(material_data.get("warningQuantity"), 0.0) + unit = material_data.get("unit") or "个" + material_data["unit"] = unit + if not material_data.get("parameters"): + material_data["parameters"] = json.dumps({"unit": unit}, ensure_ascii=False) + # 补充子物料信息 + details = material_data.get("details") or [] + if not isinstance(details, list): + logger.warning("details 字段不是列表，已忽略。") + details = [] + else: + for idx, detail in enumerate(details, start=1): + if not isinstance(detail, dict): + continue + if not detail.get("code"): + detail["code"] = f"{material_data['code']}_{idx:02d}" + if not detail.get("name"): + detail["name"] = f"{material_name}_detail_{idx:02d}" + if not detail.get("unit"): + detail["unit"] = unit + if not detail.get("parameters"): + detail["parameters"] = json.dumps({"unit": detail.get("unit", unit)}, ensure_ascii=False) + if "quantity" in detail: + detail["quantity"] = _to_number(detail.get("quantity"), 1.0) + material_data["details"] = details + create_result = self._post_lims("/api/lims/storage/material", material_data) + # 解析创建结果中的物料 ID + material_id: Optional[str] = None + if isinstance(create_result, dict): + data_field = create_result.get("data") + if isinstance(data_field, str): + material_id = data_field + elif isinstance(data_field, dict): + material_id = data_field.get("id") or data_field.get("materialId") + inbound_result: Optional[Dict[str, Any]] = None + location_id: Optional[str] = None + # 按用户指定位置入库 + if warehouse_name and material_id and location_name_or_id: + try: + location_ids, position_names = self._load_warehouse_locations(warehouse_name) + position_to_id = {name: loc_id for name, loc_id in zip(position_names, location_ids)} + target_location_id = position_to_id.get(location_name_or_id, location_name_or_id) + if target_location_id: + location_id = target_location_id + inbound_result = self.storage_inbound(material_id, target_location_id) + else: + inbound_result = {"error": f"未找到匹配的库位: {location_name_or_id}"} + except Exception as exc: + logger.error(f"获取仓库 {warehouse_name} 位置失败: {exc}") + inbound_result = {"error": str(exc)} + return { + "success": bool(isinstance(create_result, dict) and create_result.get("code") == 1 and material_id), + "material_name": material_name, + "material_id": material_id, + "warehouse": warehouse_name, + "location_id": location_id, + "location_name_or_id": location_name_or_id, + "create_result": create_result, + "inbound_result": inbound_result, + } + # -------------------------------- @@ -971,7 +1089,7 @@ if __name__ == "__main__": lab_registry.setup() ws = BioyondCellWorkstation() # logger.info(ws.scheduler_stop()) - # logger.info(ws.scheduler_start()) + logger.info(ws.scheduler_start()) # results = ws.create_materials(SOLID_LIQUID_MAPPINGS) # for r in results: @@ -980,11 +1098,11 @@ if __name__ == "__main__": # result = ws.create_and_inbound_materials() # 继续后续流程 - # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # # 使用正斜杠或 Path 对象来指定文件路径 - # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") - # logger.info(ws.create_orders(excel_path)) - # logger.info(ws.transfer_3_to_2_to_1()) + excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + logger.info(ws.create_orders(excel_path)) + logger.info(ws.transfer_3_to_2_to_1()) # logger.info(ws.transfer_1_to_2()) # logger.info(ws.scheduler_start()) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 504cf45..519e686 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -16,7 +16,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.210"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.174"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 98201a7..64c0c18 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,8 +1361,7 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -1492,11 +1491,9 @@ laiyu_liquid: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index b21ccd7..99c9233 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -3994,8 +3994,7 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -4151,11 +4150,9 @@ liquid_handler: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5015,8 +5012,7 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -5159,11 +5155,9 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -7807,8 +7801,7 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -7937,11 +7930,9 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 From a62896eda298eccd61f971c0fb2e5b835584331b Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Fri, 31 Oct 2025 18:57:38 +0800 Subject: [PATCH 039/104] 1031_byxinyu --- test/resources/test copy.json | 99 ++++++ test/resources/test.json | 305 +++++++----------- .../bioyond_cell/bioyond_cell_workstation.py | 73 ++++- .../bioyond_cell/material_template.xlsx | Bin 22168 -> 22207 bytes 4 files changed, 276 insertions(+), 201 deletions(-) create mode 100644 test/resources/test copy.json diff --git a/test/resources/test copy.json b/test/resources/test copy.json new file mode 100644 index 0000000..f9e9aa0 --- /dev/null +++ b/test/resources/test copy.json @@ -0,0 +1,99 @@ + { + "typeId": "3a190c8b-3284-af78-d29f-9a69463ad047", + "code": "", + "barCode": "", + "name": "test", + "unit": "", + "parameters": "{}", + "quantity": "", + "details": [ + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)11", + "quantity": "1", + "x": 1, + "y": 1, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)21", + "quantity": "1", + "x": 2, + "y": 1, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)12", + "quantity": "1", + "x": 1, + "y": 2, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)22", + "quantity": "1", + "x": 2, + "y": 2, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)13", + "quantity": "1", + "x": 1, + "y": 3, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)23", + "quantity": "1", + "x": 2, + "y": 3, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)14", + "quantity": "1", + "x": 1, + "y": 4, + "z": 1, + "unit": "", + "parameters": "{}" + }, + { + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", + "code": "", + "name": "配液瓶(小)24", + "quantity": "1", + "x": 2, + "y": 4, + "z": 1, + "unit": "", + "parameters": "{}" + } + ] + } \ No newline at end of file diff --git a/test/resources/test.json b/test/resources/test.json index 9fa9237..ee1be0f 100644 --- a/test/resources/test.json +++ b/test/resources/test.json @@ -1,191 +1,114 @@ -{ - "data": [ - { - "orderCode": "BSO2025103100006", - "orderName": "DP20250927001", - "errorMessage": null, - "usedMaterials": [ - { - "id": "3a1d4b13-25a6-cfb2-7315-159f14b32425", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", - "materialId": "3a1d4b13-2467-e64d-d8bc-3957fb6e3240", - "materialName": "适配器块", - "materialCode": "0018-00065", - "quantity": "1块", - "materialTypeId": "efc3bb32-d504-4890-91c0-b64ed3ac80cf", - "materialTypeCode": "0018", - "materialTypeMode": "Consumables", - "materialTypeName": "适配器块", - "locationId": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c", - "locationCode": "0014-0001", - "locationShowName": "0014-0001" - }, - { - "id": "3a1d4b13-2420-8cfe-17f1-5f77a6ff6dc3", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", - "materialId": "3a1d4b11-e448-bf90-d0bd-b20758425370", - "materialName": "test1", - "materialCode": "0001-00063", - "quantity": "1块", - "materialTypeId": "3a190c8b-3284-af78-d29f-9a69463ad047", - "materialTypeCode": "0001", - "materialTypeMode": "Sample", - "materialTypeName": "配液瓶(小)板", - "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", - "locationCode": "4", - "locationShowName": "4" - }, - { - "id": "3a1d4b13-2420-73a1-2b4d-7bf6dd993c36", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", - "materialId": "3a1d4b11-e448-fea3-8291-0b66ecd06d72", - "materialName": "test1", - "materialCode": "0002-00282", - "quantity": "1块", - "materialTypeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", - "materialTypeCode": "0002", - "materialTypeMode": "Sample", - "materialTypeName": "配液瓶(小)", - "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", - "locationCode": "4-1/1", - "locationShowName": "4-1/1" - }, - { - "id": "3a1d4b13-2420-e45f-192d-639887ad73b7", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", - "materialId": "3a1d4b12-67fc-5f91-13ed-c223d0155399", - "materialName": "test2", - "materialCode": "0010-00059", - "quantity": "1块", - "materialTypeId": "3a192fa4-007d-ec7b-456e-2a8be7a13f23", - "materialTypeCode": "0010", - "materialTypeMode": "Sample", - "materialTypeName": "5ml分液瓶板", - "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", - "locationCode": "5", - "locationShowName": "5" - }, - { - "id": "3a1d4b13-2420-c052-93cc-002f0aae79fc", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-23cb-63e5-10df-6a1d38335163", - "materialId": "3a1d4b12-67fc-60f7-1129-3d1ef2a2d1f8", - "materialName": "test2", - "materialCode": "0007-00211", - "quantity": "1块", - "materialTypeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4", - "materialTypeCode": "0007", - "materialTypeMode": "Sample", - "materialTypeName": "5ml分液瓶", - "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", - "locationCode": "5-1/1", - "locationShowName": "5-1/1" - } - ] - }, - { - "orderCode": "BSO2025103100007", - "orderName": "DP20250927002", - "errorMessage": null, - "usedMaterials": [ - { - "id": "3a1d4b13-264b-aca7-9e97-ab4df186d5c2", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", - "materialId": "3a1d4b13-2467-e64d-d8bc-3957fb6e3240", - "materialName": "适配器块", - "materialCode": "0018-00065", - "quantity": "1块", - "materialTypeId": "efc3bb32-d504-4890-91c0-b64ed3ac80cf", - "materialTypeCode": "0018", - "materialTypeMode": "Consumables", - "materialTypeName": "适配器块", - "locationId": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c", - "locationCode": "0014-0001", - "locationShowName": "0014-0001" - }, - { - "id": "3a1d4b13-263e-873e-1331-7e668b411e98", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", - "materialId": "3a1d4b11-e448-bf90-d0bd-b20758425370", - "materialName": "test1", - "materialCode": "0001-00063", - "quantity": "1块", - "materialTypeId": "3a190c8b-3284-af78-d29f-9a69463ad047", - "materialTypeCode": "0001", - "materialTypeMode": "Sample", - "materialTypeName": "配液瓶(小)板", - "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", - "locationCode": "4", - "locationShowName": "4" - }, - { - "id": "3a1d4b13-263e-7884-d9e0-b010478b7448", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", - "materialId": "3a1d4b11-e448-82e0-6a64-6230ee1bf0a9", - "materialName": "test1", - "materialCode": "0002-00283", - "quantity": "1块", - "materialTypeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb", - "materialTypeCode": "0002", - "materialTypeMode": "Sample", - "materialTypeName": "配液瓶(小)", - "locationId": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", - "locationCode": "4-1/2", - "locationShowName": "4-1/2" - }, - { - "id": "3a1d4b13-263e-6e99-b513-66047191643f", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", - "materialId": "3a1d4b12-67fc-5f91-13ed-c223d0155399", - "materialName": "test2", - "materialCode": "0010-00059", - "quantity": "1块", - "materialTypeId": "3a192fa4-007d-ec7b-456e-2a8be7a13f23", - "materialTypeCode": "0010", - "materialTypeMode": "Sample", - "materialTypeName": "5ml分液瓶板", - "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", - "locationCode": "5", - "locationShowName": "5" - }, - { - "id": "3a1d4b13-263e-5b21-2c41-53e4ea7fe947", - "destinationType": "TempOrder", - "destinationId": "3a1d4b13-260c-9239-5c8a-ecb6fd96dc86", - "materialId": "3a1d4b12-67fc-131a-82ff-87e9e7708f9f", - "materialName": "test2", - "materialCode": "0007-00212", - "quantity": "1块", - "materialTypeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4", - "materialTypeCode": "0007", - "materialTypeMode": "Sample", - "materialTypeName": "5ml分液瓶", - "locationId": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", - "locationCode": "5-1/2", - "locationShowName": "5-1/2" - } - ] - } - ], - "code": 1, - "message": "", - "timestamp": 1761891208109 -} - -25-10-31 [14:27:52,203] [ERROR] 从Bioyond同步物料数据失败: 'BottleCarrier' object has no attribute 'tracker' [sync_from_external:83] [unilabos.utils.log.station] -Traceback (most recent call last): - File "C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\station.py", line 73, in sync_from_external - unilab_resources = resource_bioyond_to_plr( - ^^^^^^^^^^^^^^^^^^^^^^^^ - File "C:\ML\GitHub\Uni-Lab-OS\unilabos\resources\graphio.py", line 661, in resource_bioyond_to_plr - bottle.tracker.liquids = [ - ^^^^^^^^^^^^^^ -AttributeError: 'BottleCarrier' object has no attribute 'tracker' \ No newline at end of file +[ + { + "id": "3a1d4b7e-4bdc-16bf-7169-f60350d03c7e", + "typeName": "配液瓶(小)板", + "code": "0001-00088", + "barCode": "", + "name": "test1", + "quantity": 1.0, + "lockQuantity": 0.0, + "unit": "块", + "status": 1, + "isUse": false, + "locations": [ + { + "id": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "whid": "3a19deae-2c79-05a3-9c76-8e6760424841", + "whName": "手动堆栈", + "code": "4", + "x": 2, + "y": 1, + "z": 1, + "quantity": 0 + } + ], + "detail": [ + { + "id": "3a1d4b7e-4bdc-12e8-4d26-dddc77b03f63", + "detailMaterialId": "3a1d4b7e-4bdc-4e9e-8a3c-e9ba4a26457e", + "code": null, + "name": "test1", + "quantity": "1", + "lockQuantity": "0", + "unit": "块", + "x": 1, + "y": 2, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + }, + { + "id": "3a1d4b7e-4bdc-35b6-22d4-e6f3235e1c27", + "detailMaterialId": "3a1d4b7e-4bdc-ce0f-1fbb-b88de76fce98", + "code": null, + "name": "test1", + "quantity": "1", + "lockQuantity": "0", + "unit": "块", + "x": 1, + "y": 1, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + } + ] + }, + { + "id": "3a1d4b7e-ee61-ae87-9cd0-31c7e6621b18", + "typeName": "5ml分液瓶板", + "code": "0010-00089", + "barCode": "", + "name": "test2", + "quantity": 1.0, + "lockQuantity": 0.0, + "unit": "块", + "status": 1, + "isUse": false, + "locations": [ + { + "id": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "whid": "3a19deae-2c79-05a3-9c76-8e6760424841", + "whName": "手动堆栈", + "code": "5", + "x": 2, + "y": 2, + "z": 1, + "quantity": 0 + } + ], + "detail": [ + { + "id": "3a1d4b7e-ee61-8fb3-9a39-2c2841c3c8d0", + "detailMaterialId": "3a1d4b7e-ee61-305c-fe30-2620017ca1bd", + "code": null, + "name": "test2", + "quantity": "1", + "lockQuantity": "0", + "unit": "块", + "x": 1, + "y": 1, + "z": 1, + "associateId": null, + "typeName": "5ml分液瓶", + "typeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4" + }, + { + "id": "3a1d4b7e-ee61-ef5f-a7d1-f9399a4d3145", + "detailMaterialId": "3a1d4b7e-ee61-2f1d-6969-202ad3cbe226", + "code": null, + "name": "test2", + "quantity": "1", + "lockQuantity": "0", + "unit": "块", + "x": 1, + "y": 2, + "z": 1, + "associateId": null, + "typeName": "5ml分液瓶", + "typeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4" + } + ] + } +] \ No newline at end of file diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index c40945e..092a87f 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -968,7 +968,7 @@ class BioyondCellWorkstation(BioyondWorkstation): logger.error(f"✗ 执行失败: {e}") return {"success": False, "error": str(e)} -def create_material( + def create_material( self, material_name: str, type_id: str, @@ -985,8 +985,7 @@ def create_material( 包含创建结果、物料ID以及入库结果的字典。 """ material_name = (material_name or "").strip() - if not material_name: - raise ValueError("material_name 不能为空") + resolved_type_id = (type_id or "").strip() # 优先从 SOLID_LIQUID_MAPPINGS 中获取模板数据 template = SOLID_LIQUID_MAPPINGS.get(material_name) @@ -1082,14 +1081,68 @@ def create_material( } -# -------------------------------- + def create_sample( + self, + name: str, + board_type: str, + bottle_type: str, + location_code: str + ) -> Dict[str, Any]: + """创建配液板物料并自动入库。 + Args: + material_name: 物料名称，支持 "5ml分液瓶板"/"5ml分液瓶"、"配液瓶(小)板"/"配液瓶(小)"。 + quantity: 主物料与明细的数量，默认 1。 + location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。 + """ + carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1] + bottle_type_id = MATERIAL_TYPE_MAPPINGS[bottle_type][1] + location_id = WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"][location_code] + + # 新建小瓶 + details = [] + for y in range(1, 5): + for x in range(1, 3): + details.append({ + "typeId": bottle_type_id, + "code": "", + "name": str(bottle_type) + str(x) + str(y), + "quantity": "1", + "x": x, + "y": y, + "z": 1, + "unit": "个", + "parameters": json.dumps({"unit": "个"}, ensure_ascii=False), + }) + + data = { + "typeId": carrier_type_id, + "code": "", + "barCode": "", + "name": name, + "unit": "块", + "parameters": json.dumps({"unit": "块"}, ensure_ascii=False), + "quantity": "1", + "details": details, + } + # print("xxx:",data) + create_result = self._post_lims("/api/lims/storage/material", data) + sample_uuid = create_result.get("data") + + final_result = self._post_lims("/api/lims/storage/inbound", { + "materialId": sample_uuid, + "locationId": location_id, + }) + return final_result + + if __name__ == "__main__": lab_registry.setup() ws = BioyondCellWorkstation() + ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") # logger.info(ws.scheduler_stop()) - logger.info(ws.scheduler_start()) + # logger.info(ws.scheduler_start()) # results = ws.create_materials(SOLID_LIQUID_MAPPINGS) # for r in results: @@ -1098,11 +1151,11 @@ if __name__ == "__main__": # result = ws.create_and_inbound_materials() # 继续后续流程 - logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 - # # 使用正斜杠或 Path 对象来指定文件路径 - excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") - logger.info(ws.create_orders(excel_path)) - logger.info(ws.transfer_3_to_2_to_1()) + # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + # # # 使用正斜杠或 Path 对象来指定文件路径 + # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + # logger.info(ws.create_orders(excel_path)) + # logger.info(ws.transfer_3_to_2_to_1()) # logger.info(ws.transfer_1_to_2()) # logger.info(ws.scheduler_start()) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx index 844fc84d932f618891abbdf6efdefc4bcf16289f..abaf145e68e8910ddf877637d20ff10748c489ad 100644 GIT binary patch delta 109 zcmbQSmT~`D#tr?d0{b^wimsPpU;tqW1_p-727wZrx2viNO%~8*V=^+ETx_Ac`L+26 z8BVy$$xlMU8Pg`)gxWAkyG*VMwPx&^ye-s%@&Dxap|*_ilXb)F7+*}z2~%U!3jvzQ F006IYBS-)M delta 100 zcmdnLmT|^f#tr?de40E$H#?*l7(iHpVX|DP)aLD~YC@Cit$8;KT6~n@ge#cL9U9JP vKRG$nhUts* Date: Fri, 31 Oct 2025 19:02:06 +0800 Subject: [PATCH 040/104] Delete button_battery_station.py --- .../button_battery_station.py | 1006 ----------------- 1 file changed, 1006 deletions(-) delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py deleted file mode 100644 index eae09b8..0000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py +++ /dev/null @@ -1,1006 +0,0 @@ -""" -纽扣电池组装工作站物料类定义 -Button Battery Assembly Station Resource Classes -""" - -from __future__ import annotations - -from collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - height: float - electrolyte_name: str - data_electrolyte_code: str - open_circuit_voltage: float - assembly_pressure: float - electrolyte_volume: float - - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - # TODO: 这个还要不要？给self._unilabos_state赋值的？ - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - #if len(self.children) >= self._unilabos_state["max_sheets"]: - # raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - - def __init__( - self, - name: str, - diameter: float, - depth: float, - max_sheets: int = 100, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - max_sheets: 最大极片数量 - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - self.max_sheets = max_sheets - self._sheets: List[ElectrodeSheet] = [] - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片""" - return (len(self._sheets) < self.max_sheets and - sheet.diameter <= self.diameter) - - def add_sheet(self, sheet: ElectrodeSheet) -> None: - """添加极片""" - if not self.can_add_sheet(sheet): - raise ValueError(f"无法向洞位 {self.name} 添加极片") - self._sheets.append(sheet) - - def take_sheet(self) -> ElectrodeSheet: - """取出极片""" - if len(self._sheets) == 0: - raise ValueError(f"洞位 {self.name} 没有极片") - return self._sheets.pop() - - def get_sheet_count(self) -> int: - """获取极片数量""" - return len(self._sheets) - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self._sheets), - "sheets": [sheet.serialize() for sheet in self._sheets], - } - -# TODO: 这个要改 -class ClipMagazine(Resource): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=0, - depth=0, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - assembly_pressure: float - electrolyte_volume: float - electrolyte_name: str - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x=1, - size_y=1, - size_z=1, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState( - diameter = 1.0, - height = 1.0, - assembly_pressure = 1.0, - electrolyte_volume = 1.0, - electrolyte_name = "DP001" - ) - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #这个应该没用，不会有加了后再加的事情 - def add_electrolyte(self, name: str, volume: float) -> bool: - """添加电解液信息""" - if name != self._unilabos_state["electrolyte_name"]: - return False - self._unilabos_state["electrolyte_volume"] += volume - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# 电解液作为属性放进去 - -class BatteryPressSlotState(TypedDict): - """电池状态字典""" - diameter: float =20.0 - depth: float = 4.0 - -class BatteryPressSlot(Resource): - """电池压制槽类 - 设备，可容纳一个电池""" - children: List[Battery] = [] - - def __init__( - self, - name: str = "BatteryPressSlot", - category: str = "battery_press_slot", - ): - """初始化电池压制槽 - - Args: - name: 压制槽名称 - diameter: 直径 (mm) - depth: 深度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=10, - size_y=12, - size_z=13, - category=category, - ) - self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() - - def has_battery(self) -> bool: - """检查是否有电池""" - return len(self.children) > 0 - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - def assign_child_resource( - self, - resource: Battery, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 让高京看下槽位只有一个电池时是否这么写。 - if self.has_battery(): - raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_battery_info(self, index: int) -> Battery: - return self.children[0] - -# TODO:这个移液枪架子看一下从哪继承 -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - - -class WasteTipBoxstate(TypedDict): - """"废枪头盒状态字典""" - max_tips: int = 100 - tip_count: int = 0 - -#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 -class WasteTipBox(Trash): - """废枪头盒类 - 100个枪头容量""" - - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "waste_tip_box", - model: Optional[str] = None, - ): - """初始化废枪头盒 - - Args: - name: 废枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - max_tips: 最大枪头容量 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - - def add_tip(self) -> None: - """添加废枪头""" - if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: - raise ValueError(f"废枪头盒 {self.name} 已满") - self._unilabos_state["tip_count"] += 1 - - def get_tip_count(self) -> int: - """获取枪头数量""" - return self._unilabos_state["tip_count"] - - def empty(self) -> None: - """清空废枪头盒""" - self._unilabos_state["tip_count"] = 0 - - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - name_to_index: dict - - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Bottle] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # TODO: 添加瓶位坐标映射 - self.index_to_pos = { - 0: Coordinate.zero(), - 1: Coordinate(x=1, y=2, z=3) # 添加 - } - self.name_to_index = {} - self.name_to_pos = {} - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): - assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource_by_index(self, resource: Bottle, index: int): - assert 0 <= index < 12, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - # def serialize(self): - # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) - # return super().serialize() - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class CoincellDeck(Deck): - """纽扣电池组装工作站台面类""" - - def __init__( - self, - name: str = "coin_cell_deck", - size_x: float = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """初始化纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -import json - -if __name__ == "__main__": - #electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck(size_x=1000, - size_y=1000, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian1_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) -# - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="电池料盘", size_x=120.8, size_y=160.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=100, y=100, z=0)) - - - - #liaopan.children[3].assign_child_resource(jipian, location=None) - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "4d5ce6ae-7234-4639-834e-93899b9caf94" - BasicConfig.sk = "505d3b0a-620e-459a-9905-1efcffce382a" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file From 03745c5d0875f2ca22c29465317c98f7a1258f0f Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Sat, 1 Nov 2025 10:37:45 +0800 Subject: [PATCH 041/104] byxinyu111 --- new_cellconfig3c.json | 38 ++++ test/resources/test.json | 170 +++++++++++------- test/resources/test_resourcetreeset.py | 7 +- .../bioyond_cell/2025092701.xlsx | Bin 18159 -> 18159 bytes .../bioyond_cell/bioyond_cell_workstation.py | 76 +------- .../bioyond_cell/material_template.xlsx | Bin 22207 -> 22149 bytes .../workstation/bioyond_studio/config.py | 5 +- .../coin_cell_assembly/coin_cell_assembly.py | 3 +- unilabos/registry/devices/bioyond_cell.yaml | 77 +++++++- 9 files changed, 230 insertions(+), 146 deletions(-) create mode 100644 new_cellconfig3c.json diff --git a/new_cellconfig3c.json b/new_cellconfig3c.json new file mode 100644 index 0000000..3619085 --- /dev/null +++ b/new_cellconfig3c.json @@ -0,0 +1,38 @@ +{ + "nodes": [ + { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {} + }, + "data": {} + }, + { + "id": "BatteryStation", + "name": "扣电工作站", + "children": [ + "coin_cell_deck" + ], + "parent": null, + "type": "device", + "class": "coincellassemblyworkstation_device", + "position": { + "x": 600, + "y": 400, + "z": 0 + }, + "config": { + "debug_mode": false, + "protocol_type": [] + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/test/resources/test.json b/test/resources/test.json index ee1be0f..95a29d2 100644 --- a/test/resources/test.json +++ b/test/resources/test.json @@ -1,22 +1,22 @@ [ { - "id": "3a1d4b7e-4bdc-16bf-7169-f60350d03c7e", + "id": "3a1d4c14-a9fb-d7dc-9e96-7a3ad6e50219", "typeName": "配液瓶(小)板", - "code": "0001-00088", + "code": "0001-00093", "barCode": "", - "name": "test1", - "quantity": 1.0, + "name": "test", + "quantity": 2.0, "lockQuantity": 0.0, "unit": "块", "status": 1, "isUse": false, "locations": [ { - "id": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "id": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", "whid": "3a19deae-2c79-05a3-9c76-8e6760424841", "whName": "手动堆栈", - "code": "4", - "x": 2, + "code": "1", + "x": 1, "y": 1, "z": 1, "quantity": 0 @@ -24,13 +24,58 @@ ], "detail": [ { - "id": "3a1d4b7e-4bdc-12e8-4d26-dddc77b03f63", - "detailMaterialId": "3a1d4b7e-4bdc-4e9e-8a3c-e9ba4a26457e", - "code": null, - "name": "test1", + "id": "3a1d4c14-a9fc-1daa-71fa-146cb1ccb930", + "detailMaterialId": "3a1d4c14-a9fc-4f38-4c48-68486c391c42", + "code": "0001-00093 - 05", + "name": "配液瓶(小)", "quantity": "1", "lockQuantity": "0", - "unit": "块", + "unit": "个", + "x": 1, + "y": 3, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + }, + { + "id": "3a1d4c14-a9fc-3659-ea61-cd587da9e131", + "detailMaterialId": "3a1d4c14-a9fc-018f-93e5-c49343d37758", + "code": "0001-00093 - 08", + "name": "配液瓶(小)", + "quantity": "1", + "lockQuantity": "0", + "unit": "个", + "x": 2, + "y": 4, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + }, + { + "id": "3a1d4c14-a9fc-3f94-de83-979d2646e313", + "detailMaterialId": "3a1d4c14-a9fc-9987-c0ef-4b7cbad49e6b", + "code": "0001-00093 - 01", + "name": "配液瓶(小)", + "quantity": "1", + "lockQuantity": "0", + "unit": "个", + "x": 1, + "y": 1, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + }, + { + "id": "3a1d4c14-a9fc-8c35-6b25-913b11dbaf4e", + "detailMaterialId": "3a1d4c14-a9fc-9a83-865b-0c26ea5e8cc4", + "code": "0001-00093 - 03", + "name": "配液瓶(小)", + "quantity": "1", + "lockQuantity": "0", + "unit": "个", "x": 1, "y": 2, "z": 1, @@ -39,75 +84,64 @@ "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" }, { - "id": "3a1d4b7e-4bdc-35b6-22d4-e6f3235e1c27", - "detailMaterialId": "3a1d4b7e-4bdc-ce0f-1fbb-b88de76fce98", - "code": null, - "name": "test1", + "id": "3a1d4c14-a9fc-b41f-e968-64953bfddccd", + "detailMaterialId": "3a1d4c14-a9fc-daf7-9d64-e5ec8d3ae0e2", + "code": "0001-00093 - 07", + "name": "配液瓶(小)", "quantity": "1", "lockQuantity": "0", - "unit": "块", + "unit": "个", "x": 1, + "y": 4, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + }, + { + "id": "3a1d4c14-a9fc-c20f-c26e-b1bb2cdc3bca", + "detailMaterialId": "3a1d4c14-a9fc-673b-ac83-aaaf71287f1f", + "code": "0001-00093 - 06", + "name": "配液瓶(小)", + "quantity": "1", + "lockQuantity": "0", + "unit": "个", + "x": 2, + "y": 3, + "z": 1, + "associateId": null, + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" + }, + { + "id": "3a1d4c14-a9fc-cf21-059c-fde361d82b6f", + "detailMaterialId": "3a1d4c14-a9fc-25b1-e736-6b0d8dac0fae", + "code": "0001-00093 - 02", + "name": "配液瓶(小)", + "quantity": "1", + "lockQuantity": "0", + "unit": "个", + "x": 2, "y": 1, "z": 1, "associateId": null, "typeName": "配液瓶(小)", "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" - } - ] - }, - { - "id": "3a1d4b7e-ee61-ae87-9cd0-31c7e6621b18", - "typeName": "5ml分液瓶板", - "code": "0010-00089", - "barCode": "", - "name": "test2", - "quantity": 1.0, - "lockQuantity": 0.0, - "unit": "块", - "status": 1, - "isUse": false, - "locations": [ + }, { - "id": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", - "whid": "3a19deae-2c79-05a3-9c76-8e6760424841", - "whName": "手动堆栈", - "code": "5", + "id": "3a1d4c14-a9fc-d732-2b93-9b2bd2bf581b", + "detailMaterialId": "3a1d4c14-a9fc-7f5d-b6b6-8bcb2e15f320", + "code": "0001-00093 - 04", + "name": "配液瓶(小)", + "quantity": "1", + "lockQuantity": "0", + "unit": "个", "x": 2, "y": 2, "z": 1, - "quantity": 0 - } - ], - "detail": [ - { - "id": "3a1d4b7e-ee61-8fb3-9a39-2c2841c3c8d0", - "detailMaterialId": "3a1d4b7e-ee61-305c-fe30-2620017ca1bd", - "code": null, - "name": "test2", - "quantity": "1", - "lockQuantity": "0", - "unit": "块", - "x": 1, - "y": 1, - "z": 1, "associateId": null, - "typeName": "5ml分液瓶", - "typeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4" - }, - { - "id": "3a1d4b7e-ee61-ef5f-a7d1-f9399a4d3145", - "detailMaterialId": "3a1d4b7e-ee61-2f1d-6969-202ad3cbe226", - "code": null, - "name": "test2", - "quantity": "1", - "lockQuantity": "0", - "unit": "块", - "x": 1, - "y": 2, - "z": 1, - "associateId": null, - "typeName": "5ml分液瓶", - "typeId": "3a192c2a-ebb7-58a1-480d-8b3863bf74f4" + "typeName": "配液瓶(小)", + "typeId": "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb" } ] } diff --git a/test/resources/test_resourcetreeset.py b/test/resources/test_resourcetreeset.py index b7602ed..99c6a98 100644 --- a/test/resources/test_resourcetreeset.py +++ b/test/resources/test_resourcetreeset.py @@ -9,6 +9,7 @@ from unilabos.ros.nodes.resource_tracker import ResourceTreeSet from unilabos.registry.registry import lab_registry from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck +from unilabos.resources.bioyond.decks import YB_Deck lab_registry.setup() @@ -16,6 +17,8 @@ lab_registry.setup() type_mapping = { "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), + "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), } @@ -56,10 +59,10 @@ def bioyond_materials_liquidhandling_2() -> list[dict]: def test_resourcetreeset_from_plr() -> list[dict]: # 直接加载 bioyond_materials_reaction.json 文件 current_dir = os.path.dirname(os.path.abspath(__file__)) - json_path = os.path.join(current_dir, "YB_materials_info.json") + json_path = os.path.join(current_dir, "test.json") with open(json_path, "r", encoding="utf-8") as f: materials = json.load(f) - deck = BIOYOND_PolymerReactionStation_Deck("test_deck") + deck = YB_Deck("test_deck") output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck) print(output) # print(deck.summary()) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx index d1e9d2f31a2385b1028209891e31c975ebc9744b..4147095ed2784e56ccc6f637aec02c2a575c2cc8 100644 GIT binary patch delta 66 zcmaFg%lN*RaYMfJj7zwu^!&0=Oo!_Av@&M*O~ R2K`N Dict[str, Any]: + def wait_for_order_finish(self, order_code: str, timeout: int = 36000) -> Dict[str, Any]: """ 等待指定 orderCode 的 /report/order_finish 报送。 Args: @@ -253,7 +253,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx", + xlsx_path: Optional[str] = "C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -391,73 +391,7 @@ class BioyondCellWorkstation(BioyondWorkstation): # 等待完成报送 result = self.wait_for_order_finish(order_code) return result - - - - # 3.30 自动化上料(老版本) - def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: - """ - 根据固定模板解析 Excel： - - 四号手套箱加样头面 (2-13行, 3-7列) - - 四号手套箱原液瓶面 (15-23行, 3-9列) - - 三号手套箱人工堆栈 (26-40行, 3-7列) - """ - path = Path(xlsx_path) - if not path.exists(): - raise FileNotFoundError(f"未找到 Excel 文件：{path}") - - try: - df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") - except Exception as e: - raise RuntimeError(f"读取 Excel 失败：{e}") - - items: List[Dict[str, Any]] = [] - - # 四号手套箱 - 加样头面（2-13行, 3-7列） - for _, row in df.iloc[1:13, 2:7].iterrows(): - item = { - "sourceWHName": "四号手套箱堆栈", - "posX": int(row[2]), - "posY": int(row[3]), - "posZ": int(row[4]), - "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", - "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, - } - if item["materialName"]: - items.append(item) - - # 四号手套箱 - 原液瓶面（15-23行, 3-9列） - for _, row in df.iloc[14:23, 2:9].iterrows(): - item = { - "sourceWHName": "四号手套箱堆栈", - "posX": int(row[2]), - "posY": int(row[3]), - "posZ": int(row[4]), - "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", - "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, - "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", - "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", - } - if item["materialName"]: - items.append(item) - - # 三号手套箱人工堆栈（26-40行, 3-7列） - for _, row in df.iloc[25:40, 2:7].iterrows(): - item = { - "sourceWHName": "三号手套箱人工堆栈", - "posX": int(row[2]), - "posY": int(row[3]), - "posZ": int(row[4]), - "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", - "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", - "quantity": 1 # 默认数量1 - } - if item["materialId"] or item["materialType"]: - items.append(item) - - response = self._post_lims("/api/lims/order/auto-feeding4to3", items) - self._wait_for_response_orders(response, "auto_feeding4to3_from_xlsx") - return response + def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: """ @@ -523,7 +457,7 @@ class BioyondCellWorkstation(BioyondWorkstation): }) response = self._post_lims("/api/lims/storage/auto-batch-out-bound", items) - self._wait_for_response_orders(response, "auto_batch_outbound_from_xlsx") + self.wait_for_response_orders(response, "auto_batch_outbound_from_xlsx") return response # 2.14 新建实验 @@ -1151,7 +1085,7 @@ if __name__ == "__main__": # result = ws.create_and_inbound_materials() # 继续后续流程 - # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # # # 使用正斜杠或 Path 对象来指定文件路径 # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") # logger.info(ws.create_orders(excel_path)) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx index abaf145e68e8910ddf877637d20ff10748c489ad..2467ab05e52c39e2aa0b3cabc49d44b7c5754247 100644 GIT binary patch delta 179 zcmdnLma%m${ieK|cNxxQoLpea%Is!nFWZOlNW|sGX_k)8*0ILbh22OEu-q> TkT5&Ob(1HDsj+JYMwV* delta 194 zcmZo&%ea3nFU`LzMxW^LoSiU^x0UknLnOq;A3YQrS$GC4ienz3v0 l;!q35|C8^8+A_s^O?LDWo~#$9#rR@!WSAP8UI+sa006B+KTZGu diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 577833f..6acc8f6 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -8,7 +8,8 @@ import os # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"), + # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.21.32.65:44389"),#实机 + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"),# 仿真机 "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), @@ -16,7 +17,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.174"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.30"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index d8bb597..f2571af 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -906,10 +906,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase): return self.success - def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool: + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="C:\\Users\\67484\\Desktop") -> bool: elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) summary_csv_file = os.path.join(file_path, "duandian.csv") # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): read_status_flag = True with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index a54e702..d6988b7 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -137,7 +137,7 @@ bioyond_cell: WH4_x5_y1_z1_5_quantity: 0.0 WH4_x5_y2_z1_10_materialName: '' WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: unilabos\devices\workstation\bioyond_studio\bioyond_cell\样品导入模板.xlsx + xlsx_path: unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx handles: {} placeholder_keys: {} result: {} @@ -463,7 +463,7 @@ bioyond_cell: default: 0.0 type: number xlsx_path: - default: unilabos\devices\workstation\bioyond_studio\bioyond_cell\样品导入模板.xlsx + default: unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx type: string required: [] type: object @@ -530,6 +530,42 @@ bioyond_cell: title: create_and_inbound_materials参数 type: object type: UniLabJsonCommand + auto-create_material: + feedback: {} + goal: {} + goal_default: + location_name_or_id: null + material_name: null + type_id: null + warehouse_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + location_name_or_id: + type: string + material_name: + type: string + type_id: + type: string + warehouse_name: + type: string + required: + - material_name + - type_id + - warehouse_name + type: object + result: {} + required: + - goal + title: create_material参数 + type: object + type: UniLabJsonCommand auto-create_materials: feedback: {} goal: {} @@ -580,6 +616,43 @@ bioyond_cell: title: create_orders参数 type: object type: UniLabJsonCommand + auto-create_sample: + feedback: {} + goal: {} + goal_default: + board_type: null + bottle_type: null + location_code: null + name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + board_type: + type: string + bottle_type: + type: string + location_code: + type: string + name: + type: string + required: + - name + - board_type + - bottle_type + - location_code + type: object + result: {} + required: + - goal + title: create_sample参数 + type: object + type: UniLabJsonCommand auto-order_list_v2: feedback: {} goal: {} From 727d2c2595f06323a45dd65e30348c36f93beca8 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sat, 1 Nov 2025 10:39:08 +0800 Subject: [PATCH 042/104] =?UTF-8?q?fix:=20=E4=BF=AE=E6=AD=A3YB=20warehouse?= =?UTF-8?q?=E6=8E=92=E5=88=97=E6=96=B9=E5=BC=8F=E5=92=8C=E7=89=A9=E6=96=99?= =?UTF-8?q?=E7=B1=BB=E5=9E=8B=E6=98=A0=E5=B0=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改warehouse_factory为YB_warehouse_factory - 调整warehouse排列方式：左上角为A01，竖着排ABCD，横着排01、02、03 - 修正config.py中的物料名称拼写错误(YB_fen_ye_20ml_Bottle, YB_pei_ye_xiao_Bottle) - 添加缺失的warehouse函数(bioyond_warehouse_2x2x1, bioyond_warehouse_3x5x1, bioyond_warehouse_20x1x1) - 更新decks.py中的warehouse位置映射 - 删除废弃的bottles.py和warehouses.py文件 --- .../workstation/bioyond_studio/config.py | 6 +- unilabos/registry/devices/laiyu_liquid.yaml | 11 +- unilabos/registry/devices/liquid_handler.yaml | 33 +-- unilabos/resources/bioyond/YB_warehouses.py | 71 ++++- unilabos/resources/bioyond/bottles.py | 255 ------------------ unilabos/resources/bioyond/decks.py | 38 ++- unilabos/resources/bioyond/warehouses.py | 161 ----------- unilabos/resources/warehouse.py | 5 +- 8 files changed, 97 insertions(+), 483 deletions(-) delete mode 100644 unilabos/resources/bioyond/bottles.py delete mode 100644 unilabos/resources/bioyond/warehouses.py diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 2eb3dbb..99cbdda 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -16,7 +16,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.210"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.83"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } @@ -159,9 +159,9 @@ MATERIAL_TYPE_MAPPINGS = { "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), - "20ml分液瓶": ("YB_fen_ye_20ml_Bottler", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "20ml分液瓶": ("YB_fen_ye_20ml_Bottle", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), - "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(小)": ("YB_pei_ye_xiao_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), "配液瓶(大)": ("YB_pei_ye_da_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 98201a7..64c0c18 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,8 +1361,7 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -1492,11 +1491,9 @@ laiyu_liquid: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index b21ccd7..99c9233 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -3994,8 +3994,7 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -4151,11 +4150,9 @@ liquid_handler: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5015,8 +5012,7 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -5159,11 +5155,9 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -7807,8 +7801,7 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -7937,11 +7930,9 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/resources/bioyond/YB_warehouses.py b/unilabos/resources/bioyond/YB_warehouses.py index c546759..39f79ea 100644 --- a/unilabos/resources/bioyond/YB_warehouses.py +++ b/unilabos/resources/bioyond/YB_warehouses.py @@ -1,9 +1,9 @@ -from unilabos.resources.warehouse import WareHouse, warehouse_factory +from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory def bioyond_warehouse_1x4x4(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=1, num_items_y=4, @@ -20,7 +20,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: def bioyond_warehouse_1x4x2(name: str) -> WareHouse: """创建BioYond 4x1x2仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=1, num_items_y=4, @@ -37,7 +37,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse: # 定义benyond的堆栈 def bioyond_warehouse_1x2x2(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=2, num_items_y=2, @@ -50,9 +50,26 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse: item_dz=120.0, category="YB_warehouse", ) + +def bioyond_warehouse_2x2x1(name: str) -> WareHouse: + """创建BioYond 2x2x1仓库（自动堆栈）""" + return YB_warehouse_factory( + name=name, + num_items_x=2, + num_items_y=2, + 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="YB_warehouse", + ) + def bioyond_warehouse_10x1x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=10, num_items_y=1, @@ -67,7 +84,7 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse: ) def bioyond_warehouse_1x3x3(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=1, num_items_y=3, @@ -82,7 +99,7 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse: ) def bioyond_warehouse_2x1x3(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=2, num_items_y=1, @@ -98,7 +115,7 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse: def bioyond_warehouse_3x3x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=3, num_items_y=3, @@ -113,7 +130,7 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse: ) def bioyond_warehouse_5x1x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=5, num_items_y=1, @@ -128,7 +145,7 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse: ) def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=3, num_items_y=3, @@ -144,7 +161,7 @@ def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: """创建BioYond开关盖加液模块台面""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=2, num_items_y=5, @@ -157,4 +174,36 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: item_dz=120.0, category="warehouse", removed_positions=None + ) + +def bioyond_warehouse_3x5x1(name: str) -> WareHouse: + """创建BioYond 3x5x1仓库（手动堆栈）""" + return YB_warehouse_factory( + name=name, + num_items_x=3, + num_items_y=5, + 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 bioyond_warehouse_20x1x1(name: str) -> WareHouse: + """创建BioYond 20x1x1仓库（粉末加样头堆栈）""" + return YB_warehouse_factory( + name=name, + num_items_x=20, + num_items_y=1, + 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", ) \ No newline at end of file diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py deleted file mode 100644 index 23b9523..0000000 --- a/unilabos/resources/bioyond/bottles.py +++ /dev/null @@ -1,255 +0,0 @@ -from unilabos.resources.itemized_carrier import Bottle, BottleCarrier -# 工厂函数 - - -def YB_Solid_Stock( - name: str, - diameter: float = 20.0, - height: float = 100.0, - max_volume: float = 30000.0, # 30mL - barcode: str = None, -) -> Bottle: - """创建粉末瓶""" - return Bottle( - name=name, - diameter=diameter,# 未知 - height=height, - max_volume=max_volume, - barcode=barcode, - model="Solid_Stock", - ) - - -def YB_Solid_Vial( - name: str, - diameter: float = 25.0, - height: float = 60.0, - max_volume: float = 30000.0, # 30mL - barcode: str = None, -) -> Bottle: - """创建粉末瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Solid_Vial", - ) - - -def YB_Liquid_Vial( - name: str, - diameter: float = 25.0, - height: float = 60.0, - max_volume: float = 30000.0, # 30mL - barcode: str = None, -) -> Bottle: - """创建滴定液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Liquid_Vial", - ) - - -def YB_Solution_Beaker( - name: str, - diameter: float = 60.0, - height: float = 70.0, - max_volume: float = 200000.0, # 200mL - barcode: str = None, -) -> Bottle: - """创建溶液烧杯""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Solution_Beaker", - ) - - -def YB_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="Reagent_Bottle", - ) - - -def YB_100ml_Liquid_Bottle( - name: str, - diameter: float = 50.0, - height: float = 80.0, - max_volume: float = 100000.0, # 100mL - barcode: str = None, -) -> Bottle: - """创建100ml液体瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="100ml_Liquid_Bottle", - ) - - -def YB_Liquid_Bottle( - name: str, - diameter: float = 40.0, - height: float = 70.0, - max_volume: float = 50000.0, # 50mL - barcode: str = None, -) -> Bottle: - """创建液体瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Liquid_Bottle", - ) - - -def YB_High_Viscosity_Liquid_Bottle( - name: str, - diameter: float = 45.0, - height: float = 75.0, - max_volume: float = 60000.0, # 60mL - barcode: str = None, -) -> Bottle: - """创建高粘液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="High_Viscosity_Liquid_Bottle", - ) - - -def YB_Large_Dispense_Head( - name: str, - diameter: float = 35.0, - height: float = 90.0, - max_volume: float = 50000.0, # 50mL - barcode: str = None, -) -> Bottle: - """创建加样头(大)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Large_Dispense_Head", - ) - - -def YB_5ml_Dispensing_Vial( - name: str, - diameter: float = 15.0, - height: float = 45.0, - max_volume: float = 5000.0, # 5mL - barcode: str = None, -) -> Bottle: - """创建5ml分液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="5ml_Dispensing_Vial", - ) - - -def YB_20ml_Dispensing_Vial( - name: str, - diameter: float = 20.0, - height: float = 65.0, - max_volume: float = 20000.0, # 20mL - barcode: str = None, -) -> Bottle: - """创建20ml分液瓶""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="20ml_Dispensing_Vial", - ) - - -def YB_Small_Solution_Bottle( - name: str, - diameter: float = 35.0, - height: float = 60.0, - max_volume: float = 40000.0, # 40mL - barcode: str = None, -) -> Bottle: - """创建配液瓶(小)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Small_Solution_Bottle", - ) - - -def YB_Large_Solution_Bottle( - name: str, - diameter: float = 55.0, - height: float = 90.0, - max_volume: float = 150000.0, # 150mL - barcode: str = None, -) -> Bottle: - """创建配液瓶(大)""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Large_Solution_Bottle", - ) - - -def YB_Pipette_Tip( - name: str, - diameter: float = 10.0, - height: float = 50.0, - max_volume: float = 1000.0, # 1mL - barcode: str = None, -) -> Bottle: - """创建枪头""" - return Bottle( - name=name, - diameter=diameter, - height=height, - max_volume=max_volume, - barcode=barcode, - model="Pipette_Tip", - ) - diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index fa242c3..f15e065 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,7 +1,7 @@ from os import name from pylabrobot.resources import Deck, Coordinate, Rotation -from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1 +from unilabos.resources.bioyond.YB_warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1, bioyond_warehouse_20x1x1, bioyond_warehouse_2x2x1, bioyond_warehouse_3x5x1 class BIOYOND_PolymerReactionStation_Deck(Deck): @@ -85,31 +85,23 @@ class BIOYOND_YB_Deck(Deck): def setup(self) -> None: # 添加仓库 self.warehouses = { - "321窗口": bioyond_warehouse_1x2x2("321窗口"), - "43窗口": bioyond_warehouse_1x2x2("43窗口"), - "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"), - "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"), - "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), - "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"), - - "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"), - "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"), - "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"), - "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"), + "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"), + "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), + "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"), + "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"), + "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"), + "配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"), + "试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"), } # warehouse 的位置 self.warehouse_locations = { - "321窗口": Coordinate(-150.0, 158.0, 0.0), - "43窗口": Coordinate(4160.0, 158.0, 0.0), - "手动传递窗左": Coordinate(-150.0, 877.0, 0.0), - "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), - "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0), - "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0), - - "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0), - "母液加样右": Coordinate(2152.0, 333.0, 0.0), - "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), - "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), + "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0), + "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0), + "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0), + "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0), + "粉末加样头堆栈": Coordinate(385.0, 1300.0, 0.0), + "配液站内试剂仓库": Coordinate(1164.0, 676.0, 0.0), + "试剂替换仓库": Coordinate(2717.0, 676.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py deleted file mode 100644 index 6eb4f26..0000000 --- a/unilabos/resources/bioyond/warehouses.py +++ /dev/null @@ -1,161 +0,0 @@ -from unilabos.resources.warehouse import WareHouse, warehouse_factory - - -def bioyond_warehouse_1x4x4(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=1, - num_items_y=4, - num_items_z=4, - dx=10.0, - dy=10.0, - dz=10.0, - item_dx=137.0, - item_dy=96.0, - item_dz=120.0, - category="warehouse", - ) - - - -def bioyond_warehouse_1x4x2(name: str) -> WareHouse: - """创建BioYond 4x1x2仓库""" - return warehouse_factory( - name=name, - num_items_x=1, - num_items_y=4, - num_items_z=2, - dx=10.0, - dy=10.0, - dz=10.0, - item_dx=137.0, - item_dy=96.0, - item_dz=120.0, - category="warehouse", - removed_positions=None - ) - # 定义benyond的堆栈 -def bioyond_warehouse_1x2x2(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=2, - num_items_y=2, - 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="YB_warehouse", - ) -def bioyond_warehouse_10x1x1(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=10, - num_items_y=1, - 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 bioyond_warehouse_1x3x3(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=1, - num_items_y=3, - num_items_z=3, - dx=10.0, - dy=10.0, - dz=10.0, - item_dx=137.0, - item_dy=96.0, - item_dz=120.0, - category="warehouse", - ) -def bioyond_warehouse_2x1x3(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=2, - num_items_y=1, - num_items_z=3, - dx=10.0, - dy=10.0, - dz=10.0, - item_dx=137.0, - item_dy=96.0, - item_dz=120.0, - category="warehouse", - ) - -def bioyond_warehouse_3x3x1(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=3, - 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 bioyond_warehouse_5x1x1(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=5, - num_items_y=1, - 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 bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" - return warehouse_factory( - name=name, - num_items_x=3, - 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", - ) - -def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: - """创建BioYond开关盖加液模块台面""" - return warehouse_factory( - name=name, - num_items_x=2, - num_items_y=5, - 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", - removed_positions=None - ) \ No newline at end of file diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py index c665b7f..2f613cf 100644 --- a/unilabos/resources/warehouse.py +++ b/unilabos/resources/warehouse.py @@ -8,7 +8,7 @@ from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ" -def warehouse_factory( +def YB_warehouse_factory( name: str, num_items_x: int = 1, num_items_y: int = 4, @@ -44,7 +44,8 @@ def warehouse_factory( 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) - keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)] + + keys = [f"{LETTERS[len_y-1-j]}{str(i+1).zfill(2)}" for j in range(len_y) for i in range(len_x)] sites = {i: site for i, site in zip(keys, _sites.values())} return WareHouse( From e561c818b8b747e73c2a9930c086fc45bdbe33d4 Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 3 Nov 2025 14:31:50 +0800 Subject: [PATCH 043/104] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0=E5=A4=9A?= =?UTF-8?q?=E4=B8=AA=E6=96=B0=E4=BB=93=E5=BA=93=E9=85=8D=E7=BD=AE=E5=88=B0?= =?UTF-8?q?config.py?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 新增多个仓库配置，包括大分液瓶堆栈、小分液瓶堆栈、站内Tip头盒堆栈等 - 每个仓库配置包含UUID和站点UUID映射 --- .../workstation/bioyond_studio/config.py | 82 +++++++++++++++++++ 1 file changed, 82 insertions(+) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 39a2589..8a6fcf8 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -147,7 +147,89 @@ WAREHOUSE_MAPPING = { "C03": "3a1baa20-a7b1-cca7-781e-0522b729bf5d", "C04": "3a1baa20-a7b1-7c98-5fd9-5855355ae4b3" } + }, + "大分液瓶堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a19da3d-4f3d-bcac-2932-7542041e10e0", + "A02": "3a19da3d-4f3d-4d75-38ac-fb58ad0687c3", + "A03": "3a19da3d-4f3d-b25e-f2b1-85342a5b7eae", + "B01": "3a19da3d-4f3d-fd3e-058a-2733a0925767", + "B02": "3a19da3d-4f3d-37bd-a944-c391ad56857f", + "B03": "3a19da3d-4f3d-e353-7862-c6d1d4bc667f", + "C01": "3a19da3d-4f3d-9519-5da7-76179c958e70", + "C02": "3a19da3d-4f3d-b586-d7ed-9ec244f6f937", + "C03": "3a19da3d-4f3d-5061-249b-35dfef732811" + } + }, + "小分液瓶堆栈": { + "uuid": "", + "site_uuids": { + "C03": "3a19da40-55bf-8943-d20d-a8b3ea0d16c0" + } + }, + "站内Tip头盒堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a19deab-d5cc-be1e-5c37-4e9e5a664388", + "A02": "3a19deab-d5cc-b394-8141-27cb3853e8ea", + "B01": "3a19deab-d5cc-4dca-596e-ca7414d5f501", + "B02": "3a19deab-d5cc-9bc0-442b-12d9d59aa62a", + "C01": "3a19deab-d5cc-2eaf-b6a4-f0d54e4f1246", + "C02": "3a19deab-d5cc-d9f4-25df-b8018c372bc7" + } + }, + "配液站内配液大板仓库(无需提前上料)": { + "uuid": "", + "site_uuids": { + "A01": "3a1a21dc-06af-3915-9cb9-80a9dc42f386" + } + }, + "配液站内配液小板仓库(无需以前入料)": { + "uuid": "", + "site_uuids": { + "A01": "3a1a21de-8e8b-7938-2d06-858b36c10e31" + } + }, + "移液站内大瓶板仓库(无需提前如料)": { + "uuid": "", + "site_uuids": { + "A01": "3a1a224c-c727-fa62-1f2b-0037a84b9fca" + } + }, + "移液站内小瓶板仓库(无需提前入料)": { + "uuid": "", + "site_uuids": { + "A01": "3a1a224d-ed49-710c-a9c3-3fc61d479cbb" + } + }, + "适配器位仓库": { + "uuid": "", + "site_uuids": { + "A01": "3a1abd46-18fe-1f56-6ced-a1f7fe08e36c" + } + }, + "1号2号手套箱交接堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a1baa49-7f77-35aa-60b1-e55a45d065fa" + } + }, + "2号手套箱内部堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a1baa4b-393e-9f86-3921-7a18b0a8e371", + "A02": "3a1baa4b-393e-9425-928b-ee0f6f679d44", + "A03": "3a1baa4b-393e-0baf-632b-59dfdc931a3a", + "B01": "3a1baa4b-393e-f8aa-c8a9-956f3132f05c", + "B02": "3a1baa4b-393e-ef05-42f6-53f4c6e89d70", + "B03": "3a1baa4b-393e-c07b-a924-a9f0dfda9711", + "C01": "3a1baa4b-393e-4c2b-821a-16a7fe025c48", + "C02": "3a1baa4b-393e-2eaf-61a1-9063c832d5a2", + "C03": "3a1baa4b-393e-034e-8e28-8626d934a85f" + } } + } # 物料类型配置 From f52fbd650e36bda0f69757dfa54d5d8445ed7b4d Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 3 Nov 2025 16:50:59 +0800 Subject: [PATCH 044/104] Update bioyond_cell_workstation.py --- .../bioyond_cell/bioyond_cell_workstation.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 45a946f..deab824 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -19,7 +19,7 @@ from unilabos.devices.workstation.bioyond_studio.config import ( from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService from unilabos.utils.log import logger from unilabos.registry.registry import lab_registry - +from unilabos.resources.bioyond.decks import YB_Deck, BIOYOND_YB_Deck def _iso_local_now_ms() -> str: # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z @@ -39,7 +39,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def __init__( self, bioyond_config: Optional[Dict[str, Any]] = None, - station_resource: Optional[Dict[str, Any]] = None, + deck: Optional[Dict[str, Any]] = None, *args, **kwargs, ): @@ -52,13 +52,13 @@ class BioyondCellWorkstation(BioyondWorkstation): # "material_type_mappings": MATERIAL_TYPE_MAPPINGS # "warehouse_mapping": WAREHOUSE_MAPPING - + self.deck = BIOYOND_YB_Deck() + self.deck.setup() print(self.bioyond_config) self.debug_mode = self.bioyond_config["debug_mode"] self.http_service_started = self.debug_mode - deck = kwargs.pop("deck", None) self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation") - super().__init__(bioyond_config=self.bioyond_config, deck=deck, station_resource=station_resource, *args, **kwargs) + super().__init__(bioyond_config=self.bioyond_config, deck=self.deck) self.update_push_ip() #直接修改奔耀端的报送ip地址 logger.info("已更新奔耀端推送 IP 地址") @@ -1074,7 +1074,7 @@ class BioyondCellWorkstation(BioyondWorkstation): if __name__ == "__main__": lab_registry.setup() ws = BioyondCellWorkstation() - ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") + # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") # logger.info(ws.scheduler_stop()) # logger.info(ws.scheduler_start()) @@ -1085,7 +1085,7 @@ if __name__ == "__main__": # result = ws.create_and_inbound_materials() # 继续后续流程 - logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # # # 使用正斜杠或 Path 对象来指定文件路径 # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") # logger.info(ws.create_orders(excel_path)) From 11f4f44bf91a03355f52021ba755dd9cdeebccc6 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 3 Nov 2025 16:51:28 +0800 Subject: [PATCH 045/104] Update coin_cell_assembly.py --- .../coin_cell_assembly/coin_cell_assembly.py | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index f2571af..d968e99 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -149,7 +149,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) + logger.debug(f"创建 Modbus 客户端: {modbus_client}") _ensure_modbus_slave_kw_alias(modbus_client.client) if not debug_mode: modbus_client.client.connect() @@ -602,11 +602,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase): try: # 尝试不同的字节序读取 code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) + # logger.debug(f"读取电池二维码原始数据: {code_little}") clean_code = code_little[-8:][::-1] return clean_code except Exception as e: - print(f"读取电池二维码失败: {e}") + logger.error(f"读取电池二维码失败: {e}") return "N/A" @@ -615,11 +615,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase): try: # 尝试不同的字节序读取 code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) + # logger.debug(f"读取电解液二维码原始数据: {code_little}") clean_code = code_little[-8:][::-1] return clean_code except Exception as e: - print(f"读取电解液二维码失败: {e}") + logger.error(f"读取电解液二维码失败: {e}") return "N/A" # ===================== 环境监控区 ====================== @@ -809,14 +809,14 @@ class CoinCellAssemblyWorkstation(WorkstationBase): data_coin_num = self.data_coin_num data_electrolyte_code = self.data_electrolyte_code data_coin_cell_code = self.data_coin_cell_code - print("data_open_circuit_voltage", data_open_circuit_voltage) - print("data_pole_weight", data_pole_weight) - print("data_assembly_time", data_assembly_time) - print("data_assembly_pressure", data_assembly_pressure) - print("data_electrolyte_volume", data_electrolyte_volume) - print("data_coin_num", data_coin_num) - print("data_electrolyte_code", data_electrolyte_code) - print("data_coin_cell_code", data_coin_cell_code) + logger.debug(f"data_open_circuit_voltage: {data_open_circuit_voltage}") + logger.debug(f"data_pole_weight: {data_pole_weight}") + logger.debug(f"data_assembly_time: {data_assembly_time}") + logger.debug(f"data_assembly_pressure: {data_assembly_pressure}") + logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}") + logger.debug(f"data_coin_num: {data_coin_num}") + logger.debug(f"data_electrolyte_code: {data_electrolyte_code}") + logger.debug(f"data_coin_cell_code: {data_coin_cell_code}") #接收完信息后，读取完毕标志位置True liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") #把物料解绑后放到另一盘上 From b5b235896706b0e5661fe89920e55c49222722ac Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 3 Nov 2025 18:20:50 +0800 Subject: [PATCH 046/104] =?UTF-8?q?fix:=20=E6=9B=B4=E6=96=B0HTTP=E6=9C=8D?= =?UTF-8?q?=E5=8A=A1=E9=85=8D=E7=BD=AE=E5=92=8C=E7=89=A9=E6=96=99=E7=B1=BB?= =?UTF-8?q?=E5=9E=8B=E6=98=A0=E5=B0=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改BIOYOND_HTTP_HOST的默认值为新的IP地址172.21.32.91 - 调整物料类型映射中“加样头(大)”的UUID顺序，并注释掉“加样头(大)板”配置 --- unilabos/devices/workstation/bioyond_studio/config.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 8a6fcf8..740af61 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -17,7 +17,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.83"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.91"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } @@ -237,8 +237,8 @@ MATERIAL_TYPE_MAPPINGS = { "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"), - "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), - "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), From 4485907df83a4ac39b08a2b64882059564ee9448 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 3 Nov 2025 18:46:50 +0800 Subject: [PATCH 047/104] 1103byxinyu --- new_cellconfig3c.json | 54 +- .../bioyond_cell/bioyond_cell_workstation.py | 31 +- .../bioyond_cell/bioyond_workstation copy.py | 715 ------------------ .../workstation/bioyond_studio/config.py | 7 +- .../workstation/bioyond_studio/station.py | 5 +- unilabos/registry/devices/bioyond_cell.yaml | 39 +- unilabos/registry/resources/bioyond/deck.yaml | 6 +- unilabos/resources/bioyond/decks.py | 11 +- 8 files changed, 81 insertions(+), 787 deletions(-) delete mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py diff --git a/new_cellconfig3c.json b/new_cellconfig3c.json index 3619085..446d235 100644 --- a/new_cellconfig3c.json +++ b/new_cellconfig3c.json @@ -3,34 +3,64 @@ { "id": "bioyond_cell_workstation", "name": "配液分液工站", - "children": [ - ], "parent": null, + "children": [ + "YB_Bioyond_Deck" + ], "type": "device", "class": "bioyond_cell", "config": { - "protocol_type": [], - "station_resource": {} + "deck": { + "data": { + "_resource_child_name": "YB_Bioyond_Deck", + "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck" + } + }, + "protocol_type": [] }, "data": {} - }, - { + }, + { + "id": "YB_Bioyond_Deck", + "name": "YB_Bioyond_Deck", + "children": [], + "parent": "bioyond_cell_workstation", + "type": "deck", + "class": "BIOYOND_YB_Deck", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "BIOYOND_YB_Deck", + "setup": true, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + } + }, + "data": {} + }, + { "id": "BatteryStation", "name": "扣电工作站", "children": [ - "coin_cell_deck" + "coin_cell_deck" ], "parent": null, "type": "device", "class": "coincellassemblyworkstation_device", "position": { - "x": 600, - "y": 400, - "z": 0 + "x": 600, + "y": 400, + "z": 0 }, "config": { - "debug_mode": false, - "protocol_type": [] + "debug_mode": false, + "protocol_type": [] } } ], diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index deab824..ee82579 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -11,7 +11,6 @@ import re import threading import json from urllib3 import response -from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer from unilabos.devices.workstation.bioyond_studio.config import ( API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS @@ -19,7 +18,6 @@ from unilabos.devices.workstation.bioyond_studio.config import ( from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService from unilabos.utils.log import logger from unilabos.registry.registry import lab_registry -from unilabos.resources.bioyond.decks import YB_Deck, BIOYOND_YB_Deck def _iso_local_now_ms() -> str: # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z @@ -36,29 +34,25 @@ class BioyondCellWorkstation(BioyondWorkstation): 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) """ - def __init__( - self, - bioyond_config: Optional[Dict[str, Any]] = None, - deck: Optional[Dict[str, Any]] = None, - *args, **kwargs, - ): + def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs): # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置 - self.bioyond_config = bioyond_config or { + self.bioyond_config ={ **API_CONFIG, "material_type_mappings": MATERIAL_TYPE_MAPPINGS, - "warehouse_mapping": WAREHOUSE_MAPPING + "warehouse_mapping": WAREHOUSE_MAPPING, + "debug_mode": False } # "material_type_mappings": MATERIAL_TYPE_MAPPINGS # "warehouse_mapping": WAREHOUSE_MAPPING - self.deck = BIOYOND_YB_Deck() - self.deck.setup() - print(self.bioyond_config) + if deck is None and config: + deck = config.get('deck') + # print(self.bioyond_config) self.debug_mode = self.bioyond_config["debug_mode"] self.http_service_started = self.debug_mode - self.device_id = kwargs.pop("device_id", "bioyond_cell_workstation") - super().__init__(bioyond_config=self.bioyond_config, deck=self.deck) + self._device_id = "bioyond_cell_workstation" # 默认值，后续会从_ros_node获取 + super().__init__(bioyond_config=config, deck=deck) self.update_push_ip() #直接修改奔耀端的报送ip地址 logger.info("已更新奔耀端推送 IP 地址") @@ -72,6 +66,13 @@ class BioyondCellWorkstation(BioyondWorkstation): self.last_order_code = None logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") + @property + def device_id(self): + """获取设备ID，优先从_ros_node获取，否则返回默认值""" + if hasattr(self, '_ros_node') and self._ros_node is not None: + return getattr(self._ros_node, 'device_id', self._device_id) + return self._device_id + def _start_http_service(self): """启动 HTTP 服务""" host = self.bioyond_config.get("HTTP_host", "") diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py deleted file mode 100644 index 864a9dd..0000000 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py +++ /dev/null @@ -1,715 +0,0 @@ -# -*- coding: utf-8 -*- -from typing import Dict, Any, List, Optional -from datetime import datetime, timezone -import requests -from pathlib import Path -import pandas as pd -import time -from datetime import datetime, timezone, timedelta -import re -import threading -from unilabos.devices.workstation.workstation_base import WorkstationBase -from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService -from unilabos.utils.log import logger -from pylabrobot.resources.deck import Deck - - -def _iso_utc_now_ms() -> str: - # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z - dt = datetime.now(timezone.utc) - return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" - - -class BioyondWorkstation(WorkstationBase): - """ - 集成 Bioyond LIMS 的工作站示例， - 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → - 运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) → - 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) - """ - - def __init__( - self, - bioyond_config: Optional[Dict[str, Any]] = None, - station_resource: Optional[Dict[str, Any]] = None, - debug_mode: bool = False, # 增加调试模式开关 - *args, **kwargs, - ): - self.bioyond_config = bioyond_config or { - "base_url": "http://192.168.1.200:44386", - "api_key": "8A819E5C", - "timeout": 30, - "report_token": "CHANGE_ME_TOKEN" - } - - self.http_service_started = False - self.debug_mode = debug_mode - super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs) - logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})") - - # 实例化并在后台线程启动 HTTP 报送服务 - self.order_status = {} - try: - t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http") - t.start() - - except Exception as e: - logger.error(f"unilab-server后台启动报送服务失败: {e}") - - @property - def device_id(self) -> str: - try: - return getattr(self, "_ros_node").device_id # 兼容 ROS 场景 - except Exception: - return "bioyond_workstation" - - def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None: - logger.info("进入 _start_http_service_bg 函数") - try: - self.service = WorkstationHTTPService(self, host=host, port=port) - logger.info("WorkstationHTTPService 实例化完成") - self.service.start() - self.http_service_started = True - logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}") - - #一直挂着，直到进程退出 - while True: - time.sleep(1) - - except Exception as e: - self.http_service_started = False - logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True) - - # -------------------- 基础HTTP封装 -------------------- - def _url(self, path: str) -> str: - return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}" - - def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: - """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" - payload = { - "apiKey": self.bioyond_config["api_key"], - "requestTime": _iso_utc_now_ms() - } - if data is not None: - payload["data"] = data - - if self.debug_mode: - # 模拟返回，不发真实请求 - logger.info(f"[DEBUG] POST {path} with payload={payload}") - return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} - - try: - r = requests.post( - self._url(path), - json=payload, - timeout=self.bioyond_config.get("timeout", 30), - headers={"Content-Type": "application/json"} - ) - r.raise_for_status() - return r.json() - except Exception as e: - logger.error(f"POST {path} 失败: {e}") - return {"error": str(e)} - - # --- 修正：_post_report / _post_report_raw 同样走 debug_mode --- - def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]: - payload = { - "token": self.bioyond_config.get("report_token", ""), - "request_time": _iso_utc_now_ms(), - "data": data - } - if self.debug_mode: - logger.info(f"[DEBUG] POST {path} with payload={payload}") - return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} - try: - r = requests.post(self._url(path), json=payload, - timeout=self.bioyond_config.get("timeout", 30), - headers={"Content-Type": "application/json"}) - r.raise_for_status() - return r.json() - except Exception as e: - logger.error(f"POST {path} 失败: {e}") - return {"error": str(e)} - - def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]: - if self.debug_mode: - logger.info(f"[DEBUG] POST {path} with body={body}") - return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"} - try: - r = requests.post(self._url(path), json=body, - timeout=self.bioyond_config.get("timeout", 30), - headers={"Content-Type": "application/json"}) - r.raise_for_status() - return r.json() - except Exception as e: - logger.error(f"POST {path} 失败: {e}") - return {"error": str(e)} - - - # -------------------- 单点接口封装 -------------------- - # 2.17 入库物料（单个） - def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: - return self._post_lims("/api/lims/storage/inbound", { - "materialId": material_id, - "locationId": location_id - }) - - # 2.18 批量入库（多个） - def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]: - """ - items = [{"materialId": "...", "locationId": "..."}, ...] - """ - return self._post_lims("/api/lims/storage/batch-inbound", items) - - # 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3） - def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: - """ - 根据固定模板解析 Excel： - - 四号手套箱加样头面 (2-13行, 3-7列) - - 四号手套箱原液瓶面 (15-23行, 3-9列) - - 三号手套箱人工堆栈 (26-40行, 3-7列) - """ - path = Path(xlsx_path) - if not path.exists(): - raise FileNotFoundError(f"未找到 Excel 文件：{path}") - - try: - df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") - except Exception as e: - raise RuntimeError(f"读取 Excel 失败：{e}") - - items: List[Dict[str, Any]] = [] - - # 四号手套箱 - 加样头面（2-13行, 3-7列） - for _, row in df.iloc[1:13, 2:7].iterrows(): - item = { - "sourceWHName": "四号手套箱堆栈", - "posX": int(row[2]), - "posY": int(row[3]), - "posZ": int(row[4]), - "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", - "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, - } - if item["materialName"]: - items.append(item) - - # 四号手套箱 - 原液瓶面（15-23行, 3-9列） - for _, row in df.iloc[14:23, 2:9].iterrows(): - item = { - "sourceWHName": "四号手套箱堆栈", - "posX": int(row[2]), - "posY": int(row[3]), - "posZ": int(row[4]), - "materialName": str(row[5]).strip() if pd.notna(row[5]) else "", - "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, - "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", - "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", - } - if item["materialName"]: - items.append(item) - - # 三号手套箱人工堆栈（26-40行, 3-7列） - for _, row in df.iloc[25:40, 2:7].iterrows(): - item = { - "sourceWHName": "三号手套箱人工堆栈", - "posX": int(row[2]), - "posY": int(row[3]), - "posZ": int(row[4]), - "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", - "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", - "quantity": 1 # 默认数量1 - } - if item["materialId"] or item["materialType"]: - items.append(item) - - return self._post_lims("/api/lims/order/auto-feeding4to3", items) - - - - def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: - """ - 3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound） - """ - path = Path(xlsx_path) - if not path.exists(): - raise FileNotFoundError(f"未找到 Excel 文件：{path}") - - try: - df = pd.read_excel(path, sheet_name=0, engine="openpyxl") - except Exception as e: - raise RuntimeError(f"读取 Excel 失败：{e}") - - def pick(names: List[str]) -> Optional[str]: - for n in names: - if n in df.columns: - return n - return None - - c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"]) - c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"]) - c_qty = pick(["数量", "quantity"]) - c_x = pick(["x", "X", "posX", "坐标X"]) - c_y = pick(["y", "Y", "posY", "坐标Y"]) - c_z = pick(["z", "Z", "posZ", "坐标Z"]) - - required = [c_loc, c_wh, c_qty, c_x, c_y, c_z] - if any(c is None for c in required): - raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。") - - def as_int(v, d=0): - try: - if pd.isna(v): return d - return int(v) - except Exception: - try: - return int(float(v)) - except Exception: - return d - - def as_float(v, d=0.0): - try: - if pd.isna(v): return d - return float(v) - except Exception: - return d - - def as_str(v, d=""): - if v is None or (isinstance(v, float) and pd.isna(v)): return d - s = str(v).strip() - return s if s else d - - items: List[Dict[str, Any]] = [] - for _, row in df.iterrows(): - items.append({ - "locationId": as_str(row[c_loc]), - "warehouseId": as_str(row[c_wh]), - "quantity": as_float(row[c_qty]), - "x": as_int(row[c_x]), - "y": as_int(row[c_y]), - "z": as_int(row[c_z]), - }) - - return self._post_lims("/api/lims/storage/auto-batch-out-bound", items) - - # 2.14 新建实验 - def create_orders(self, xlsx_path: str) -> Dict[str, Any]: - """ - 从 Excel 解析并创建实验（2.14） - 约定： - - batchId = Excel 文件名（不含扩展名） - - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） - - totalMass 自动计算为所有物料质量之和 - - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） - """ - path = Path(xlsx_path) - if not path.exists(): - raise FileNotFoundError(f"未找到 Excel 文件：{path}") - - try: - df = pd.read_excel(path, sheet_name=0, engine="openpyxl") - except Exception as e: - raise RuntimeError(f"读取 Excel 失败：{e}") - - # 列名容错：返回可选列名，找不到则返回 None - def _pick(col_names: List[str]) -> Optional[str]: - for c in col_names: - if c in df.columns: - return c - return None - - col_order_name = _pick(["配方ID", "orderName", "订单编号"]) - col_create_time = _pick(["创建日期", "createTime"]) - col_bottle_type = _pick(["配液瓶类型", "bottleType"]) - col_mix_time = _pick(["混匀时间(s)", "mixTime"]) - col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) - col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) - col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) - col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) - - # 物料列：所有以 (g) 结尾 - material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] - if not material_cols: - raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") - - batch_id = path.stem - - def _to_ymd_slash(v) -> str: - # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 - if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": - ts = datetime.now() - else: - try: - ts = pd.to_datetime(v) - except Exception: - ts = datetime.now() - return f"{ts.year}/{ts.month}/{ts.day}" - - def _as_int(val, default=0) -> int: - try: - if pd.isna(val): - return default - return int(val) - except Exception: - return default - - def _as_str(val, default="") -> str: - if val is None or (isinstance(val, float) and pd.isna(val)): - return default - s = str(val).strip() - return s if s else default - - orders: List[Dict[str, Any]] = [] - - for idx, row in df.iterrows(): - mats: List[Dict[str, Any]] = [] - total_mass = 0.0 - - for mcol in material_cols: - val = row.get(mcol, None) - if val is None or (isinstance(val, float) and pd.isna(val)): - continue - try: - mass = float(val) - except Exception: - continue - if mass > 0: - mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) - total_mass += mass - - order_data = { - "batchId": batch_id, - "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", - "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), - "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", - "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, - "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0, - "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0, - "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0, - "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, - "materialInfos": mats, - "totalMass": round(total_mass, 4) # 自动汇总 - } - orders.append(order_data) - - # print(orders) - - response = self._post_lims("/api/lims/order/orders", orders) - self.order_status[response["data"]["orderCode"]] = "running" - - while True: - time.sleep(5) - if self.order_status.get(response["data"]["orderCode"], None) == "finished": - logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运") - break - logger.info(f"等待配液实验完成") - - self.transfer_3_to_2_to_1() - r321 = self.wait_for_transfer_task() - logger.info(f"3-2-1 转运完成，返回结果") - return r321 - - - # 2.7 启动调度 - def scheduler_start(self) -> Dict[str, Any]: - return self._post_lims("/api/lims/scheduler/start") - # 3.10 停止调度 - def scheduler_stop(self) -> Dict[str, Any]: - """ - 停止调度 (3.10) - 请求体只包含 apiKey 和 requestTime - """ - return self._post_lims("/api/lims/scheduler/stop") - # 2.9 继续调度 - def scheduler_continue(self) -> Dict[str, Any]: - """ - 继续调度 (2.9) - 请求体只包含 apiKey 和 requestTime - """ - return self._post_lims("/api/lims/scheduler/continue") - - - - # 2.24 物料变更推送 - def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: - """ - material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等） - """ - return self._post_report_raw("/report/material_change", material_obj) - - # 2.21 步骤完成推送（BS → LIMS） - def report_step_finish(self, - order_code: str, - order_name: str, - step_name: str, - step_id: str, - sample_id: str, - start_time: str, - end_time: str, - execution_status: str = "completed") -> Dict[str, Any]: - data = { - "orderCode": order_code, - "orderName": order_name, - "stepName": step_name, - "stepId": step_id, - "sampleId": sample_id, - "startTime": start_time, - "endTime": end_time, - "executionStatus": execution_status - } - return self._post_report("/report/step_finish", data) - - # 2.23 订单完成推送（BS → LIMS） - def report_order_finish(self, - order_code: str, - order_name: str, - start_time: str, - end_time: str, - status: str = "30", # 30 完成 / -11 异常停止 / -12 人工停止 - workflow_status: str = "Finished", - completion_time: Optional[str] = None, - used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]: - data = { - "orderCode": order_code, - "orderName": order_name, - "startTime": start_time, - "endTime": end_time, - "status": status, - "workflowStatus": workflow_status, - "completionTime": completion_time or end_time, - "usedMaterials": used_materials or [] - } - return self._post_report("/report/order_finish", data) - - # 2.5 批量查询实验报告（用于轮询是否完成） - def order_list(self, - status: Optional[str] = None, - begin_time: Optional[str] = None, - end_time: Optional[str] = None, - filter_text: Optional[str] = None, - skip: int = 0, page: int = 10) -> Dict[str, Any]: - data: Dict[str, Any] = {"skipCount": skip, "pageCount": page} - if status is not None: # 80 成功 / 90 失败 / 100 执行中 - data["status"] = status - if begin_time: - data["timeType"] = "CreationTime" - data["beginTime"] = begin_time - if end_time: - data["endTime"] = end_time - if filter_text: - data["filter"] = filter_text - return self._post_lims("/api/lims/order/order-list", data) - - # 2.6 实验报告查询（根据任务ID拿详情） - def order_report(self, order_id: str) -> Dict[str, Any]: - return self._post_lims("/api/lims/order/order-report", order_id) - - # 2.32 3-2-1 物料转运 - def transfer_3_to_2_to_1(self, - # source_wh_id: Optional[str] = None, - source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', - source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]: - payload: Dict[str, Any] = { - "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z - } - if source_wh_id: - payload["sourceWHID"] = source_wh_id - return self._post_lims("/api/lims/order/transfer-task3To2To1", payload) - - # 2.28 样品/废料取出 - def take_out(self, - order_id: str, - preintake_ids: Optional[List[str]] = None, - material_ids: Optional[List[str]] = None) -> Dict[str, Any]: - data = { - "orderId": order_id, - "preintakeIds": preintake_ids or [], - "materialIds": material_ids or [] - } - return self._post_lims("/api/lims/order/take-out", data) - - # --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”-------- - def start_station1_internal_flow(self, **kwargs) -> None: - logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）") - - - # 3.x 1→2 物料转运 - def transfer_1_to_2(self) -> Dict[str, Any]: - """ - 1→2 物料转运 - URL: /api/lims/order/transfer-task1To2 - 只需要 apiKey 和 requestTime - """ - return self._post_lims("/api/lims/order/transfer-task1To2") - - - # -------------------- 整体编排 -------------------- - def run_full_workflow(self, - inbound_items: List[Dict[str, str]], - orders: List[Dict[str, Any]], - poll_filter_code: Optional[str] = None, - poll_timeout_s: int = 600, - poll_interval_s: int = 5, - transfer_source: Optional[Dict[str, Any]] = None, - takeout_order_id: Optional[str] = None) -> None: - """ - 一键串联： - 1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度 - 运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送 - 完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程 - → 9) 1-2 转运 → 10) 样品/废料取出 - """ - # 1. 入库（多于1个就用批量接口 2.18） - if len(inbound_items) == 1: - r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"]) - logger.info(f"单个入库结果: {r}") - else: - r = self.storage_batch_inbound(inbound_items) - logger.info(f"批量入库结果: {r}") - - # 2. 新建实验（2.14） - r = self.create_orders(orders) - logger.info(f"新建实验结果: {r}") - - # 3. 启动调度（2.7） - r = self.scheduler_start() - logger.info(f"启动调度结果: {r}") - - # —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— # - # self.report_material_change({...}) - # self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...", - # start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed") - # self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms()) - - # 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功） - if poll_filter_code: - import time - deadline = time.time() + poll_timeout_s - while time.time() < deadline: - res = self.order_list(status="80", filter_text=poll_filter_code, page=5) - if isinstance(res, dict) and res.get("data", {}).get("items"): - logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}") - break - time.sleep(poll_interval_s) - else: - logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）") - - # 7. 启动 3-2-1 转运（2.32） - if transfer_source: - r = self.transfer_3_to_2_to_1( - source_wh_id=transfer_source.get("sourceWHID"), - source_x=transfer_source.get("sourcePosX", 1), - source_y=transfer_source.get("sourcePosY", 1), - source_z=transfer_source.get("sourcePosZ", 1), - ) - logger.info(f"3-2-1 转运结果: {r}") - - # 8. 1号站内部流程（占位） - self.start_station1_internal_flow() - - # 9. 1→2 转运（占位） - self.transfer_1_to_2() - - # 10. 样品/废料取出（2.28） - if takeout_order_id: - r = self.take_out(order_id=takeout_order_id) - logger.info(f"样品/废料取出结果: {r}") - - # 2.5 批量查询实验报告 - def order_list_v2(self, - timeType: str = "string", - beginTime: str = "", - endTime: str = "", - status: str = "", - filter: str = "物料转移任务", - skipCount: int = 0, - pageCount: int = 1, - sorting: str = "") -> Dict[str, Any]: - """ - 批量查询实验报告的详细信息 (2.5) - URL: /api/lims/order/order-list - 参数默认值和接口文档保持一致 - """ - data: Dict[str, Any] = { - "timeType": timeType, - "beginTime": beginTime, - "endTime": endTime, - "status": status, - "filter": filter, - "skipCount": skipCount, - "pageCount": pageCount, - "sorting": sorting - } - return self._post_lims("/api/lims/order/order-list", data) - - - def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool: - """ - 轮询查询物料转移任务是否成功完成 (status=80) - - timeout: 最大等待秒数 (默认600秒) - - interval: 轮询间隔秒数 (默认3秒) - 返回 True 表示找到并成功完成，False 表示超时未找到 - """ - now = datetime.now() - beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ") - endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ") - print(beginTime, endTime) - - deadline = time.time() + timeout - - while time.time() < deadline: - result = self.order_list_v2( - timeType="string", - beginTime=beginTime, - endTime=endTime, - status="", - filter="物料转移任务", - skipCount=0, - pageCount=1, - sorting="" - ) - print(result) - - items = result.get("data", {}).get("items", []) - for item in items: - name = item.get("name", "") - status = item.get("status") - if name.startswith("物料转移任务") and status == 80: - logger.info(f"硬件转移动作完成: {name}") - return True - - time.sleep(interval) - - logger.warning("超时未找到成功的物料转移任务") - return False - - -# -------------------------------- -if __name__ == "__main__": - ws = BioyondWorkstation() - # ws.scheduler_stop() - ws.scheduler_start() - logger.info("调度启动完成") - - # ws.scheduler_continue() - # 3.30 上料：读取模板 Excel 自动解析并 POST - r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx") - ws.wait_for_transfer_task() - logger.info("4号箱向3号箱转运物料转移任务已完成") - - # ws.scheduler_start() - # print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items - - # 新建实验 - res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx") - # ws.scheduler_start() - # print(res) - - #1号站启动 - ws.transfer_1_to_2() - ws.wait_for_transfer_task() - logger.info("1号站向2号站转移任务完成") - logger.info("全流程结束") - - # 3.31 下料：同理 - # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx") - # print(r2["payload"]["data"]) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 6acc8f6..d609440 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -17,7 +17,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.33.30"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.115"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } @@ -155,8 +155,9 @@ MATERIAL_TYPE_MAPPINGS = { "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"), - "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), - "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + # "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index e2f4da8..af81d53 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -21,7 +21,6 @@ from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNo from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode from pylabrobot.resources.resource import Resource as ResourcePLR -from unilabos.resources.bioyond.decks import YB_Deck from unilabos.devices.workstation.bioyond_studio.config import ( API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING ) @@ -64,7 +63,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): logger.error("Bioyond API客户端未初始化") return False - bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 1, "includeDetail": true}') + bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}') if not bioyond_data: logger.warning("从Bioyond获取的物料数据为空") return False @@ -138,7 +137,7 @@ class BioyondWorkstation(WorkstationBase): # 初始化父类 super().__init__( # 桌子 - deck=YB_Deck("YB_Deck14"), + deck=deck, *args, **kwargs, ) diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index d6988b7..a9d754f 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -137,7 +137,7 @@ bioyond_cell: WH4_x5_y1_z1_5_quantity: 0.0 WH4_x5_y2_z1_10_materialName: '' WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx handles: {} placeholder_keys: {} result: {} @@ -463,7 +463,7 @@ bioyond_cell: default: 0.0 type: number xlsx_path: - default: unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx type: string required: [] type: object @@ -473,31 +473,6 @@ bioyond_cell: title: auto_feeding4to3参数 type: object type: UniLabJsonCommand - auto-auto_feeding4to3_from_xlsx: - feedback: {} - goal: {} - goal_default: - xlsx_path: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - xlsx_path: - type: string - required: - - xlsx_path - type: object - result: {} - required: - - goal - title: auto_feeding4to3_from_xlsx参数 - type: object - type: UniLabJsonCommand auto-create_and_inbound_materials: feedback: {} goal: {} @@ -1039,7 +1014,7 @@ bioyond_cell: goal: {} goal_default: order_code: null - timeout: 1800 + timeout: 36000 handles: {} placeholder_keys: {} result: {} @@ -1052,7 +1027,7 @@ bioyond_cell: order_code: type: string timeout: - default: 1800 + default: 36000 type: integer required: - order_code @@ -1105,9 +1080,11 @@ bioyond_cell: init_param_schema: config: properties: - bioyond_config: + config: + type: object + deck: type: string - station_resource: + protocol_type: type: string required: [] type: object diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index ef93705..664bab3 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,13 +22,13 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_Deck16: +BIOYOND_YB_Deck: category: - deck class: - module: unilabos.resources.bioyond.decks:YB_Deck + module: unilabos.resources.bioyond.decks:BIOYOND_YB_Deck type: pylabrobot - description: BIOYOND PolymerReactionStation Deck + description: BIOYOND_YB_Deck handles: [] icon: 配液站.webp init_param_schema: {} diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index fa242c3..7bf1c38 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,4 +1,5 @@ from os import name +from pickle import TRUE from pylabrobot.resources import Deck, Coordinate, Rotation from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1 @@ -71,7 +72,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): class BIOYOND_YB_Deck(Deck): def __init__( self, - name: str = "YB_Deck", + name: str = "YB_Bioyond_Deck", size_x: float = 4150, size_y: float = 1400.0, size_z: float = 2670.0, @@ -115,10 +116,10 @@ class BIOYOND_YB_Deck(Deck): for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) -def YB_Deck(name: str) -> Deck: - by=BIOYOND_YB_Deck(name=name) - by.setup() - return by +# def YB_Deck(name: str) -> Deck: +# # by=BIOYOND_YB_Deck(name=name) +# # by.setup() +# return None From 10adc853a53fa4c7f02bd151fee63edd83bdfb7d Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 3 Nov 2025 19:50:01 +0800 Subject: [PATCH 048/104] 1103-2byxinyu --- .../workstation/bioyond_studio/station.py | 2 + .../devices/coin_cell_workstation.yaml | 4 +- unilabos/resources/bioyond/YB_warehouses.py | 71 ++++++++++++++++--- unilabos/resources/bioyond/decks.py | 40 +++++------ 4 files changed, 80 insertions(+), 37 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index af81d53..d6fe487 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -172,6 +172,8 @@ class BioyondWorkstation(WorkstationBase): def post_init(self, ros_node: ROS2WorkstationNode): self._ros_node = ros_node + print("~~~",self._ros_node) + print("deck",self.deck) ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": [self.deck] }) diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index 4738946..06caa0f 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -79,7 +79,7 @@ coincellassemblyworkstation_device: elec_num: null elec_use_num: null elec_vol: 50 - file_path: D:\coin_cell_data + file_path: C:\Users\67484\Desktop handles: {} placeholder_keys: {} result: {} @@ -103,7 +103,7 @@ coincellassemblyworkstation_device: default: 50 type: integer file_path: - default: D:\coin_cell_data + default: C:\Users\67484\Desktop type: string required: - elec_num diff --git a/unilabos/resources/bioyond/YB_warehouses.py b/unilabos/resources/bioyond/YB_warehouses.py index c546759..39f79ea 100644 --- a/unilabos/resources/bioyond/YB_warehouses.py +++ b/unilabos/resources/bioyond/YB_warehouses.py @@ -1,9 +1,9 @@ -from unilabos.resources.warehouse import WareHouse, warehouse_factory +from unilabos.resources.warehouse import WareHouse, YB_warehouse_factory def bioyond_warehouse_1x4x4(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=1, num_items_y=4, @@ -20,7 +20,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: def bioyond_warehouse_1x4x2(name: str) -> WareHouse: """创建BioYond 4x1x2仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=1, num_items_y=4, @@ -37,7 +37,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse: # 定义benyond的堆栈 def bioyond_warehouse_1x2x2(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=2, num_items_y=2, @@ -50,9 +50,26 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse: item_dz=120.0, category="YB_warehouse", ) + +def bioyond_warehouse_2x2x1(name: str) -> WareHouse: + """创建BioYond 2x2x1仓库（自动堆栈）""" + return YB_warehouse_factory( + name=name, + num_items_x=2, + num_items_y=2, + 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="YB_warehouse", + ) + def bioyond_warehouse_10x1x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=10, num_items_y=1, @@ -67,7 +84,7 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse: ) def bioyond_warehouse_1x3x3(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=1, num_items_y=3, @@ -82,7 +99,7 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse: ) def bioyond_warehouse_2x1x3(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=2, num_items_y=1, @@ -98,7 +115,7 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse: def bioyond_warehouse_3x3x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=3, num_items_y=3, @@ -113,7 +130,7 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse: ) def bioyond_warehouse_5x1x1(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=5, num_items_y=1, @@ -128,7 +145,7 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse: ) def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=3, num_items_y=3, @@ -144,7 +161,7 @@ def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: """创建BioYond开关盖加液模块台面""" - return warehouse_factory( + return YB_warehouse_factory( name=name, num_items_x=2, num_items_y=5, @@ -157,4 +174,36 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: item_dz=120.0, category="warehouse", removed_positions=None + ) + +def bioyond_warehouse_3x5x1(name: str) -> WareHouse: + """创建BioYond 3x5x1仓库（手动堆栈）""" + return YB_warehouse_factory( + name=name, + num_items_x=3, + num_items_y=5, + 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 bioyond_warehouse_20x1x1(name: str) -> WareHouse: + """创建BioYond 20x1x1仓库（粉末加样头堆栈）""" + return YB_warehouse_factory( + name=name, + num_items_x=20, + num_items_y=1, + 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", ) \ No newline at end of file diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index 7bf1c38..b89a032 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -72,7 +72,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): class BIOYOND_YB_Deck(Deck): def __init__( self, - name: str = "YB_Bioyond_Deck", + name: str = "YB_Deck", size_x: float = 4150, size_y: float = 1400.0, size_z: float = 2670.0, @@ -86,36 +86,28 @@ class BIOYOND_YB_Deck(Deck): def setup(self) -> None: # 添加仓库 self.warehouses = { - "321窗口": bioyond_warehouse_1x2x2("321窗口"), - "43窗口": bioyond_warehouse_1x2x2("43窗口"), - "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"), - "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"), - "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), - "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"), - - "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"), - "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"), - "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"), - "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"), + "自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"), + "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), + "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"), + "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"), + "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"), + "配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"), + "试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"), } # warehouse 的位置 self.warehouse_locations = { - "321窗口": Coordinate(-150.0, 158.0, 0.0), - "43窗口": Coordinate(4160.0, 158.0, 0.0), - "手动传递窗左": Coordinate(-150.0, 877.0, 0.0), - "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), - "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0), - "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0), - - "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0), - "母液加样右": Coordinate(2152.0, 333.0, 0.0), - "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), - "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), + "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0), + "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0), + "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0), + "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0), + "粉末加样头堆栈": Coordinate(385.0, 1300.0, 0.0), + "配液站内试剂仓库": Coordinate(1164.0, 676.0, 0.0), + "试剂替换仓库": Coordinate(2717.0, 676.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) - + # def YB_Deck(name: str) -> Deck: # # by=BIOYOND_YB_Deck(name=name) # # by.setup() From f230028558441e2195b79b57b1cd54d4df4bcd19 Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 3 Nov 2025 21:30:27 +0800 Subject: [PATCH 049/104] feat: Enhance CoincellDeck setup with new ClipMagazine and BottleRack configurations - Refactored ClipMagazine class to inherit from ItemizedResource and updated hole dimensions. - Introduced ClipMagazine_four class for a new 2x2 hole layout. - Expanded CoincellDeck setup to include multiple ClipMagazines and MaterialPlates with ElectrodeSheets. - Improved BottleRack initialization with dynamic item positioning and resource assignment. - Added serialization methods for new classes to maintain state consistency. --- .../coin_cell_assembly/YB_YH_materials.py | 349 ++++++++++++++---- 1 file changed, 269 insertions(+), 80 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 6232fb8..5c3aa87 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -387,17 +387,17 @@ class ClipMagazineHole(Container): } # TODO: 这个要改 -class ClipMagazine(Resource): +class ClipMagazine(ItemizedResource[ClipMagazineHole]): """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - + children: List[ClipMagazineHole] def __init__( self, name: str, size_x: float, size_y: float, size_z: float, - hole_diameter: float = 20.0, - hole_depth: float = 50.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, hole_spacing: float = 25.0, max_sheets_per_hole: int = 100, category: str = "clip_magazine", @@ -441,6 +441,7 @@ class ClipMagazine(Resource): model=model, ) + # 保存洞位的直径和深度 self.hole_diameter = hole_diameter self.hole_depth = hole_depth self.max_sheets_per_hole = max_sheets_per_hole @@ -744,16 +745,22 @@ class BottleRackState(TypedDict): class BottleRack(Resource): """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Bottle] = [] + children: List[Resource] = [] def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + num_items_x: int = 3, + num_items_y: int = 4, + position_spacing: float = 35.0, + orientation: str = "horizontal", + padding_x: float = 20.0, + padding_y: float = 20.0, ): """初始化瓶架 @@ -773,13 +780,42 @@ class BottleRack(Resource): category=category, model=model, ) - # TODO: 添加瓶位坐标映射 - self.index_to_pos = { - 0: Coordinate.zero(), - 1: Coordinate(x=1, y=2, z=3) # 添加 - } + # 初始化状态 + self._unilabos_state: BottleRackState = BottleRackState( + bottle_diameter=30.0, + bottle_height=100.0, + position_spacing=position_spacing, + name_to_index={}, + ) + # 基于网格生成瓶位坐标映射（居中摆放） + # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） + origin_x = padding_x + origin_y = padding_y + self.index_to_pos = {} + for j in range(num_items_y): + for i in range(num_items_x): + idx = j * num_items_x + i + if orientation == "vertical": + # 纵向：沿 y 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + j * position_spacing, + y=origin_y + i * position_spacing, + z=0, + ) + else: + # 横向（默认）：沿 x 方向优先排列 + self.index_to_pos[idx] = Coordinate( + x=origin_x + i * position_spacing, + y=origin_y + j * position_spacing, + z=0, + ) self.name_to_index = {} self.name_to_pos = {} + self.num_items_x = num_items_x + self.num_items_y = num_items_y + self.orientation = orientation + self.padding_x = padding_x + self.padding_y = padding_y def load_state(self, state: Dict[str, Any]) -> None: """格式不变""" @@ -789,20 +825,23 @@ class BottleRack(Resource): def serialize_state(self) -> Dict[str, Dict[str, Any]]: """格式不变""" data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + data.update( + self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） return data # TODO: 这里有些问题要重新写一下 - def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): - assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): + capacity = self.num_items_x * self.num_items_y + assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" index = len(self.children) - location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + location = self.index_to_pos.get(index, Coordinate.zero()) self.name_to_pos[resource.name] = location self.name_to_index[resource.name] = index return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource_by_index(self, resource: Bottle, index: int): - assert 0 <= index < 12, "无效的瓶子索引" + + def assign_child_resource(self, resource: Resource, index: int): + capacity = self.num_items_x * self.num_items_y + assert 0 <= index < capacity, "无效的瓶子索引" self.name_to_index[resource.name] = index location = self.index_to_pos[index] return super().assign_child_resource(resource, location) @@ -811,10 +850,16 @@ class BottleRack(Resource): super().unassign_child_resource(resource) self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - # def serialize(self): - # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) - # return super().serialize() - + def serialize(self) -> dict: + return { + **super().serialize(), + "num_items_x": self.num_items_x, + "num_items_y": self.num_items_y, + "position_spacing": self._unilabos_state.get("position_spacing", 35.0), + "orientation": self.orientation, + "padding_x": self.padding_x, + "padding_y": self.padding_y, + } class BottleState(TypedDict): diameter: float @@ -868,6 +913,73 @@ class Bottle(Resource): data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） return data +class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有4个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=2, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } + class CoincellDeck(Deck): """纽扣电池组装工作站台面类""" @@ -904,59 +1016,131 @@ class CoincellDeck(Deck): self.setup() def setup(self) -> None: - """设置工作站的标准布局 - 包含3个料盘""" - # 步骤 1: 创建所有料盘 - self.plates = { - "liaopan1": MaterialPlate( - name="liaopan1", - size_x=120.8, - size_y=120.5, - size_z=10.0, - fill=True - ), - "liaopan2": MaterialPlate( - name="liaopan2", - size_x=120.8, - size_y=120.5, - size_z=10.0, - fill=True - ), - "电池料盘": MaterialPlate( - name="电池料盘", - size_x=120.8, - size_y=160.5, - size_z=10.0, - fill=True - ), - } + """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" + # ====================================== 子弹夹 ============================================ + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - # 步骤 2: 定义料盘在 deck 上的位置 - # Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm - self.plate_locations = { - "liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距 - "liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧 - "电池料盘": Coordinate(x=450, y=50, z=0), # 右侧 - } + # 为子弹夹添加极片 + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - # 步骤 3: 将料盘分配到 deck 上 - for plate_name, plate in self.plates.items(): - self.assign_child_resource( - plate, - location=self.plate_locations[plate_name] - ) - - # 步骤 4: 为 liaopan1 添加初始极片 + # ====================================== 物料板 ============================================ + # 创建6个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) for i in range(16): - jipian = ElectrodeSheet( - name=f"jipian1_{i}", - size_x=12, - size_y=12, - size_z=0.1 - ) - self.plates["liaopan1"].children[i].assign_child_resource( - jipian, - location=None - ) + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) + + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + + # ====================================== 瓶架、移液枪 ============================================ + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + bottle_rack_3x4 = BottleRack( + name="bottle_rack_3x4", + size_x=210.0, + size_y=140.0, + size_z=100.0, + num_items_x=3, + num_items_y=4, + position_spacing=35.0, + orientation="vertical", + ) + self.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + + bottle_rack_6x2 = BottleRack( + name="bottle_rack_6x2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + + bottle_rack_6x2_2 = BottleRack( + name="bottle_rack_6x2_2", + size_x=120.0, + size_y=250.0, + size_z=100.0, + num_items_x=6, + num_items_y=2, + position_spacing=35.0, + orientation="vertical", + ) + self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + + # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) + + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) + + tip_box = TipBox64(name="tip_box_64") + self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + + print(self) def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck: @@ -971,6 +1155,11 @@ def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, Returns: 已配置好的 CoincellDeck 对象 """ - deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z) - deck.setup() + # 创建 CoincellDeck 实例并自动执行 setup 配置 + deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z, setup=True) return deck + + +if __name__ == "__main__": + deck = create_coin_cell_deck() + print(deck) \ No newline at end of file From cd12932788b57ebceb821f419cdbf54f321b166d Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Mon, 3 Nov 2025 22:53:37 +0800 Subject: [PATCH 050/104] 1103byxinyu --- .../workstation/coin_cell_assembly/YB_YH_materials.py | 8 ++++---- .../workstation/coin_cell_assembly/coin_cell_assembly.py | 4 ++-- .../workstation/coin_cell_assembly/new_cellconfig3c.json | 5 +++-- unilabos/registry/devices/bioyond_cell.yaml | 1 + unilabos/resources/bioyond/decks.py | 1 - 5 files changed, 10 insertions(+), 9 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 5c3aa87..a2dff68 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -986,10 +986,10 @@ class CoincellDeck(Deck): def __init__( self, name: str = "coin_cell_deck", - size_x: float = 1000.0, # 1m - size_y: float = 1000.0, # 1m - size_z: float = 900.0, # 0.9m - origin: Coordinate = Coordinate(0, 0, 0), + size_x: float = 3650.0, # 1m + size_y: float = 1550.0, # 1m + size_z: float = 2100.0, # 0.9m + origin: Coordinate = Coordinate(-4000, 2000, 0), category: str = "coin_cell_deck", setup: bool = False, # 是否自动执行 setup ): diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index d968e99..752b3d5 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -112,7 +112,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, deck: Deck=None, - address: str = "172.21.32.111", + address: str = "172.21.33.176", port: str = "502", debug_mode: bool = False, *args, @@ -138,7 +138,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # 如果没有传入 deck，则创建标准配置的 deck if self.deck is None: - self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, setup=True) + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-100, -100, 0),setup=True) else: # 如果传入了 deck 但还没有 setup，可以选择是否 setup if self.deck is not None and len(self.deck.children) == 0: diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json index 3619085..14e6a22 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json @@ -14,6 +14,7 @@ }, "data": {} }, + { "id": "BatteryStation", "name": "扣电工作站", @@ -24,8 +25,8 @@ "type": "device", "class": "coincellassemblyworkstation_device", "position": { - "x": 600, - "y": 400, + "x": -600, + "y": -400, "z": 0 }, "config": { diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index a9d754f..c6ad669 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -4,6 +4,7 @@ bioyond_cell: class: action_value_mappings: auto-auto_batch_outbound_from_xlsx: + display_name: 批量导入上料 feedback: {} goal: {} goal_default: diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index 5a08994..32642c3 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -36,7 +36,6 @@ class BIOYOND_PolymerReactionStation_Deck(Deck): for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) - class BIOYOND_PolymerPreparationStation_Deck(Deck): def __init__( self, From 8009956326c41ea390cb223e47ceba0786584e32 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Mon, 3 Nov 2025 23:48:40 +0800 Subject: [PATCH 051/104] =?UTF-8?q?=E6=9B=B4=E6=96=B0YB=E5=B7=A5=E7=AB=99d?= =?UTF-8?q?eck=E5=9D=90=E6=A0=87=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 根据实际布局图更新各堆栈的坐标位置 - 将粉末加样头堆栈拆分为左右两部分(10x1x1 -> 2个5x1x1) - 将试剂替换仓库拆分为左右两部分(10x1x1 -> 2个5x1x1) - 更新配液站内试剂仓库的坐标 - 所有坐标基于像素位置精确计算(deck原点: 206,446) --- unilabos/resources/bioyond/decks.py | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index f15e065..94b6198 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -89,9 +89,11 @@ class BIOYOND_YB_Deck(Deck): "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"), "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"), - "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"), + "粉末加样头堆栈-左": bioyond_warehouse_10x1x1("粉末加样头堆栈-左"), + "粉末加样头堆栈-右": bioyond_warehouse_10x1x1("粉末加样头堆栈-右"), "配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"), - "试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"), + "试剂替换仓库-左": bioyond_warehouse_5x1x1("试剂替换仓库-左"), + "试剂替换仓库-右": bioyond_warehouse_5x1x1("试剂替换仓库-右"), } # warehouse 的位置 self.warehouse_locations = { @@ -99,9 +101,11 @@ class BIOYOND_YB_Deck(Deck): "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0), "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0), "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0), - "粉末加样头堆栈": Coordinate(385.0, 1300.0, 0.0), - "配液站内试剂仓库": Coordinate(1164.0, 676.0, 0.0), - "试剂替换仓库": Coordinate(2717.0, 676.0, 0.0), + "粉末加样头堆栈-左": Coordinate(415.0, 1301.0, 0.0), + "粉末加样头堆栈-右": Coordinate(2200.0, 1304.0, 0.0), + "配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0), + "试剂替换仓库-左": Coordinate(1173.0, 702.0, 0.0), + "试剂替换仓库-右": Coordinate(2721.0, 739.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): From bfd415279b09038790507b85834d0f1e001405f1 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Tue, 4 Nov 2025 00:39:39 +0800 Subject: [PATCH 052/104] Update YB_YH_materials.py --- .../coin_cell_assembly/YB_YH_materials.py | 310 ++++++++++++------ 1 file changed, 210 insertions(+), 100 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index a2dff68..04cb36d 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -755,7 +755,7 @@ class BottleRack(Resource): size_z: float, category: str = "bottle_rack", model: Optional[str] = None, - num_items_x: int = 3, + num_items_x: int = 2, num_items_y: int = 4, position_spacing: float = 35.0, orientation: str = "horizontal", @@ -971,6 +971,7 @@ class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): self.hole_diameter = hole_diameter self.hole_depth = hole_depth self.max_sheets_per_hole = max_sheets_per_hole + def serialize(self) -> dict: return { @@ -980,6 +981,141 @@ class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): "max_sheets_per_hole": self.max_sheets_per_hole, } +class ClipMagazine_two(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有2个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=1, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +class ClipMagazine_one(ItemizedResource[ClipMagazineHole]): + """子弹夹类 - 有1个洞位，每个洞位放多个极片""" + children: List[ClipMagazineHole] + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine_four", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建4个洞位，排成2x2布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=1, + num_items_y=1, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } + class CoincellDeck(Deck): """纽扣电池组装工作站台面类""" @@ -1018,148 +1154,122 @@ class CoincellDeck(Deck): def setup(self) -> None: """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" # ====================================== 子弹夹 ============================================ - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) + # 铝箔（1） + lvbo_zip = ClipMagazine_one("lvbo_zip", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1400, y=50, z=0)) + #正极（234） + zhengji_zip = ClipMagazine_four("zhengji_zip", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1400, y=50, z=0)) + #2 正极壳 + zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1600, y=200, z=0)) + # 垫片 + danpian_zip = ClipMagazine_two("danpian_zip", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1500, y=200, z=0)) + #2 负极壳 + zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1600, y=200, z=0)) + # 弹片 + tanpian_zip = ClipMagazine_two("tantanpian_zippian", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1500, y=300, z=0)) + #3成品弹夹 + chengpindanjia_zip = ClipMagazine("chengpindanjia_zip", 80, 80, 10) + self.assign_child_resource(CoincellDeck, Coordinate(x=1500, y=200, z=0)) # 为子弹夹添加极片 - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) + for i in range(10): + lvbo = ElectrodeSheet(name=f"lvbo{i}", size_x=12, size_y=12, size_z=0.1) + lvbo_zip.children[i].assign_child_resource(lvbo, location=None) + for i in range(10): + zhengji = ElectrodeSheet(name=f"zhengji_{i}", size_x=12, size_y=12, size_z=0.1) + zhengji_zip.children[i].assign_child_resource(zhengji, location=None) + for i in range(10): + zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1) + zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) + for i in range(10): + danpian = ElectrodeSheet(name=f"danpian_{i}", size_x=12, size_y=12, size_z=0.1) + danpian_zip.children[i].assign_child_resource(danpian, location=None) + for i in range(10): + zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1) + zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) + for i in range(10): + tanpian = ElectrodeSheet(name=f"tanpian_{i}", size_x=12, size_y=12, size_z=0.1) + tanpian_zip.children[i].assign_child_resource(tanpian, location=None) + for i in range(10): + chengpindanjia = ElectrodeSheet(name=f"chengpindanjia_{i}", size_x=12, size_y=12, size_z=0.1) + chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None) + # ====================================== 物料板 ============================================ - # 创建6个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) + # 创建6个4*4的物料板（料盘carrier） + fujiliaopan = MaterialPlate(name="fujiliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(CoincellDeck, Coordinate(x=1010, y=50, z=0)) + for i in range(8): + fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + fujiliaopan.children[i].assign_child_resource(fujipian, location=None) - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + gemoliaopan = MaterialPlate(name="gemoliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(CoincellDeck, Coordinate(x=1130, y=50, z=0)) + for i in range(8): + gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + gemoliaopan.children[i].assign_child_resource(gemopian, location=None) - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - # ====================================== 瓶架、移液枪 ============================================ # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - bottle_rack_3x4 = BottleRack( + # 奔耀上料5ml分液瓶小板 + bottle_rack_2x4 = BottleRack( name="bottle_rack_3x4", size_x=210.0, size_y=140.0, size_z=100.0, - num_items_x=3, + num_items_x=2, num_items_y=4, position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( + self.assign_child_resource(bottle_rack_2x4, Coordinate(x=100, y=200, z=0)) + # 电解液缓存位2x6 + bottle_rack_2x6 = BottleRack( name="bottle_rack_6x2", size_x=120.0, size_y=250.0, size_z=100.0, - num_items_x=6, - num_items_y=2, + num_items_x=2, + num_items_y=6, position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( + self.assign_child_resource(bottle_rack_2x6, Coordinate(x=300, y=300, z=0)) + # 电解液回收位2x6 + bottle_rack_2x6_2 = BottleRack( name="bottle_rack_6x2_2", size_x=120.0, size_y=250.0, size_z=100.0, - num_items_x=6, - num_items_y=2, + num_items_x=2, + num_items_y=6, position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) + self.assign_child_resource(bottle_rack_2x6_2, Coordinate(x=430, y=300, z=0)) # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): + for idx in range(bottle_rack_2x4.num_items_x * bottle_rack_2x4.num_items_y): sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) + bottle_rack_2x4.assign_child_resource(sheet, index=idx) - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): + for idx in range(bottle_rack_2x6.num_items_x * bottle_rack_2x6.num_items_y): sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) + bottle_rack_2x6.assign_child_resource(sheet, index=idx) tip_box = TipBox64(name="tip_box_64") self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) waste_tip_box = WasteTipBox(name="waste_tip_box") self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - - print(self) -def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck: - """创建并配置标准的纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - - Returns: - 已配置好的 CoincellDeck 对象 - """ - # 创建 CoincellDeck 实例并自动执行 setup 配置 - deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z, setup=True) - return deck - if __name__ == "__main__": - deck = create_coin_cell_deck() + deck = CoincellDeck(setup=True) print(deck) \ No newline at end of file From 1477384c1aa31370d889e1e82b39298f47b79c81 Mon Sep 17 00:00:00 2001 From: calvincao Date: Tue, 4 Nov 2025 01:19:42 +0800 Subject: [PATCH 053/104] Update CoinCellAssembly and YB_YH_materials configurations - Adjusted CoincellDeck dimensions and origin coordinates for improved layout. - Replaced CoincellDeck references with specific ClipMagazine instances in YB_YH_materials.py. - Updated BottleRack configurations to reflect new item arrangements and dimensions. --- .../coin_cell_assembly/YB_YH_materials.py | 52 +++++++++---------- .../coin_cell_assembly/coin_cell_assembly.py | 2 +- 2 files changed, 27 insertions(+), 27 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 04cb36d..7d26a15 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -1156,46 +1156,46 @@ class CoincellDeck(Deck): # ====================================== 子弹夹 ============================================ # 铝箔（1） lvbo_zip = ClipMagazine_one("lvbo_zip", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1400, y=50, z=0)) + self.assign_child_resource(lvbo_zip, Coordinate(x=1400, y=50, z=0)) #正极（234） zhengji_zip = ClipMagazine_four("zhengji_zip", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1400, y=50, z=0)) + self.assign_child_resource(zhengji_zip, Coordinate(x=1400, y=50, z=0)) #2 正极壳 zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1600, y=200, z=0)) + self.assign_child_resource(zhengjike_zip, Coordinate(x=1600, y=200, z=0)) # 垫片 danpian_zip = ClipMagazine_two("danpian_zip", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1500, y=200, z=0)) + self.assign_child_resource(danpian_zip, Coordinate(x=1500, y=200, z=0)) #2 负极壳 - zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1600, y=200, z=0)) + fujike_zip = ClipMagazine_four("fujike_zip", 80, 80, 10) + self.assign_child_resource(fujike_zip, Coordinate(x=1600, y=200, z=0)) # 弹片 tanpian_zip = ClipMagazine_two("tantanpian_zippian", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1500, y=300, z=0)) + self.assign_child_resource(tanpian_zip, Coordinate(x=1500, y=300, z=0)) #3成品弹夹 chengpindanjia_zip = ClipMagazine("chengpindanjia_zip", 80, 80, 10) - self.assign_child_resource(CoincellDeck, Coordinate(x=1500, y=200, z=0)) + self.assign_child_resource(chengpindanjia_zip, Coordinate(x=1500, y=200, z=0)) # 为子弹夹添加极片 - for i in range(10): + for i in range(1): # ClipMagazine_one 有1个洞位 lvbo = ElectrodeSheet(name=f"lvbo{i}", size_x=12, size_y=12, size_z=0.1) lvbo_zip.children[i].assign_child_resource(lvbo, location=None) - for i in range(10): + for i in range(4): # ClipMagazine_four 有4个洞位 zhengji = ElectrodeSheet(name=f"zhengji_{i}", size_x=12, size_y=12, size_z=0.1) zhengji_zip.children[i].assign_child_resource(zhengji, location=None) - for i in range(10): + for i in range(4): # ClipMagazine_four 有4个洞位 zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1) zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) - for i in range(10): + for i in range(2): # ClipMagazine_two 有2个洞位 danpian = ElectrodeSheet(name=f"danpian_{i}", size_x=12, size_y=12, size_z=0.1) danpian_zip.children[i].assign_child_resource(danpian, location=None) - for i in range(10): - zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1) - zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) - for i in range(10): + for i in range(4): # ClipMagazine_four 有4个洞位 + fujike = ElectrodeSheet(name=f"fujike_{i}", size_x=12, size_y=12, size_z=0.1) + fujike_zip.children[i].assign_child_resource(fujike, location=None) + for i in range(2): # ClipMagazine_two 有2个洞位 tanpian = ElectrodeSheet(name=f"tanpian_{i}", size_x=12, size_y=12, size_z=0.1) tanpian_zip.children[i].assign_child_resource(tanpian, location=None) - for i in range(10): + for i in range(6): # ClipMagazine 有6个洞位 chengpindanjia = ElectrodeSheet(name=f"chengpindanjia_{i}", size_x=12, size_y=12, size_z=0.1) chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None) @@ -1203,13 +1203,13 @@ class CoincellDeck(Deck): # ====================================== 物料板 ============================================ # 创建6个4*4的物料板（料盘carrier） fujiliaopan = MaterialPlate(name="fujiliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(CoincellDeck, Coordinate(x=1010, y=50, z=0)) + self.assign_child_resource(fujiliaopan, Coordinate(x=1010, y=50, z=0)) for i in range(8): fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) fujiliaopan.children[i].assign_child_resource(fujipian, location=None) gemoliaopan = MaterialPlate(name="gemoliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(CoincellDeck, Coordinate(x=1130, y=50, z=0)) + self.assign_child_resource(gemoliaopan, Coordinate(x=1130, y=50, z=0)) for i in range(8): gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) gemoliaopan.children[i].assign_child_resource(gemopian, location=None) @@ -1228,26 +1228,26 @@ class CoincellDeck(Deck): orientation="vertical", ) self.assign_child_resource(bottle_rack_2x4, Coordinate(x=100, y=200, z=0)) - # 电解液缓存位2x6 - bottle_rack_2x6 = BottleRack( + # 电解液缓存位6x2 + bottle_rack_6x2 = BottleRack( name="bottle_rack_6x2", size_x=120.0, size_y=250.0, size_z=100.0, - num_items_x=2, - num_items_y=6, + num_items_x=6, + num_items_y=2, position_spacing=35.0, orientation="vertical", ) self.assign_child_resource(bottle_rack_2x6, Coordinate(x=300, y=300, z=0)) - # 电解液回收位2x6 + # 电解液回收位6x2 bottle_rack_2x6_2 = BottleRack( name="bottle_rack_6x2_2", size_x=120.0, size_y=250.0, size_z=100.0, - num_items_x=2, - num_items_y=6, + num_items_x=6, + num_items_y=2, position_spacing=35.0, orientation="vertical", ) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 752b3d5..65d18ba 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -138,7 +138,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # 如果没有传入 deck，则创建标准配置的 deck if self.deck is None: - self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-100, -100, 0),setup=True) + self.deck = CoincellDeck(size_x=3650, size_y=1550, size_z=2100, origin=Coordinate(-2000, 100, 0),setup=True) else: # 如果传入了 deck 但还没有 setup，可以选择是否 setup if self.deck is not None and len(self.deck.children) == 0: From 0ad2eaafeaea39422e4ab219799320c5127cb767 Mon Sep 17 00:00:00 2001 From: calvincao Date: Tue, 4 Nov 2025 01:57:30 +0800 Subject: [PATCH 054/104] Fix BottleRack references in CoincellDeck setup - Updated references from bottle_rack_2x6 to bottle_rack_6x2 to align with the new configuration. - Adjusted the loop for assigning ElectrodeSheets to use the correct BottleRack dimensions. --- .../workstation/coin_cell_assembly/YB_YH_materials.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 7d26a15..3860135 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -1239,7 +1239,7 @@ class CoincellDeck(Deck): position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_2x6, Coordinate(x=300, y=300, z=0)) + self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) # 电解液回收位6x2 bottle_rack_2x6_2 = BottleRack( name="bottle_rack_6x2_2", @@ -1258,9 +1258,9 @@ class CoincellDeck(Deck): sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) bottle_rack_2x4.assign_child_resource(sheet, index=idx) - for idx in range(bottle_rack_2x6.num_items_x * bottle_rack_2x6.num_items_y): + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_2x6.assign_child_resource(sheet, index=idx) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) tip_box = TipBox64(name="tip_box_64") self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) From 16ad4bbecc8197493c0d1d85e651e68931db481a Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Tue, 4 Nov 2025 02:01:44 +0800 Subject: [PATCH 055/104] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E5=A5=94=E8=80=80?= =?UTF-8?q?=E5=92=8C=E4=BE=9D=E5=8D=8E=E5=B7=A5=E7=AB=99=E7=9A=84Deck?= =?UTF-8?q?=E5=9D=90=E6=A0=87=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 更新奔耀YB工站deck坐标（基于图片像素精确计算） * 将粉末加样头堆栈拆分为左右两部分 * 将试剂替换仓库拆分为左右两部分 * 更新所有堆栈的坐标位置 - 更新依华扣电工站deck坐标（使用精确的像素-毫米转换） * 修正所有子弹夹的坐标位置（铝箔、正极片、正极壳等） * 更新料盘坐标（负极料盘、隔膜料盘） * 更新瓶架坐标（奔耀上料瓶架、电解液缓存位、回收位） * 更新枪头盒和废枪头盒坐标 * 确保所有坐标在deck范围内（3650×1550mm） - 转换比例说明： * 奔耀工站：deck左上角(206,446)，使用1.56mm/像素 * 依华工站：deck左上角(494,444)到右下角(2430,1608) X方向：1.885mm/像素，Y方向：1.332mm/像素 --- .../coin_cell_assembly/YB_YH_materials.py | 74 +++++++++++-------- 1 file changed, 42 insertions(+), 32 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 7d26a15..adb25cf 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -1154,31 +1154,37 @@ class CoincellDeck(Deck): def setup(self) -> None: """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" # ====================================== 子弹夹 ============================================ - # 铝箔（1） + # 铝箔（1个洞位） lvbo_zip = ClipMagazine_one("lvbo_zip", 80, 80, 10) - self.assign_child_resource(lvbo_zip, Coordinate(x=1400, y=50, z=0)) - #正极（234） + self.assign_child_resource(lvbo_zip, Coordinate(x=2737.0, y=301.0, z=0)) + + # 正极片（4个洞位，2x2布局） zhengji_zip = ClipMagazine_four("zhengji_zip", 80, 80, 10) - self.assign_child_resource(zhengji_zip, Coordinate(x=1400, y=50, z=0)) - #2 正极壳 + self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0)) + + # 正极壳（4个洞位，2x2布局） zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) - self.assign_child_resource(zhengjike_zip, Coordinate(x=1600, y=200, z=0)) - # 垫片 + self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0)) + + # 垫片（2个洞位，1x2布局） danpian_zip = ClipMagazine_two("danpian_zip", 80, 80, 10) - self.assign_child_resource(danpian_zip, Coordinate(x=1500, y=200, z=0)) - #2 负极壳 + self.assign_child_resource(danpian_zip, Coordinate(x=2690.0, y=1141.0, z=0)) + + # 负极壳（4个洞位，2x2布局） fujike_zip = ClipMagazine_four("fujike_zip", 80, 80, 10) - self.assign_child_resource(fujike_zip, Coordinate(x=1600, y=200, z=0)) - # 弹片 - tanpian_zip = ClipMagazine_two("tantanpian_zippian", 80, 80, 10) - self.assign_child_resource(tanpian_zip, Coordinate(x=1500, y=300, z=0)) - #3成品弹夹 + self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0)) + + # 弹片（2个洞位，1x2布局） + tanpian_zip = ClipMagazine_two("tanpian_zip", 80, 80, 10) + self.assign_child_resource(tanpian_zip, Coordinate(x=2492.0, y=1139.0, z=0)) + + # 成品弹夹（6个洞位，3x2布局） chengpindanjia_zip = ClipMagazine("chengpindanjia_zip", 80, 80, 10) - self.assign_child_resource(chengpindanjia_zip, Coordinate(x=1500, y=200, z=0)) + self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0)) # 为子弹夹添加极片 for i in range(1): # ClipMagazine_one 有1个洞位 - lvbo = ElectrodeSheet(name=f"lvbo{i}", size_x=12, size_y=12, size_z=0.1) + lvbo = ElectrodeSheet(name=f"lvbo_{i}", size_x=12, size_y=12, size_z=0.1) lvbo_zip.children[i].assign_child_resource(lvbo, location=None) for i in range(4): # ClipMagazine_four 有4个洞位 zhengji = ElectrodeSheet(name=f"zhengji_{i}", size_x=12, size_y=12, size_z=0.1) @@ -1201,22 +1207,24 @@ class CoincellDeck(Deck): # ====================================== 物料板 ============================================ - # 创建6个4*4的物料板（料盘carrier） + # 创建物料板（料盘carrier）- 4x4布局 + # 负极料盘 fujiliaopan = MaterialPlate(name="fujiliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(fujiliaopan, Coordinate(x=1010, y=50, z=0)) - for i in range(8): + self.assign_child_resource(fujiliaopan, Coordinate(x=2107.0, y=304.0, z=0)) + for i in range(16): fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) fujiliaopan.children[i].assign_child_resource(fujipian, location=None) + # 隔膜料盘 gemoliaopan = MaterialPlate(name="gemoliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(gemoliaopan, Coordinate(x=1130, y=50, z=0)) - for i in range(8): + self.assign_child_resource(gemoliaopan, Coordinate(x=2107.0, y=146.0, z=0)) + for i in range(16): gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) gemoliaopan.children[i].assign_child_resource(gemopian, location=None) # ====================================== 瓶架、移液枪 ============================================ # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - # 奔耀上料5ml分液瓶小板 + # 奔耀上料5ml分液瓶小板 - 2x4布局 bottle_rack_2x4 = BottleRack( name="bottle_rack_3x4", size_x=210.0, @@ -1227,8 +1235,9 @@ class CoincellDeck(Deck): position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_2x4, Coordinate(x=100, y=200, z=0)) - # 电解液缓存位6x2 + self.assign_child_resource(bottle_rack_2x4, Coordinate(x=1542.0, y=717.0, z=0)) + + # 电解液缓存位 - 6x2布局 bottle_rack_6x2 = BottleRack( name="bottle_rack_6x2", size_x=120.0, @@ -1239,9 +1248,10 @@ class CoincellDeck(Deck): position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_2x6, Coordinate(x=300, y=300, z=0)) - # 电解液回收位6x2 - bottle_rack_2x6_2 = BottleRack( + self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1659.0, y=869.0, z=0)) + + # 电解液回收位 - 6x2布局 + bottle_rack_6x2_2 = BottleRack( name="bottle_rack_6x2_2", size_x=120.0, size_y=250.0, @@ -1251,22 +1261,22 @@ class CoincellDeck(Deck): position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_2x6_2, Coordinate(x=430, y=300, z=0)) + self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=1765.0, y=869.0, z=0)) # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 for idx in range(bottle_rack_2x4.num_items_x * bottle_rack_2x4.num_items_y): sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) bottle_rack_2x4.assign_child_resource(sheet, index=idx) - for idx in range(bottle_rack_2x6.num_items_x * bottle_rack_2x6.num_items_y): + for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_2x6.assign_child_resource(sheet, index=idx) + bottle_rack_6x2.assign_child_resource(sheet, index=idx) tip_box = TipBox64(name="tip_box_64") - self.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) + self.assign_child_resource(tip_box, Coordinate(x=1938.0, y=743.0, z=0)) waste_tip_box = WasteTipBox(name="waste_tip_box") - self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + self.assign_child_resource(waste_tip_box, Coordinate(x=1960.0, y=639.0, z=0)) From 765038a136672514adff04be89e2b07ba71a08ba Mon Sep 17 00:00:00 2001 From: calvincao Date: Tue, 4 Nov 2025 02:18:44 +0800 Subject: [PATCH 056/104] Revert "Update YB_YH_materials.py" This reverts commit bfd415279b09038790507b85834d0f1e001405f1. --- .../coin_cell_assembly/YB_YH_materials.py | 294 ++++++------------ .../coin_cell_assembly/coin_cell_assembly.py | 2 +- 2 files changed, 93 insertions(+), 203 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 3860135..a2dff68 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -755,7 +755,7 @@ class BottleRack(Resource): size_z: float, category: str = "bottle_rack", model: Optional[str] = None, - num_items_x: int = 2, + num_items_x: int = 3, num_items_y: int = 4, position_spacing: float = 35.0, orientation: str = "horizontal", @@ -971,7 +971,6 @@ class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): self.hole_diameter = hole_diameter self.hole_depth = hole_depth self.max_sheets_per_hole = max_sheets_per_hole - def serialize(self) -> dict: return { @@ -981,141 +980,6 @@ class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): "max_sheets_per_hole": self.max_sheets_per_hole, } -class ClipMagazine_two(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有2个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=1, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -class ClipMagazine_one(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有1个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=1, - num_items_y=1, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } - class CoincellDeck(Deck): """纽扣电池组装工作站台面类""" @@ -1154,81 +1018,89 @@ class CoincellDeck(Deck): def setup(self) -> None: """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" # ====================================== 子弹夹 ============================================ - # 铝箔（1） - lvbo_zip = ClipMagazine_one("lvbo_zip", 80, 80, 10) - self.assign_child_resource(lvbo_zip, Coordinate(x=1400, y=50, z=0)) - #正极（234） - zhengji_zip = ClipMagazine_four("zhengji_zip", 80, 80, 10) - self.assign_child_resource(zhengji_zip, Coordinate(x=1400, y=50, z=0)) - #2 正极壳 - zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) - self.assign_child_resource(zhengjike_zip, Coordinate(x=1600, y=200, z=0)) - # 垫片 - danpian_zip = ClipMagazine_two("danpian_zip", 80, 80, 10) - self.assign_child_resource(danpian_zip, Coordinate(x=1500, y=200, z=0)) - #2 负极壳 - fujike_zip = ClipMagazine_four("fujike_zip", 80, 80, 10) - self.assign_child_resource(fujike_zip, Coordinate(x=1600, y=200, z=0)) - # 弹片 - tanpian_zip = ClipMagazine_two("tantanpian_zippian", 80, 80, 10) - self.assign_child_resource(tanpian_zip, Coordinate(x=1500, y=300, z=0)) - #3成品弹夹 - chengpindanjia_zip = ClipMagazine("chengpindanjia_zip", 80, 80, 10) - self.assign_child_resource(chengpindanjia_zip, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) + self.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) + zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) + self.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) + zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) + self.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) + zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) + self.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) + zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) + self.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) + zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) + self.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) + zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) + self.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) + zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) + self.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) # 为子弹夹添加极片 - for i in range(1): # ClipMagazine_one 有1个洞位 - lvbo = ElectrodeSheet(name=f"lvbo{i}", size_x=12, size_y=12, size_z=0.1) - lvbo_zip.children[i].assign_child_resource(lvbo, location=None) - for i in range(4): # ClipMagazine_four 有4个洞位 - zhengji = ElectrodeSheet(name=f"zhengji_{i}", size_x=12, size_y=12, size_z=0.1) - zhengji_zip.children[i].assign_child_resource(zhengji, location=None) - for i in range(4): # ClipMagazine_four 有4个洞位 - zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1) - zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) - for i in range(2): # ClipMagazine_two 有2个洞位 - danpian = ElectrodeSheet(name=f"danpian_{i}", size_x=12, size_y=12, size_z=0.1) - danpian_zip.children[i].assign_child_resource(danpian, location=None) - for i in range(4): # ClipMagazine_four 有4个洞位 - fujike = ElectrodeSheet(name=f"fujike_{i}", size_x=12, size_y=12, size_z=0.1) - fujike_zip.children[i].assign_child_resource(fujike, location=None) - for i in range(2): # ClipMagazine_two 有2个洞位 - tanpian = ElectrodeSheet(name=f"tanpian_{i}", size_x=12, size_y=12, size_z=0.1) - tanpian_zip.children[i].assign_child_resource(tanpian, location=None) - for i in range(6): # ClipMagazine 有6个洞位 - chengpindanjia = ElectrodeSheet(name=f"chengpindanjia_{i}", size_x=12, size_y=12, size_z=0.1) - chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None) - + for i in range(4): + jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) + for i in range(4): + jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) + for i in range(6): + jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) + for i in range(6): + jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) + for i in range(6): + jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) + for i in range(6): + jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) + for i in range(6): + jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) + for i in range(6): + jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) # ====================================== 物料板 ============================================ - # 创建6个4*4的物料板（料盘carrier） - fujiliaopan = MaterialPlate(name="fujiliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(fujiliaopan, Coordinate(x=1010, y=50, z=0)) - for i in range(8): - fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - fujiliaopan.children[i].assign_child_resource(fujipian, location=None) + # 创建6个4*4的物料板 + liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) + for i in range(16): + jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan1.children[i].assign_child_resource(jipian_1, location=None) - gemoliaopan = MaterialPlate(name="gemoliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(gemoliaopan, Coordinate(x=1130, y=50, z=0)) - for i in range(8): - gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - gemoliaopan.children[i].assign_child_resource(gemopian, location=None) + liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) + liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) + + liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) + for i in range(16): + jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + liaopan4.children[i].assign_child_resource(jipian_4, location=None) + + liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) + + liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) + # ====================================== 瓶架、移液枪 ============================================ # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - # 奔耀上料5ml分液瓶小板 - bottle_rack_2x4 = BottleRack( + bottle_rack_3x4 = BottleRack( name="bottle_rack_3x4", size_x=210.0, size_y=140.0, size_z=100.0, - num_items_x=2, + num_items_x=3, num_items_y=4, position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_2x4, Coordinate(x=100, y=200, z=0)) - # 电解液缓存位6x2 + self.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) + bottle_rack_6x2 = BottleRack( name="bottle_rack_6x2", size_x=120.0, @@ -1240,8 +1112,8 @@ class CoincellDeck(Deck): orientation="vertical", ) self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - # 电解液回收位6x2 - bottle_rack_2x6_2 = BottleRack( + + bottle_rack_6x2_2 = BottleRack( name="bottle_rack_6x2_2", size_x=120.0, size_y=250.0, @@ -1251,12 +1123,12 @@ class CoincellDeck(Deck): position_spacing=35.0, orientation="vertical", ) - self.assign_child_resource(bottle_rack_2x6_2, Coordinate(x=430, y=300, z=0)) + self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_2x4.num_items_x * bottle_rack_2x4.num_items_y): + for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_2x4.assign_child_resource(sheet, index=idx) + bottle_rack_3x4.assign_child_resource(sheet, index=idx) for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) @@ -1267,9 +1139,27 @@ class CoincellDeck(Deck): waste_tip_box = WasteTipBox(name="waste_tip_box") self.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) + + print(self) +def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck: + """创建并配置标准的纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + + Returns: + 已配置好的 CoincellDeck 对象 + """ + # 创建 CoincellDeck 实例并自动执行 setup 配置 + deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z, setup=True) + return deck + if __name__ == "__main__": - deck = CoincellDeck(setup=True) + deck = create_coin_cell_deck() print(deck) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 65d18ba..752b3d5 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -138,7 +138,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # 如果没有传入 deck，则创建标准配置的 deck if self.deck is None: - self.deck = CoincellDeck(size_x=3650, size_y=1550, size_z=2100, origin=Coordinate(-2000, 100, 0),setup=True) + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-100, -100, 0),setup=True) else: # 如果传入了 deck 但还没有 setup，可以选择是否 setup if self.deck is not None and len(self.deck.children) == 0: From d4e1286df7fc385ee740b5639a251d39a60e97a6 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Tue, 4 Nov 2025 03:42:00 +0800 Subject: [PATCH 057/104] 1104_byxinyu --- .../workstation/coin_cell_assembly/coin_cell_assembly.py | 2 +- unilabos/registry/devices/coin_cell_workstation.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 752b3d5..7657063 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -138,7 +138,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # 如果没有传入 deck，则创建标准配置的 deck if self.deck is None: - self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-100, -100, 0),setup=True) + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, origin=Coordinate(-800, 0, 0),setup=True) else: # 如果传入了 deck 但还没有 setup，可以选择是否 setup if self.deck is not None and len(self.deck.children) == 0: diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index 06caa0f..be2bcaa 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -502,7 +502,7 @@ coincellassemblyworkstation_device: config_info: [] description: '' handles: [] - icon: '' + icon: coin_cell_assembly_picture.webp init_param_schema: config: properties: From 3c583008aa6684a58bb54729d44a0b724ec5b518 Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Tue, 4 Nov 2025 20:19:27 +0800 Subject: [PATCH 058/104] YB4branc_bylixinyu --- new_cellconfig3c.json | 39 ++++++++++++-- .../coin_cell_assembly/coin_cell_assembly.py | 54 +++++-------------- unilabos/registry/resources/bioyond/deck.yaml | 15 ++++++ 3 files changed, 63 insertions(+), 45 deletions(-) diff --git a/new_cellconfig3c.json b/new_cellconfig3c.json index 446d235..2a5d6eb 100644 --- a/new_cellconfig3c.json +++ b/new_cellconfig3c.json @@ -47,21 +47,50 @@ { "id": "BatteryStation", "name": "扣电工作站", + "parent": null, "children": [ "coin_cell_deck" ], - "parent": null, "type": "device", - "class": "coincellassemblyworkstation_device", + "class":"coincellassemblyworkstation_device", "position": { - "x": 600, - "y": 400, + "x": -600, + "y": -400, "z": 0 }, "config": { - "debug_mode": false, + "deck": { + "data": { + "_resource_child_name": "YB_YH_Deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck" + } + }, "protocol_type": [] } + }, + { + "id": "YB_YH_Deck", + "name": "YB_YH_Deck", + "children": [], + "parent": "BatteryStation", + "type": "deck", + "class": "CoincellDeck", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "setup": true, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + } + }, + "data": {} } ], "links": [] diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 65d18ba..21682a9 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -109,44 +109,23 @@ def _coerce_deck_input(deck: Any) -> Optional[Deck]: #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - deck: Deck=None, - address: str = "172.21.33.176", - port: str = "502", - debug_mode: bool = False, + def __init__(self, + config: dict = None, + deck=None, + address: str = "172.21.33.176", + port: str = "502", + debug_mode: bool = False, *args, - **kwargs, - ): - if deck is None and "deck" in kwargs: - deck = kwargs.pop("deck") - else: - kwargs.pop("deck", None) + **kwargs): - normalized_deck = _coerce_deck_input(deck) - - if deck is None and isinstance(normalized_deck, Deck): - deck = normalized_deck - - super().__init__( - #桌子 - deck=deck, - *args, - **kwargs, - ) + if deck is None and config: + deck = config.get('deck') + else : + logger.info("没有传入依华deck，检查启动json文件") + super().__init__(deck=deck, *args, **kwargs,) self.debug_mode = debug_mode - # 如果没有传入 deck，则创建标准配置的 deck - if self.deck is None: - self.deck = CoincellDeck(size_x=3650, size_y=1550, size_z=2100, origin=Coordinate(-2000, 100, 0),setup=True) - else: - # 如果传入了 deck 但还没有 setup，可以选择是否 setup - if self.deck is not None and len(self.deck.children) == 0: - # deck 为空，执行 setup - self.deck.setup() - # 否则使用传入的 deck（可能已经配置好了） - self.deck = self.deck - + """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) logger.debug(f"创建 Modbus 客户端: {modbus_client}") @@ -173,12 +152,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.csv_export_running = False self.csv_export_file = None self.coin_num_N = 0 #已组装电池数量 - #创建一个物料台面，包含两个极片板 - #self._ros_node.update_resource(self.deck) - - #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - #}) + def post_init(self, ros_node: ROS2WorkstationNode): diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index 664bab3..d28218b 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -34,3 +34,18 @@ BIOYOND_YB_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 +CoincellDeck: + category: + - deck + class: + module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck + type: pylabrobot + description: CoincellDeck + handles: [] + icon: yihua.webp + init_param_schema: {} + registry_type: resource + version: 1.0.0 + + + From 966b51042dd443a811b28e3329cf9420c60c551e Mon Sep 17 00:00:00 2001 From: Junhan Chang Date: Thu, 6 Nov 2025 00:59:46 +0800 Subject: [PATCH 059/104] =?UTF-8?q?rename=20and=20fix=20all=20Yihua=20Mate?= =?UTF-8?q?rials:=20ClipMagazineHole=E2=86=92Magazine(ResourceStack),=20an?= =?UTF-8?q?d=20use=20factory=20functions?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bioyond_yihua_YB.json | 104 +-- new_cellconfig.json | 54 ++ .../bioyond_cell/bioyond_cell_workstation.py | 10 +- .../bioyond_cell/bioyond_yihua_YB.json | 104 +-- .../coin_cell_assembly/YB_YH_materials.py | 736 +++--------------- .../coin_cell_assembly/coin_cell_assembly.py | 17 +- .../workstation_material_management.py | 583 -------------- unilabos/registry/resources/bioyond/deck.yaml | 3 - unilabos/resources/battery/bottle_carriers.py | 56 ++ unilabos/resources/battery/magazine.py | 284 +++++++ unilabos/resources/itemized_carrier.py | 2 +- 11 files changed, 602 insertions(+), 1351 deletions(-) create mode 100644 new_cellconfig.json delete mode 100644 unilabos/devices/workstation/workstation_material_management.py create mode 100644 unilabos/resources/battery/bottle_carriers.py create mode 100644 unilabos/resources/battery/magazine.py diff --git a/bioyond_yihua_YB.json b/bioyond_yihua_YB.json index c38179d..668ad6a 100644 --- a/bioyond_yihua_YB.json +++ b/bioyond_yihua_YB.json @@ -99,7 +99,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine_four", + "type": "MagazineHolder_4", "size_x": 80, "size_y": 80, "size_z": 10, @@ -140,7 +140,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -235,7 +235,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -330,7 +330,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -425,7 +425,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -523,7 +523,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine_four", + "type": "MagazineHolder_4", "size_x": 80, "size_y": 80, "size_z": 10, @@ -564,7 +564,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -659,7 +659,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -754,7 +754,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -849,7 +849,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -949,7 +949,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -992,7 +992,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1087,7 +1087,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1182,7 +1182,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1277,7 +1277,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1372,7 +1372,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1467,7 +1467,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1567,7 +1567,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -1610,7 +1610,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1705,7 +1705,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1800,7 +1800,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1895,7 +1895,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1990,7 +1990,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2085,7 +2085,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2185,7 +2185,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -2228,7 +2228,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2323,7 +2323,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2418,7 +2418,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2513,7 +2513,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2608,7 +2608,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2703,7 +2703,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2803,7 +2803,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -2846,7 +2846,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2941,7 +2941,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3036,7 +3036,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3131,7 +3131,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3226,7 +3226,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3321,7 +3321,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3421,7 +3421,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -3464,7 +3464,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3559,7 +3559,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3654,7 +3654,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3749,7 +3749,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3844,7 +3844,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3939,7 +3939,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4039,7 +4039,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -4082,7 +4082,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4177,7 +4177,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4272,7 +4272,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4367,7 +4367,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4462,7 +4462,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4557,7 +4557,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, diff --git a/new_cellconfig.json b/new_cellconfig.json new file mode 100644 index 0000000..d06fd0e --- /dev/null +++ b/new_cellconfig.json @@ -0,0 +1,54 @@ +{ + "nodes": [ + { + "id": "BatteryStation", + "name": "扣电工作站", + "parent": null, + "children": [ + "coin_cell_deck" + ], + "type": "device", + "class":"coincellassemblyworkstation_device", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "deck": { + "data": { + "_resource_child_name": "YB_YH_Deck", + "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck" + } + }, + "debug_mode": true, + "protocol_type": [] + } + }, + { + "id": "YB_YH_Deck", + "name": "YB_YH_Deck", + "children": [], + "parent": "BatteryStation", + "type": "deck", + "class": "CoincellDeck", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "CoincellDeck", + "setup": true, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + } + }, + "data": {} + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index ee82579..a672230 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -16,6 +16,7 @@ from unilabos.devices.workstation.bioyond_studio.config import ( API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS ) from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck from unilabos.utils.log import logger from unilabos.registry.registry import lab_registry @@ -1074,17 +1075,12 @@ class BioyondCellWorkstation(BioyondWorkstation): if __name__ == "__main__": lab_registry.setup() - ws = BioyondCellWorkstation() + deck = BIOYOND_YB_Deck(setup=True) + ws = BioyondCellWorkstation(deck=deck) # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") # logger.info(ws.scheduler_stop()) # logger.info(ws.scheduler_start()) - # results = ws.create_materials(SOLID_LIQUID_MAPPINGS) - # for r in results: - # logger.info(r) - # 从CSV文件读取物料列表并批量创建入库 - # result = ws.create_and_inbound_materials() - # 继续后续流程 # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 # # # 使用正斜杠或 Path 对象来指定文件路径 diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json index 3d1b98a..3119d0b 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json @@ -113,7 +113,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine_four", + "type": "MagazineHolder_4", "size_x": 80, "size_y": 80, "size_z": 10, @@ -154,7 +154,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -249,7 +249,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -344,7 +344,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -439,7 +439,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -537,7 +537,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine_four", + "type": "MagazineHolder_4", "size_x": 80, "size_y": 80, "size_z": 10, @@ -578,7 +578,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -673,7 +673,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -768,7 +768,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -863,7 +863,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -963,7 +963,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -1006,7 +1006,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1101,7 +1101,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1196,7 +1196,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1291,7 +1291,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1386,7 +1386,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1481,7 +1481,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1581,7 +1581,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -1624,7 +1624,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1719,7 +1719,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1814,7 +1814,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -1909,7 +1909,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2004,7 +2004,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2099,7 +2099,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2199,7 +2199,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -2242,7 +2242,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2337,7 +2337,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2432,7 +2432,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2527,7 +2527,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2622,7 +2622,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2717,7 +2717,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2817,7 +2817,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -2860,7 +2860,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -2955,7 +2955,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3050,7 +3050,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3145,7 +3145,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3240,7 +3240,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3335,7 +3335,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3435,7 +3435,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -3478,7 +3478,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3573,7 +3573,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3668,7 +3668,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3763,7 +3763,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3858,7 +3858,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -3953,7 +3953,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4053,7 +4053,7 @@ "z": 0 }, "config": { - "type": "ClipMagazine", + "type": "MagazineHolder_6", "size_x": 80, "size_y": 80, "size_z": 10, @@ -4096,7 +4096,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4191,7 +4191,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4286,7 +4286,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4381,7 +4381,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4476,7 +4476,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, @@ -4571,7 +4571,7 @@ "z": 10 }, "config": { - "type": "ClipMagazineHole", + "type": "Magazine", "size_x": 14.0, "size_y": 14.0, "size_z": 10.0, diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 156ab6f..8bb0a8d 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -18,6 +18,9 @@ from pylabrobot.resources.tip_rack import TipRack, TipSpot from pylabrobot.resources.trash import Trash from pylabrobot.resources.utils import create_ordered_items_2d +from unilabos.resources.battery.magazine import MagazineHolder_1, MagazineHolder_2, MagazineHolder_4, MagazineHolder_6 +from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier + class ElectrodeSheetState(TypedDict): diameter: float # 直径 (mm) @@ -165,7 +168,6 @@ class MaterialHole(Resource): return self.children[index] - class MaterialPlateState(TypedDict): hole_spacing_x: float hole_spacing_y: float @@ -327,132 +329,6 @@ class PlateSlot(ResourceStack): } -class ClipMagazineHole(Container): - """子弹夹洞位类""" - - def __init__( - self, - name: str, - diameter: float, - depth: float, - max_sheets: int = 100, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - max_sheets: 最大极片数量 - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - self.max_sheets = max_sheets - self._sheets: List[ElectrodeSheet] = [] - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片""" - return (len(self._sheets) < self.max_sheets and - sheet.diameter <= self.diameter) - - def add_sheet(self, sheet: ElectrodeSheet) -> None: - """添加极片""" - if not self.can_add_sheet(sheet): - raise ValueError(f"无法向洞位 {self.name} 添加极片") - self._sheets.append(sheet) - - def take_sheet(self) -> ElectrodeSheet: - """取出极片""" - if len(self._sheets) == 0: - raise ValueError(f"洞位 {self.name} 没有极片") - return self._sheets.pop() - - def get_sheet_count(self) -> int: - """获取极片数量""" - return len(self._sheets) - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self._sheets), - "sheets": [sheet.serialize() for sheet in self._sheets], - } - -# TODO: 这个要改 -class ClipMagazine(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } #是一种类型注解，不用self class BatteryState(TypedDict): """电池状态字典""" @@ -595,76 +471,54 @@ class BatteryPressSlot(Resource): def get_battery_info(self, index: int) -> Battery: return self.children[0] -# TODO:这个移液枪架子看一下从哪继承 -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, +def TipBox64( name: str, size_x: float = 127.8, size_y: float = 85.5, size_z: float = 60.0, category: str = "tip_box_64", model: Optional[str] = None, - ): - """初始化64孔枪头盒 +): + """64孔枪头盒类""" + from pylabrobot.resources.tip import Tip - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, ) + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=12, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + idx_available = list(range(0, 32)) + list(range(64, 96)) + tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available} + return TipRack( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots_available, + category=category, + model=model, + with_tips=True, + ) + class WasteTipBoxstate(TypedDict): @@ -682,8 +536,12 @@ class WasteTipBox(Trash): size_x: float = 127.8, size_y: float = 85.5, size_z: float = 60.0, - category: str = "waste_tip_box", - model: Optional[str] = None, + material_z_thickness=0, + max_volume=float("inf"), + category="trash", + model=None, + compute_volume_from_height=None, + compute_height_from_volume=None, ): """初始化废枪头盒 @@ -733,389 +591,6 @@ class WasteTipBox(Trash): return data -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - name_to_index: dict - - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Resource] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - num_items_x: int = 2, - num_items_y: int = 4, - position_spacing: float = 35.0, - orientation: str = "horizontal", - padding_x: float = 20.0, - padding_y: float = 20.0, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # 初始化状态 - self._unilabos_state: BottleRackState = BottleRackState( - bottle_diameter=30.0, - bottle_height=100.0, - position_spacing=position_spacing, - name_to_index={}, - ) - # 基于网格生成瓶位坐标映射（居中摆放） - # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） - origin_x = padding_x - origin_y = padding_y - self.index_to_pos = {} - for j in range(num_items_y): - for i in range(num_items_x): - idx = j * num_items_x + i - if orientation == "vertical": - # 纵向：沿 y 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + j * position_spacing, - y=origin_y + i * position_spacing, - z=0, - ) - else: - # 横向（默认）：沿 x 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + i * position_spacing, - y=origin_y + j * position_spacing, - z=0, - ) - self.name_to_index = {} - self.name_to_pos = {} - self.num_items_x = num_items_x - self.num_items_y = num_items_y - self.orientation = orientation - self.padding_x = padding_x - self.padding_y = padding_y - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update( - self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): - capacity = self.num_items_x * self.num_items_y - assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = self.index_to_pos.get(index, Coordinate.zero()) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource(self, resource: Resource, index: int): - capacity = self.num_items_x * self.num_items_y - assert 0 <= index < capacity, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - def serialize(self) -> dict: - return { - **super().serialize(), - "num_items_x": self.num_items_x, - "num_items_y": self.num_items_y, - "position_spacing": self._unilabos_state.get("position_spacing", 35.0), - "orientation": self.orientation, - "padding_x": self.padding_x, - "padding_y": self.padding_y, - } - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有4个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=2, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } - -class ClipMagazine_two(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有2个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=1, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -class ClipMagazine_one(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有1个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=1, - num_items_y=1, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } - class CoincellDeck(Deck): """纽扣电池组装工作站台面类""" @@ -1155,122 +630,96 @@ class CoincellDeck(Deck): """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" # ====================================== 子弹夹 ============================================ # 铝箔（1个洞位） - lvbo_zip = ClipMagazine_one("lvbo_zip", 80, 80, 10) + lvbo_zip = MagazineHolder_1("铝箔弹夹", 80, 80, 10) self.assign_child_resource(lvbo_zip, Coordinate(x=2737.0, y=301.0, z=0)) # 正极片（4个洞位，2x2布局） - zhengji_zip = ClipMagazine_four("zhengji_zip", 80, 80, 10) + zhengji_zip = MagazineHolder_4("正极弹夹", 80, 80, 10) self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0)) # 正极壳（4个洞位，2x2布局） - zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10) + zhengjike_zip = MagazineHolder_4("正极壳弹夹", 80, 80, 10) self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0)) # 垫片（2个洞位，1x2布局） - danpian_zip = ClipMagazine_two("danpian_zip", 80, 80, 10) + danpian_zip = MagazineHolder_2("垫片弹夹", 80, 80, 10) self.assign_child_resource(danpian_zip, Coordinate(x=2690.0, y=1141.0, z=0)) # 负极壳（4个洞位，2x2布局） - fujike_zip = ClipMagazine_four("fujike_zip", 80, 80, 10) + fujike_zip = MagazineHolder_4("负极壳弹夹", 80, 80, 10) self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0)) # 弹片（2个洞位，1x2布局） - tanpian_zip = ClipMagazine_two("tanpian_zip", 80, 80, 10) + tanpian_zip = MagazineHolder_2("弹片弹夹", 80, 80, 10) self.assign_child_resource(tanpian_zip, Coordinate(x=2492.0, y=1139.0, z=0)) # 成品弹夹（6个洞位，3x2布局） - chengpindanjia_zip = ClipMagazine("chengpindanjia_zip", 80, 80, 10) + chengpindanjia_zip = MagazineHolder_6("成品弹夹", 80, 80, 10) self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0)) # 为子弹夹添加极片 - for i in range(1): # ClipMagazine_one 有1个洞位 - lvbo = ElectrodeSheet(name=f"lvbo_{i}", size_x=12, size_y=12, size_z=0.1) + for i in range(1): # MagazineHolder_1 有1个洞位 + lvbo = ElectrodeSheet(name=f"铝箔_{i}", size_x=12, size_y=12, size_z=0.1) lvbo_zip.children[i].assign_child_resource(lvbo, location=None) - for i in range(4): # ClipMagazine_four 有4个洞位 - zhengji = ElectrodeSheet(name=f"zhengji_{i}", size_x=12, size_y=12, size_z=0.1) + for i in range(4): # MagazineHolder_4 有4个洞位 + zhengji = ElectrodeSheet(name=f"正极_{i}", size_x=12, size_y=12, size_z=0.1) zhengji_zip.children[i].assign_child_resource(zhengji, location=None) - for i in range(4): # ClipMagazine_four 有4个洞位 - zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1) + for i in range(4): # MagazineHolder_4 有4个洞位 + zhengjike = ElectrodeSheet(name=f"正极壳_{i}", size_x=12, size_y=12, size_z=0.1) zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) - for i in range(2): # ClipMagazine_two 有2个洞位 - danpian = ElectrodeSheet(name=f"danpian_{i}", size_x=12, size_y=12, size_z=0.1) + for i in range(2): # MagazineHolder_2 有2个洞位 + danpian = ElectrodeSheet(name=f"垫片_{i}", size_x=12, size_y=12, size_z=0.1) danpian_zip.children[i].assign_child_resource(danpian, location=None) - for i in range(4): # ClipMagazine_four 有4个洞位 - fujike = ElectrodeSheet(name=f"fujike_{i}", size_x=12, size_y=12, size_z=0.1) + for i in range(4): # MagazineHolder_4 有4个洞位 + fujike = ElectrodeSheet(name=f"负极壳_{i}", size_x=12, size_y=12, size_z=0.1) fujike_zip.children[i].assign_child_resource(fujike, location=None) - for i in range(2): # ClipMagazine_two 有2个洞位 - tanpian = ElectrodeSheet(name=f"tanpian_{i}", size_x=12, size_y=12, size_z=0.1) + for i in range(2): # MagazineHolder_2 有2个洞位 + tanpian = ElectrodeSheet(name=f"弹片_{i}", size_x=12, size_y=12, size_z=0.1) tanpian_zip.children[i].assign_child_resource(tanpian, location=None) - for i in range(6): # ClipMagazine 有6个洞位 - chengpindanjia = ElectrodeSheet(name=f"chengpindanjia_{i}", size_x=12, size_y=12, size_z=0.1) - chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None) + # for i in range(6): # MagazineHolder_6 有6个洞位 + # chengpindanjia = ElectrodeSheet(name=f"成品弹夹_{i}", size_x=12, size_y=12, size_z=0.1) + # chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None) # ====================================== 物料板 ============================================ # 创建物料板（料盘carrier）- 4x4布局 # 负极料盘 - fujiliaopan = MaterialPlate(name="fujiliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) + fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True) self.assign_child_resource(fujiliaopan, Coordinate(x=2107.0, y=304.0, z=0)) - for i in range(16): - fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - fujiliaopan.children[i].assign_child_resource(fujipian, location=None) + # for i in range(16): + # fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + # fujiliaopan.children[i].assign_child_resource(fujipian, location=None) # 隔膜料盘 - gemoliaopan = MaterialPlate(name="gemoliaopan", size_x=120, size_y=100, size_z=10.0, fill=True) + gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True) self.assign_child_resource(gemoliaopan, Coordinate(x=2107.0, y=146.0, z=0)) - for i in range(16): - gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - gemoliaopan.children[i].assign_child_resource(gemopian, location=None) + # for i in range(16): + # gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + # gemoliaopan.children[i].assign_child_resource(gemopian, location=None) # ====================================== 瓶架、移液枪 ============================================ # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - # 奔耀上料5ml分液瓶小板 - 2x4布局 - bottle_rack_2x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=2, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - self.assign_child_resource(bottle_rack_2x4, Coordinate(x=1542.0, y=717.0, z=0)) + # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写 + + # bottle_rack_3x4 = BottleRack( + # name="bottle_rack_3x4", + # size_x=210.0, + # size_y=140.0, + # size_z=100.0, + # num_items_x=2, + # num_items_y=4, + # position_spacing=35.0, + # orientation="vertical", + # ) + # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0)) # 电解液缓存位 - 6x2布局 - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) + bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2") self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) # 电解液回收位6x2 - bottle_rack_2x6_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) + bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2") self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=1765.0, y=869.0, z=0)) - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_2x4.num_items_x * bottle_rack_2x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_2x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - tip_box = TipBox64(name="tip_box_64") self.assign_child_resource(tip_box, Coordinate(x=1938.0, y=743.0, z=0)) @@ -1278,7 +727,6 @@ class CoincellDeck(Deck): self.assign_child_resource(waste_tip_box, Coordinate(x=1960.0, y=639.0, z=0)) - if __name__ == "__main__": deck = CoincellDeck(setup=True) print(deck) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 21682a9..f7f8e33 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -112,19 +112,18 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def __init__(self, config: dict = None, deck=None, - address: str = "172.21.33.176", - port: str = "502", - debug_mode: bool = False, + address: str = "172.21.33.176", + port: str = "502", + debug_mode: bool = False, *args, **kwargs): if deck is None and config: deck = config.get('deck') - else : + if deck is None: logger.info("没有传入依华deck，检查启动json文件") super().__init__(deck=deck, *args, **kwargs,) self.debug_mode = debug_mode - """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) @@ -140,12 +139,14 @@ class CoinCellAssemblyWorkstation(WorkstationBase): time.sleep(2) if not modbus_client.client.is_socket_open(): raise ValueError('modbus tcp connection failed') + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.client = modbus_client.register_node_list(self.nodes) else: print("测试模式，跳过连接") + self.nodes, self.client = None, None """ 工站的配置 """ - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) - self.client = modbus_client.register_node_list(self.nodes) + self.success = False self.allow_data_read = False #允许读取函数运行标志位 self.csv_export_thread = None @@ -153,8 +154,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.csv_export_file = None self.coin_num_N = 0 #已组装电池数量 - - def post_init(self, ros_node: ROS2WorkstationNode): self._ros_node = ros_node #self.deck = create_a_coin_cell_deck() diff --git a/unilabos/devices/workstation/workstation_material_management.py b/unilabos/devices/workstation/workstation_material_management.py deleted file mode 100644 index a922913..0000000 --- a/unilabos/devices/workstation/workstation_material_management.py +++ /dev/null @@ -1,583 +0,0 @@ -""" -工作站物料管理基类 -Workstation Material Management Base Class - -基于PyLabRobot的物料管理系统 -""" -from typing import Dict, Any, List, Optional, Union, Type -from abc import ABC, abstractmethod -import json - -from pylabrobot.resources import ( - Resource as PLRResource, - Container, - Deck, - Coordinate as PLRCoordinate, -) - -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker -from unilabos.utils.log import logger -from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr - - -class MaterialManagementBase(ABC): - """物料管理基类 - - 定义工作站物料管理的标准接口： - 1. 物料初始化 - 根据配置创建物料资源 - 2. 物料追踪 - 实时跟踪物料位置和状态 - 3. 物料查找 - 按类型、位置、状态查找物料 - 4. 物料转换 - PyLabRobot与UniLab资源格式转换 - """ - - def __init__( - self, - device_id: str, - deck_config: Dict[str, Any], - resource_tracker: DeviceNodeResourceTracker, - children_config: Dict[str, Dict[str, Any]] = None - ): - self.device_id = device_id - self.deck_config = deck_config - self.resource_tracker = resource_tracker - self.children_config = children_config or {} - - # 创建主台面 - self.plr_deck = self._create_deck() - - # 扩展ResourceTracker - self._extend_resource_tracker() - - # 注册deck到resource tracker - self.resource_tracker.add_resource(self.plr_deck) - - # 初始化子资源 - self.plr_resources = {} - self._initialize_materials() - - def _create_deck(self) -> Deck: - """创建主台面""" - return Deck( - name=f"{self.device_id}_deck", - size_x=self.deck_config.get("size_x", 1000.0), - size_y=self.deck_config.get("size_y", 1000.0), - size_z=self.deck_config.get("size_z", 500.0), - origin=PLRCoordinate(0, 0, 0) - ) - - def _extend_resource_tracker(self): - """扩展ResourceTracker以支持PyLabRobot特定功能""" - - def find_by_type(resource_type): - """按类型查找资源""" - return self._find_resources_by_type_recursive(self.plr_deck, resource_type) - - def find_by_category(category: str): - """按类别查找资源""" - found = [] - for resource in self._get_all_resources(): - if hasattr(resource, 'category') and resource.category == category: - found.append(resource) - return found - - def find_by_name_pattern(pattern: str): - """按名称模式查找资源""" - import re - found = [] - for resource in self._get_all_resources(): - if re.search(pattern, resource.name): - found.append(resource) - return found - - # 动态添加方法到resource_tracker - self.resource_tracker.find_by_type = find_by_type - self.resource_tracker.find_by_category = find_by_category - self.resource_tracker.find_by_name_pattern = find_by_name_pattern - - def _find_resources_by_type_recursive(self, resource, target_type): - """递归查找指定类型的资源""" - found = [] - if isinstance(resource, target_type): - found.append(resource) - - # 递归查找子资源 - children = getattr(resource, "children", []) - for child in children: - found.extend(self._find_resources_by_type_recursive(child, target_type)) - - return found - - def _get_all_resources(self) -> List[PLRResource]: - """获取所有资源""" - all_resources = [] - - def collect_resources(resource): - all_resources.append(resource) - children = getattr(resource, "children", []) - for child in children: - collect_resources(child) - - collect_resources(self.plr_deck) - return all_resources - - def _initialize_materials(self): - """初始化物料""" - try: - # 确定创建顺序，确保父资源先于子资源创建 - creation_order = self._determine_creation_order() - - # 按顺序创建资源 - for resource_id in creation_order: - config = self.children_config[resource_id] - self._create_plr_resource(resource_id, config) - - logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源") - - except Exception as e: - logger.error(f"物料初始化失败: {e}") - - def _determine_creation_order(self) -> List[str]: - """确定资源创建顺序""" - order = [] - visited = set() - - def visit(resource_id: str): - if resource_id in visited: - return - visited.add(resource_id) - - config = self.children_config.get(resource_id, {}) - parent_id = config.get("parent") - - # 如果有父资源，先访问父资源 - if parent_id and parent_id in self.children_config: - visit(parent_id) - - order.append(resource_id) - - for resource_id in self.children_config: - visit(resource_id) - - return order - - def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]): - """创建PyLabRobot资源""" - try: - resource_type = config.get("type", "unknown") - data = config.get("data", {}) - location_config = config.get("location", {}) - - # 创建位置坐标 - location = PLRCoordinate( - x=location_config.get("x", 0.0), - y=location_config.get("y", 0.0), - z=location_config.get("z", 0.0) - ) - - # 根据类型创建资源 - resource = self._create_resource_by_type(resource_id, resource_type, config, data, location) - - if resource: - # 设置父子关系 - parent_id = config.get("parent") - if parent_id and parent_id in self.plr_resources: - parent_resource = self.plr_resources[parent_id] - parent_resource.assign_child_resource(resource, location) - else: - # 直接放在deck上 - self.plr_deck.assign_child_resource(resource, location) - - # 保存资源引用 - self.plr_resources[resource_id] = resource - - # 注册到resource tracker - self.resource_tracker.add_resource(resource) - - logger.debug(f"创建资源成功: {resource_id} ({resource_type})") - - except Exception as e: - logger.error(f"创建资源失败 {resource_id}: {e}") - - @abstractmethod - def _create_resource_by_type( - self, - resource_id: str, - resource_type: str, - config: Dict[str, Any], - data: Dict[str, Any], - location: PLRCoordinate - ) -> Optional[PLRResource]: - """根据类型创建资源 - 子类必须实现""" - pass - - # ============ 物料查找接口 ============ - - def find_materials_by_type(self, material_type: str) -> List[PLRResource]: - """按材料类型查找物料""" - return self.resource_tracker.find_by_category(material_type) - - def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]: - """按ID查找物料""" - return self.plr_resources.get(resource_id) - - def find_available_positions(self, position_type: str) -> List[PLRResource]: - """查找可用位置""" - positions = self.resource_tracker.find_by_category(position_type) - available = [] - - for pos in positions: - if hasattr(pos, 'is_available') and pos.is_available(): - available.append(pos) - elif hasattr(pos, 'children') and len(pos.children) == 0: - available.append(pos) - - return available - - def get_material_inventory(self) -> Dict[str, int]: - """获取物料库存统计""" - inventory = {} - - for resource in self._get_all_resources(): - if hasattr(resource, 'category'): - category = resource.category - inventory[category] = inventory.get(category, 0) + 1 - - return inventory - - # ============ 物料状态更新接口 ============ - - def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool: - """更新物料位置""" - try: - material = self.find_material_by_id(material_id) - if material: - material.location = new_location - return True - return False - except Exception as e: - logger.error(f"更新物料位置失败: {e}") - return False - - def move_material(self, material_id: str, target_container_id: str) -> bool: - """移动物料到目标容器""" - try: - material = self.find_material_by_id(material_id) - target = self.find_material_by_id(target_container_id) - - if material and target: - # 从原位置移除 - if material.parent: - material.parent.unassign_child_resource(material) - - # 添加到新位置 - target.assign_child_resource(material) - return True - - return False - - except Exception as e: - logger.error(f"移动物料失败: {e}") - return False - - # ============ 资源转换接口 ============ - - def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]: - """将PyLabRobot资源转换为UniLab格式""" - return resource_plr_to_ulab(plr_resource) - - def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource: - """将UniLab格式转换为PyLabRobot资源""" - return resource_ulab_to_plr(unilab_resource) - - def get_deck_state(self) -> Dict[str, Any]: - """获取Deck状态""" - try: - return { - "deck_info": { - "name": self.plr_deck.name, - "size": { - "x": self.plr_deck.size_x, - "y": self.plr_deck.size_y, - "z": self.plr_deck.size_z - }, - "children_count": len(self.plr_deck.children) - }, - "resources": { - resource_id: self.convert_to_unilab_format(resource) - for resource_id, resource in self.plr_resources.items() - }, - "inventory": self.get_material_inventory() - } - except Exception as e: - logger.error(f"获取Deck状态失败: {e}") - return {"error": str(e)} - - # ============ 数据持久化接口 ============ - - def save_state_to_file(self, file_path: str) -> bool: - """保存状态到文件""" - try: - state = self.get_deck_state() - with open(file_path, 'w', encoding='utf-8') as f: - json.dump(state, f, indent=2, ensure_ascii=False) - logger.info(f"状态已保存到: {file_path}") - return True - except Exception as e: - logger.error(f"保存状态失败: {e}") - return False - - def load_state_from_file(self, file_path: str) -> bool: - """从文件加载状态""" - try: - with open(file_path, 'r', encoding='utf-8') as f: - state = json.load(f) - - # 重新创建资源 - self._recreate_resources_from_state(state) - logger.info(f"状态已从文件加载: {file_path}") - return True - - except Exception as e: - logger.error(f"加载状态失败: {e}") - return False - - def _recreate_resources_from_state(self, state: Dict[str, Any]): - """从状态重新创建资源""" - # 清除现有资源 - self.plr_resources.clear() - self.plr_deck.children.clear() - - # 从状态重新创建 - resources_data = state.get("resources", {}) - for resource_id, resource_data in resources_data.items(): - try: - plr_resource = self.convert_from_unilab_format(resource_data) - self.plr_resources[resource_id] = plr_resource - self.plr_deck.assign_child_resource(plr_resource) - except Exception as e: - logger.error(f"重新创建资源失败 {resource_id}: {e}") - - -class CoinCellMaterialManagement(MaterialManagementBase): - """纽扣电池物料管理类 - - 从 button_battery_station 抽取的物料管理功能 - """ - - def _create_resource_by_type( - self, - resource_id: str, - resource_type: str, - config: Dict[str, Any], - data: Dict[str, Any], - location: PLRCoordinate - ) -> Optional[PLRResource]: - """根据类型创建纽扣电池相关资源""" - - # 导入纽扣电池资源类 - from unilabos.device_comms.button_battery_station import ( - MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot, - TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet - ) - - try: - if resource_type == "material_plate": - return self._create_material_plate(resource_id, config, data, location) - - elif resource_type == "plate_slot": - return self._create_plate_slot(resource_id, config, data, location) - - elif resource_type == "clip_magazine": - return self._create_clip_magazine(resource_id, config, data, location) - - elif resource_type == "battery_press_slot": - return self._create_battery_press_slot(resource_id, config, data, location) - - elif resource_type == "tip_box": - return self._create_tip_box(resource_id, config, data, location) - - elif resource_type == "waste_tip_box": - return self._create_waste_tip_box(resource_id, config, data, location) - - elif resource_type == "bottle_rack": - return self._create_bottle_rack(resource_id, config, data, location) - - elif resource_type == "battery": - return self._create_battery(resource_id, config, data, location) - - else: - logger.warning(f"未知的资源类型: {resource_type}") - return None - - except Exception as e: - logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}") - return None - - def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建料板""" - from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet - - plate = MaterialPlate( - name=resource_id, - size_x=config.get("size_x", 80.0), - size_y=config.get("size_y", 80.0), - size_z=config.get("size_z", 10.0), - hole_diameter=config.get("hole_diameter", 15.0), - hole_depth=config.get("hole_depth", 8.0), - hole_spacing_x=config.get("hole_spacing_x", 20.0), - hole_spacing_y=config.get("hole_spacing_y", 20.0), - number=data.get("number", "") - ) - plate.location = location - - # 如果有预填充的极片数据，创建极片 - electrode_sheets = data.get("electrode_sheets", []) - for i, sheet_data in enumerate(electrode_sheets): - if i < len(plate.children): # 确保不超过洞位数量 - hole = plate.children[i] - sheet = ElectrodeSheet( - name=f"{resource_id}_sheet_{i}", - diameter=sheet_data.get("diameter", 14.0), - thickness=sheet_data.get("thickness", 0.1), - mass=sheet_data.get("mass", 0.01), - material_type=sheet_data.get("material_type", "cathode"), - info=sheet_data.get("info", "") - ) - hole.place_electrode_sheet(sheet) - - return plate - - def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建板槽位""" - from unilabos.device_comms.button_battery_station import PlateSlot - - slot = PlateSlot( - name=resource_id, - max_plates=config.get("max_plates", 8) - ) - slot.location = location - return slot - - def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建子弹夹""" - from unilabos.device_comms.button_battery_station import ClipMagazine - - magazine = ClipMagazine( - name=resource_id, - size_x=config.get("size_x", 150.0), - size_y=config.get("size_y", 100.0), - size_z=config.get("size_z", 50.0), - hole_diameter=config.get("hole_diameter", 15.0), - hole_depth=config.get("hole_depth", 40.0), - hole_spacing=config.get("hole_spacing", 25.0), - max_sheets_per_hole=config.get("max_sheets_per_hole", 100) - ) - magazine.location = location - return magazine - - def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建电池压制槽""" - from unilabos.device_comms.button_battery_station import BatteryPressSlot - - slot = BatteryPressSlot( - name=resource_id, - diameter=config.get("diameter", 20.0), - depth=config.get("depth", 15.0) - ) - slot.location = location - return slot - - def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建枪头盒""" - from unilabos.device_comms.button_battery_station import TipBox64 - - tip_box = TipBox64( - name=resource_id, - size_x=config.get("size_x", 127.8), - size_y=config.get("size_y", 85.5), - size_z=config.get("size_z", 60.0), - with_tips=data.get("with_tips", True) - ) - tip_box.location = location - return tip_box - - def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建废枪头盒""" - from unilabos.device_comms.button_battery_station import WasteTipBox - - waste_box = WasteTipBox( - name=resource_id, - size_x=config.get("size_x", 127.8), - size_y=config.get("size_y", 85.5), - size_z=config.get("size_z", 60.0), - max_tips=config.get("max_tips", 100) - ) - waste_box.location = location - return waste_box - - def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建瓶架""" - from unilabos.device_comms.button_battery_station import BottleRack - - rack = BottleRack( - name=resource_id, - size_x=config.get("size_x", 210.0), - size_y=config.get("size_y", 140.0), - size_z=config.get("size_z", 100.0), - bottle_diameter=config.get("bottle_diameter", 30.0), - bottle_height=config.get("bottle_height", 100.0), - position_spacing=config.get("position_spacing", 35.0) - ) - rack.location = location - return rack - - def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate): - """创建电池""" - from unilabos.device_comms.button_battery_station import Battery - - battery = Battery( - name=resource_id, - diameter=config.get("diameter", 20.0), - height=config.get("height", 3.2), - max_volume=config.get("max_volume", 100.0), - barcode=data.get("barcode", "") - ) - battery.location = location - return battery - - # ============ 纽扣电池特定查找方法 ============ - - def find_material_plates(self): - """查找所有料板""" - from unilabos.device_comms.button_battery_station import MaterialPlate - return self.resource_tracker.find_by_type(MaterialPlate) - - def find_batteries(self): - """查找所有电池""" - from unilabos.device_comms.button_battery_station import Battery - return self.resource_tracker.find_by_type(Battery) - - def find_electrode_sheets(self): - """查找所有极片""" - found = [] - plates = self.find_material_plates() - for plate in plates: - for hole in plate.children: - if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet(): - found.append(hole._electrode_sheet) - return found - - def find_plate_slots(self): - """查找所有板槽位""" - from unilabos.device_comms.button_battery_station import PlateSlot - return self.resource_tracker.find_by_type(PlateSlot) - - def find_clip_magazines(self): - """查找所有子弹夹""" - from unilabos.device_comms.button_battery_station import ClipMagazine - return self.resource_tracker.find_by_type(ClipMagazine) - - def find_press_slots(self): - """查找所有压制槽""" - from unilabos.device_comms.button_battery_station import BatteryPressSlot - return self.resource_tracker.find_by_type(BatteryPressSlot) diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index d28218b..07f78ea 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -46,6 +46,3 @@ CoincellDeck: init_param_schema: {} registry_type: resource version: 1.0.0 - - - diff --git a/unilabos/resources/battery/bottle_carriers.py b/unilabos/resources/battery/bottle_carriers.py new file mode 100644 index 0000000..9d9827c --- /dev/null +++ b/unilabos/resources/battery/bottle_carriers.py @@ -0,0 +1,56 @@ +from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d + +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +from unilabos.resources.bioyond.YB_bottles import ( + YB_pei_ye_xiao_Bottle, +) +# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial + + +def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier: + """12瓶载架 - 2x6布局""" + # 载架尺寸 (mm) + carrier_size_x = 120.0 + carrier_size_y = 250.0 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 35.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=2, + num_items_y=6, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="Electrolyte_12VialCarrier", + ) + carrier.num_items_x = 2 + carrier.num_items_y = 6 + carrier.num_items_z = 1 + for i in range(12): + carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}") + return carrier diff --git a/unilabos/resources/battery/magazine.py b/unilabos/resources/battery/magazine.py new file mode 100644 index 0000000..a5a15cc --- /dev/null +++ b/unilabos/resources/battery/magazine.py @@ -0,0 +1,284 @@ +from typing import Dict, List, Optional, OrderedDict, Union +import math + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources import Resource, ResourceStack, ItemizedResource +from pylabrobot.resources.carrier import create_homogeneous_resources + + +class Magazine(ResourceStack): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + direction: str = 'z', + resources: Optional[List[Resource]] = None, + max_sheets: int = 100, + **kwargs + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + direction: 堆叠方向 + resources: 资源列表 + max_sheets: 最大极片数量 + """ + super().__init__( + name=name, + direction=direction, + resources=resources, + ) + self.max_sheets = max_sheets + + +class MagazineHolder(ItemizedResource): + """子弹夹类 - 有多个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, Magazine]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + max_sheets_per_hole: int = 100, + cross_section_type: str = "circle", + category: str = "magazine_holder", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + self.cross_section_type = cross_section_type + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + "cross_section_type": self.cross_section_type, + } + + +def magazine_factory( + name: str, + size_x: float, + size_y: float, + size_z: float, + locations: List[Coordinate], + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + max_sheets_per_hole: int = 100, + category: str = "magazine_holder", + model: Optional[str] = None, +) -> 'MagazineHolder': + """工厂函数：创建子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + locations: 洞位坐标列表 + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建洞位 + _sites = create_homogeneous_resources( + klass=Magazine, + locations=locations, + resource_size_x=hole_diameter, + resource_size_y=hole_diameter, + name_prefix=name, + max_sheets=max_sheets_per_hole, + ) + + # 生成编号键 + keys = [f"A{i+1}" for i in range(len(locations))] + sites = dict(zip(keys, _sites.values())) + + return MagazineHolder( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=sites, + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category=category, + model=model, + ) + + +def MagazineHolder_4( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 10.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建4孔子弹夹 - 正方形四角排布""" + # 计算4个洞位的坐标（正方形四角排布） + center_x = size_x / 2 + center_y = size_y / 2 + offset = hole_spacing / 2 + + locations = [ + Coordinate(center_x - offset, center_y - offset, size_z - hole_depth), # 左下 + Coordinate(center_x + offset, center_y - offset, size_z - hole_depth), # 右下 + Coordinate(center_x - offset, center_y + offset, size_z - hole_depth), # 左上 + Coordinate(center_x + offset, center_y + offset, size_z - hole_depth), # 右上 + ] + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="clip_magazine_four", + ) + + +def MagazineHolder_2( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 10.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建2孔子弹夹 - 竖向排布""" + # 计算2个洞位的坐标（竖向排布） + center_x = size_x / 2 + center_y = size_y / 2 + offset = hole_spacing / 2 + + locations = [ + Coordinate(center_x, center_y - offset, size_z - hole_depth), # 下方 + Coordinate(center_x, center_y + offset, size_z - hole_depth), # 上方 + ] + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="clip_magazine_two", + ) + + +def MagazineHolder_1( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 10.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建1孔子弹夹 - 中心单孔""" + # 计算1个洞位的坐标（中心位置） + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [ + Coordinate(center_x, center_y, size_z - hole_depth), # 中心 + ] + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="clip_magazine_one", + ) + + +def MagazineHolder_6( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 40.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 20.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + # 计算6个洞位的坐标（六边形排布：中心1个，周围5个） + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="clip_magazine_six", + ) \ No newline at end of file diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py index fef09e2..831a073 100644 --- a/unilabos/resources/itemized_carrier.py +++ b/unilabos/resources/itemized_carrier.py @@ -29,7 +29,7 @@ class Bottle(Well): size_x: float = 0.0, size_y: float = 0.0, size_z: float = 0.0, - barcode: Optional[str] = "", + barcode: Optional[str] = None, category: str = "container", model: Optional[str] = None, **kwargs, From 38ab7d3e783094db2a354c7be665f49dd1d83403 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 21:43:25 +0800 Subject: [PATCH 060/104] fix run async execution error --- unilabos/ros/nodes/base_device_node.py | 39 ++++++++------------------ unilabos/utils/async_util.py | 22 --------------- 2 files changed, 12 insertions(+), 49 deletions(-) delete mode 100644 unilabos/utils/async_util.py diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index f106312..edf41fb 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import ( ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator -from unilabos.utils.async_util import run_async_func +from rclpy.task import Task from unilabos.utils.import_manager import default_manager from unilabos.utils.log import info, debug, warning, error, critical, logger, trace from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str @@ -1385,18 +1385,19 @@ class ROS2DeviceNode: 它不继承设备类，而是通过代理模式访问设备类的属性和方法。 """ - # 类变量，用于循环管理 - _loop = None - _loop_running = False - _loop_thread = None - @classmethod - def get_loop(cls): - return cls._loop + def run_async_func(cls, func, trace_error=True, **kwargs) -> Task: + def _handle_future_exception(fut): + try: + fut.result() + except Exception as e: + error(f"异步任务 {func.__name__} 报错了") + error(traceback.format_exc()) - @classmethod - def run_async_func(cls, func, trace_error=True, **kwargs): - return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs) + future = rclpy.get_global_executor().create_task(func(**kwargs)) + if trace_error: + future.add_done_callback(_handle_future_exception) + return future @property def driver_instance(self): @@ -1436,11 +1437,6 @@ class ROS2DeviceNode: print_publish: 是否打印发布信息 driver_is_ros: """ - # 在初始化时检查循环状态 - if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None: - pass - elif ROS2DeviceNode._loop_thread is None: - self._start_loop() # 保存设备类是否支持异步上下文 self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__") @@ -1529,17 +1525,6 @@ class ROS2DeviceNode: except Exception as e: self._ros_node.lab_logger().error(f"设备后初始化失败: {e}") - def _start_loop(self): - def run_event_loop(): - loop = asyncio.new_event_loop() - ROS2DeviceNode._loop = loop - asyncio.set_event_loop(loop) - loop.run_forever() - - ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop") - ROS2DeviceNode._loop_thread.start() - logger.info(f"循环线程已启动") - class DeviceInfoType(TypedDict): id: str diff --git a/unilabos/utils/async_util.py b/unilabos/utils/async_util.py deleted file mode 100644 index 0f50a73..0000000 --- a/unilabos/utils/async_util.py +++ /dev/null @@ -1,22 +0,0 @@ -import asyncio -import traceback -from asyncio import get_event_loop - -from unilabos.utils.log import error - - -def run_async_func(func, *, loop=None, trace_error=True, **kwargs): - if loop is None: - loop = get_event_loop() - - def _handle_future_exception(fut): - try: - fut.result() - except Exception as e: - error(f"异步任务 {func.__name__} 报错了") - error(traceback.format_exc()) - - future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop) - if trace_error: - future.add_done_callback(_handle_future_exception) - return future From 5331d7bfba4491e56df7a7e26d2593e373575495 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 3 Nov 2025 15:42:12 +0800 Subject: [PATCH 061/104] support sleep and create_task in node --- .../devices/liquid_handling/prcxi/prcxi.py | 395 +++++++++++------- unilabos/ros/nodes/base_device_node.py | 19 +- unilabos/ros/nodes/presets/host_node.py | 3 +- 3 files changed, 257 insertions(+), 160 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index d9c0433..a8677f4 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import ( from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class PRCXIError(RuntimeError): @@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract): ) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num) + def post_init(self, ros_node: BaseROS2DeviceNode): + super().post_init(ros_node) + self._unilabos_backend.post_init(ros_node) + def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): return super().set_liquid(wells, liquid_names, volumes) @@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): _num_channels = 8 # 默认通道数为 8 _is_reset_ok = False + _ros_node: BaseROS2DeviceNode @property def is_reset_ok(self) -> bool: @@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._execute_setup = setup self.debug = debug + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def create_protocol(self, protocol_name): self.protocol_name = protocol_name self.steps_todo_list = [] @@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.api_client.call("IAutomation", "Reset") while not self.is_reset_ok: print("Waiting for PRCXI9300 to reset...") - await asyncio.sleep(1) + await self._ros_node.sleep(1) print("PRCXI9300 reset successfully.") except ConnectionRefusedError as e: raise RuntimeError( @@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): tipspot_index = tipspot.parent.children.index(tipspot) tip_columns.append(tipspot_index // 8) if len(set(tip_columns)) != 1: - raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns)) + raise ValueError( + "All pickups must be from the same tip column. Found different columns: " + str(tip_columns) + ) PlateNo = plate_indexes[0] + 1 hole_col = tip_columns[0] + 1 hole_row = 1 @@ -1109,12 +1120,15 @@ class PRCXI9300Api: "LiquidDispensingMethod": liquid_method, } + class DefaultLayout: def __init__(self, product_name: str = "PRCXI9300"): self.labresource = {} if product_name not in ["PRCXI9300", "PRCXI9320"]: - raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.") + raise ValueError( + f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported." + ) if product_name == "PRCXI9300": self.rows = 2 @@ -1129,25 +1143,93 @@ class DefaultLayout: self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] self.trash_slot = 16 self.waste_liquid_slot = 12 - self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets": - [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示 - {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示 -] -} + self.default_layout = { + "MatrixId": f"{time.time()}", + "MatrixName": f"{time.time()}", + "MatrixCount": 16, + "WorkTablets": [ + { + "Number": 1, + "Code": "T1", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 2, + "Code": "T2", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 3, + "Code": "T3", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 4, + "Code": "T4", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 5, + "Code": "T5", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 6, + "Code": "T6", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 7, + "Code": "T7", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 8, + "Code": "T8", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 9, + "Code": "T9", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 10, + "Code": "T10", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 11, + "Code": "T11", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 12, + "Code": "T12", + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, + }, # 这个设置成废液槽，用储液槽表示 + { + "Number": 13, + "Code": "T13", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 14, + "Code": "T14", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 15, + "Code": "T15", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 16, + "Code": "T16", + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, + }, # 这个设置成垃圾桶，用储液槽表示 + ], + } def get_layout(self) -> Dict[str, Any]: return { @@ -1155,7 +1237,7 @@ class DefaultLayout: "columns": self.columns, "layout": self.layout, "trash_slot": self.trash_slot, - "waste_liquid_slot": self.waste_liquid_slot + "waste_liquid_slot": self.waste_liquid_slot, } def get_trash_slot(self) -> int: @@ -1178,17 +1260,19 @@ class DefaultLayout: reserved_positions = {12, 16} available_positions = [i for i in range(1, 17) if i not in reserved_positions] - # 计算总需求 + # 计算总需求 total_needed = sum(count for _, _, count in needs) if total_needed > len(available_positions): - raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）") + raise ValueError( + f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）" + ) # 依次分配位置 current_pos = 0 for reagent_name, material_name, count in needs: - material_uuid = self.labresource[material_name]['uuid'] - material_enum = self.labresource[material_name]['materialEnum'] + material_uuid = self.labresource[material_name]["uuid"] + material_enum = self.labresource[material_name]["materialEnum"] for _ in range(count): if current_pos >= len(available_positions): @@ -1196,17 +1280,18 @@ class DefaultLayout: position = available_positions[current_pos] # 找到对应的tablet并更新 - for tablet in self.default_layout['WorkTablets']: - if tablet['Number'] == position: - tablet['Material']['uuid'] = material_uuid - tablet['Material']['materialEnum'] = material_enum - layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position)) + for tablet in self.default_layout["WorkTablets"]: + if tablet["Number"] == position: + tablet["Material"]["uuid"] = material_uuid + tablet["Material"]["materialEnum"] = material_enum + layout_list.append( + dict(reagent_name=reagent_name, material_name=material_name, positions=position) + ) break current_pos += 1 return self.default_layout, layout_list - if __name__ == "__main__": # Example usage # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分 @@ -1302,10 +1387,7 @@ if __name__ == "__main__": # # # plate2.set_well_liquids(plate_2_liquids) - - - - # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, + # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, # timeout=10.0, setup=False, debug=False, # simulator=True, # matrix_id="71593", @@ -1391,10 +1473,7 @@ if __name__ == "__main__": # # input("Press Enter to continue...") # Wait for user input before proceeding # # print("PRCXI9300Handler initialized with deck and host settings.") - - -### 9320 ### - + ### 9320 ### deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100) @@ -1412,12 +1491,15 @@ if __name__ == "__main__": new_plate: PRCXI9300Container = PRCXI9300Container.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") -> 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({ - k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items() - }) + 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()}), ) tip_rack_serialized = tip_rack.serialize() tip_rack_serialized["parent_name"] = deck.name @@ -1629,6 +1711,7 @@ if __name__ == "__main__": ) backend: PRCXI9300Backend = handler.backend from pylabrobot.resources import set_volume_tracking + set_volume_tracking(enabled=True) # res = backend.api_client.get_all_materials() asyncio.run(handler.setup()) # Initialize the handler and setup the connection @@ -1640,10 +1723,10 @@ if __name__ == "__main__": for well in plate13.get_all_items(): # well_pos = well.name.split("_")[1] # 走一行 - # if well_pos.startswith("A"): - if well.name.startswith("PlateT13"): # 走整个Plate + # if well_pos.startswith("A"): + if well.name.startswith("PlateT13"): # 走整个Plate asyncio.run(handler.dispense([well], [0.01], [0])) - + # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0])) # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0])) # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0])) @@ -1652,26 +1735,25 @@ if __name__ == "__main__": asyncio.run(handler.run_protocol()) time.sleep(5) os._exit(0) -# 第一种情景：一个孔往多个孔加液 + # 第一种情景：一个孔往多个孔加液 # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300]) # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) -# 第二个情景：多个孔往多个孔加液(但是个数得对应) - plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23) - plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) + # 第二个情景：多个孔往多个孔加液(但是个数得对应) + plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23) + plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23) # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# # with open("deck.json", "w", encoding="utf-8") as f: -# # json.dump(A, f, indent=4, ensure_ascii=False) + # A = tree_to_list([resource_plr_to_ulab(deck)]) + # # with open("deck.json", "w", encoding="utf-8") as f: + # # json.dump(A, f, indent=4, ensure_ascii=False) -# print(plate11.get_well(0).tracker.get_used_volume()) - # Initialize the backend and setup the connection + # print(plate11.get_well(0).tracker.get_used_volume()) + # Initialize the backend and setup the connection asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking - # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0])) # print(plate8.children[8]) # asyncio.run(handler.run_protocol()) @@ -1685,121 +1767,118 @@ if __name__ == "__main__": # print(plate1.children[0]) # asyncio.run(handler.discard_tips([0])) -# asyncio.run(handler.add_liquid( -# asp_vols=[10]*7, -# dis_vols=[10]*7, -# reagent_sources=plate11.children[:7], -# targets=plate1.children[2:9], -# use_channels=[0], -# flow_rates=[None] * 7, -# offsets=[Coordinate(0, 0, 0)] * 7, -# liquid_height=[None] * 7, -# blow_out_air_volume=[None] * 2, -# delays=None, -# mix_time=3, -# mix_vol=5, -# spread="custom", -# )) + # asyncio.run(handler.add_liquid( + # asp_vols=[10]*7, + # dis_vols=[10]*7, + # reagent_sources=plate11.children[:7], + # targets=plate1.children[2:9], + # use_channels=[0], + # flow_rates=[None] * 7, + # offsets=[Coordinate(0, 0, 0)] * 7, + # liquid_height=[None] * 7, + # blow_out_air_volume=[None] * 2, + # delays=None, + # mix_time=3, + # mix_vol=5, + # spread="custom", + # )) # asyncio.run(handler.run_protocol()) # Run the protocol + # # # asyncio.run(handler.transfer_liquid( + # # # asp_vols=[10]*2, + # # # dis_vols=[10]*2, + # # # sources=plate11.children[:2], + # # # targets=plate11.children[-2:], + # # # use_channels=[0], + # # # offsets=[Coordinate(0, 0, 0)] * 4, + # # # liquid_height=[None] * 2, + # # # blow_out_air_volume=[None] * 2, + # # # delays=None, + # # # mix_times=3, + # # # mix_vol=5, + # # # spread="wide", + # # # tip_racks=[plate8] + # # # )) + # # # asyncio.run(handler.remove_liquid( + # # # vols=[10]*2, + # # # sources=plate11.children[:2], + # # # waste_liquid=plate11.children[43], + # # # use_channels=[0], + # # # offsets=[Coordinate(0, 0, 0)] * 4, + # # # liquid_height=[None] * 2, + # # # blow_out_air_volume=[None] * 2, + # # # delays=None, + # # # spread="wide" + # # # )) + # # asyncio.run(handler.run_protocol()) + # # # asyncio.run(handler.discard_tips()) + # # # asyncio.run(handler.mix(well_containers.children[:8 + # # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) + # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info -# # # asyncio.run(handler.transfer_liquid( -# # # asp_vols=[10]*2, -# # # dis_vols=[10]*2, -# # # sources=plate11.children[:2], -# # # targets=plate11.children[-2:], -# # # use_channels=[0], -# # # offsets=[Coordinate(0, 0, 0)] * 4, -# # # liquid_height=[None] * 2, -# # # blow_out_air_volume=[None] * 2, -# # # delays=None, -# # # mix_times=3, -# # # mix_vol=5, -# # # spread="wide", -# # # tip_racks=[plate8] -# # # )) - -# # # asyncio.run(handler.remove_liquid( -# # # vols=[10]*2, -# # # sources=plate11.children[:2], -# # # waste_liquid=plate11.children[43], -# # # use_channels=[0], -# # # offsets=[Coordinate(0, 0, 0)] * 4, -# # # liquid_height=[None] * 2, -# # # blow_out_air_volume=[None] * 2, -# # # delays=None, -# # # spread="wide" -# # # )) -# # asyncio.run(handler.run_protocol()) - -# # # asyncio.run(handler.discard_tips()) -# # # asyncio.run(handler.mix(well_containers.children[:8 -# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) -# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info - - -# # # asyncio.run(handler.remove_liquid( -# # # vols=[100]*16, -# # # sources=well_containers.children[-16:], -# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 -# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], -# # # flow_rates=[None] * 32, -# # # offsets=[Coordinate(0, 0, 0)] * 32, -# # # liquid_height=[None] * 32, -# # # blow_out_air_volume=[None] * 32, -# # # spread="wide", -# # # )) -# # # asyncio.run(handler.transfer_liquid( -# # # asp_vols=[100]*16, -# # # dis_vols=[100]*16, -# # # tip_racks=[tip_rack], -# # # sources=well_containers.children[-16:], -# # # targets=well_containers.children[:16], -# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], -# # # offsets=[Coordinate(0, 0, 0)] * 32, -# # # asp_flow_rates=[None] * 16, -# # # dis_flow_rates=[None] * 16, -# # # liquid_height=[None] * 32, -# # # blow_out_air_volume=[None] * 32, -# # # mix_times=3, -# # # mix_vol=50, -# # # spread="wide", -# # # )) -# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info -# # # input("pick_up_tips add step") - #asyncio.run(handler.run_protocol()) # Run the protocol -# # # input("Running protocol...") -# # # input("Press Enter to continue...") # Wait for user input before proceeding -# # # print("PRCXI9300Handler initialized with deck and host settings.") - - -# 一些推荐版位组合的测试样例： - -# 一些推荐版位组合的测试样例： + # # # asyncio.run(handler.remove_liquid( + # # # vols=[100]*16, + # # # sources=well_containers.children[-16:], + # # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 + # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # # # flow_rates=[None] * 32, + # # # offsets=[Coordinate(0, 0, 0)] * 32, + # # # liquid_height=[None] * 32, + # # # blow_out_air_volume=[None] * 32, + # # # spread="wide", + # # # )) + # # # asyncio.run(handler.transfer_liquid( + # # # asp_vols=[100]*16, + # # # dis_vols=[100]*16, + # # # tip_racks=[tip_rack], + # # # sources=well_containers.children[-16:], + # # # targets=well_containers.children[:16], + # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # # # offsets=[Coordinate(0, 0, 0)] * 32, + # # # asp_flow_rates=[None] * 16, + # # # dis_flow_rates=[None] * 16, + # # # liquid_height=[None] * 32, + # # # blow_out_air_volume=[None] * 32, + # # # mix_times=3, + # # # mix_vol=50, + # # # spread="wide", + # # # )) + # # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info + # # # input("pick_up_tips add step") + # asyncio.run(handler.run_protocol()) # Run the protocol + # # # input("Running protocol...") + # # # input("Press Enter to continue...") # Wait for user input before proceeding + # # # print("PRCXI9300Handler initialized with deck and host settings.") + # 一些推荐版位组合的测试样例： + # 一些推荐版位组合的测试样例： with open("prcxi_material.json", "r") as f: material_info = json.load(f) layout = DefaultLayout("PRCXI9320") layout.add_lab_resource(material_info) - MatrixLayout_1, dict_1 = layout.recommend_layout([ - ("reagent_1", "96 细胞培养皿", 3), - ("reagent_2", "12道储液槽", 1), - ("reagent_3", "200μL Tip头", 7), - ("reagent_4", "10μL加长 Tip头", 1), - ]) + MatrixLayout_1, dict_1 = layout.recommend_layout( + [ + ("reagent_1", "96 细胞培养皿", 3), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 7), + ("reagent_4", "10μL加长 Tip头", 1), + ] + ) print(dict_1) - MatrixLayout_2, dict_2 = layout.recommend_layout([ - ("reagent_1", "96深孔板", 4), - ("reagent_2", "12道储液槽", 1), - ("reagent_3", "200μL Tip头", 1), - ("reagent_4", "10μL加长 Tip头", 1), - ]) + MatrixLayout_2, dict_2 = layout.recommend_layout( + [ + ("reagent_1", "96深孔板", 4), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 1), + ("reagent_4", "10μL加长 Tip头", 1), + ] + ) # with open("prcxi_material.json", "r") as f: # material_info = json.load(f) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index edf41fb..2fc7ea7 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import ( ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator -from rclpy.task import Task +from rclpy.task import Task, Future from unilabos.utils.import_manager import default_manager from unilabos.utils.log import info, debug, warning, error, critical, logger, trace from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str @@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]): rclpy.get_global_executor().add_node(self) self.lab_logger().debug(f"ROS节点初始化完成") + async def sleep(self, rel_time: float, callback_group=None): + if callback_group is None: + callback_group = self.callback_group + await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group) + + @classmethod + async def create_task(cls, func, trace_error=True, **kwargs) -> Task: + return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs) + async def update_resource(self, resources: List["ResourcePLR"]): r = SerialCommand.Request() tree_set = ResourceTreeSet.from_plr_resources(resources) @@ -1399,6 +1408,14 @@ class ROS2DeviceNode: future.add_done_callback(_handle_future_exception) return future + @classmethod + async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None): + future = Future() + timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock()) + await future + timer.cancel() + node.destroy_timer(timer) + @property def driver_instance(self): return self._driver_instance diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 43d16e8..346cf9c 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -18,7 +18,8 @@ from unilabos_msgs.srv import ( ResourceDelete, ResourceUpdate, ResourceList, - SerialCommand, ResourceGet, + SerialCommand, + ResourceGet, ) # type: ignore from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unique_identifier_msgs.msg import UUID From bed453034fab0a60d346d2a361d69d9ba1278d2d Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 3 Nov 2025 15:49:11 +0800 Subject: [PATCH 062/104] modify devices to use correct executor (sleep, create_task) --- test/registry/example_devices.py | 33 +- unilabos/devices/cnc/grbl_async.py | 11 +- unilabos/devices/cnc/mock.py | 9 +- .../laiyu_liquid/core/laiyu_liquid_main.py | 423 +++++++++--------- .../liquid_handler_abstract.py | 10 +- .../devices/pump_and_valve/runze_async.py | 11 +- .../devices/virtual/virtual_centrifuge.py | 9 +- unilabos/devices/virtual/virtual_column.py | 9 +- unilabos/devices/virtual/virtual_filter.py | 202 ++++----- unilabos/devices/virtual/virtual_heatchill.py | 9 +- unilabos/devices/virtual/virtual_rotavap.py | 273 ++++++----- unilabos/devices/virtual/virtual_separator.py | 11 +- .../devices/virtual/virtual_solenoid_valve.py | 10 +- .../virtual/virtual_solid_dispenser.py | 9 +- unilabos/devices/virtual/virtual_stirrer.py | 11 +- .../devices/virtual/virtual_transferpump.py | 13 +- 16 files changed, 597 insertions(+), 456 deletions(-) diff --git a/test/registry/example_devices.py b/test/registry/example_devices.py index d5b26b2..d41c7b4 100644 --- a/test/registry/example_devices.py +++ b/test/registry/example_devices.py @@ -3,7 +3,8 @@ """ import asyncio -from typing import Dict, Any, Optional, List +from typing import Dict, Any, List +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class SmartPumpController: @@ -14,6 +15,8 @@ class SmartPumpController: 适用于实验室自动化系统中的液体处理任务。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"): """ 初始化智能泵控制器 @@ -30,6 +33,9 @@ class SmartPumpController: self.calibration_factor = 1.0 self.pump_mode = "continuous" # continuous, volume, rate + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def connect_device(self, timeout: int = 10) -> bool: """ 连接到泵设备 @@ -90,7 +96,7 @@ class SmartPumpController: pump_time = (volume / flow_rate) * 60 # 转换为秒 self.current_flow_rate = flow_rate - await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程 + await self._ros_node.sleep(min(pump_time, 3.0)) # 模拟泵送过程 self.total_volume_pumped += volume self.current_flow_rate = 0.0 @@ -170,6 +176,8 @@ class AdvancedTemperatureController: 适用于需要精确温度控制的化学反应和材料处理过程。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, controller_id: str = "temp_controller_01"): """ 初始化温度控制器 @@ -185,6 +193,9 @@ class AdvancedTemperatureController: self.pid_enabled = True self.temperature_history: List[Dict] = [] + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool: """ 设置目标温度 @@ -238,7 +249,7 @@ class AdvancedTemperatureController: } ) - await asyncio.sleep(step_time) + await self._ros_node.sleep(step_time) # 保持历史记录不超过100条 if len(self.temperature_history) > 100: @@ -330,6 +341,8 @@ class MultiChannelAnalyzer: 常用于光谱分析、电化学测量等应用场景。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8): """ 初始化多通道分析仪 @@ -344,6 +357,9 @@ class MultiChannelAnalyzer: self.is_measuring = False self.sample_rate = 1000 # Hz + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool: """ 配置通道 @@ -376,7 +392,7 @@ class MultiChannelAnalyzer: # 模拟数据采集 measurements = [] - for second in range(duration): + for _ in range(duration): timestamp = asyncio.get_event_loop().time() frame_data = {} @@ -391,7 +407,7 @@ class MultiChannelAnalyzer: measurements.append({"timestamp": timestamp, "data": frame_data}) - await asyncio.sleep(1.0) # 每秒采集一次 + await self._ros_node.sleep(1.0) # 每秒采集一次 self.is_measuring = False @@ -465,6 +481,8 @@ class AutomatedDispenser: 集成称重功能，确保分配精度和重现性。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, dispenser_id: str = "dispenser_01"): """ 初始化自动分配器 @@ -479,6 +497,9 @@ class AutomatedDispenser: self.container_capacity = 1000.0 # mL self.precision_mode = True + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def move_to_position(self, x: float, y: float, z: float) -> bool: """ 移动到指定位置 @@ -517,7 +538,7 @@ class AutomatedDispenser: if viscosity == "high": dispense_time *= 2 # 高粘度液体需要更长时间 - await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒 + await self._ros_node.sleep(min(dispense_time, 5.0)) # 最多等待5秒 self.dispensed_total += volume diff --git a/unilabos/devices/cnc/grbl_async.py b/unilabos/devices/cnc/grbl_async.py index 7e5ac7f..3ecd4ba 100644 --- a/unilabos/devices/cnc/grbl_async.py +++ b/unilabos/devices/cnc/grbl_async.py @@ -12,6 +12,7 @@ from serial import Serial from serial.serialutil import SerialException from unilabos.messages import Point3D +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class GrblCNCConnectionError(Exception): @@ -32,6 +33,7 @@ class GrblCNCInfo: class GrblCNCAsync: _status: str = "Offline" _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) + _ros_node: BaseROS2DeviceNode def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)): self.port = port @@ -58,6 +60,9 @@ class GrblCNCAsync: self._run_future: Optional[Future[Any]] = None self._run_lock = Lock() + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def _read_all(self): data = self._serial.read_until(b"\n") data_decoded = data.decode() @@ -148,7 +153,7 @@ class GrblCNCAsync: try: await self._query(command) while True: - await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again + await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again status = await self.get_status() if "Idle" in status: @@ -214,7 +219,7 @@ class GrblCNCAsync: self._pose_number = i self.pose_number_remaining = len(points) - i await self.set_position(point) - await asyncio.sleep(0.5) + await self._ros_node.sleep(0.5) self._step_number = -1 async def stop_operation(self): @@ -235,7 +240,7 @@ class GrblCNCAsync: async def open(self): if self._read_task: raise GrblCNCConnectionError - self._read_task = asyncio.create_task(self._read_loop()) + self._read_task = self._ros_node.create_task(self._read_loop()) try: await self.get_status() diff --git a/unilabos/devices/cnc/mock.py b/unilabos/devices/cnc/mock.py index b8c52f1..ebe9683 100644 --- a/unilabos/devices/cnc/mock.py +++ b/unilabos/devices/cnc/mock.py @@ -2,6 +2,8 @@ import time import asyncio from pydantic import BaseModel +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class Point3D(BaseModel): x: float @@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float: class MockCNCAsync: + _ros_node: BaseROS2DeviceNode["MockCNCAsync"] + def __init__(self): self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) self._status = "Idle" + + def post_create(self, ros_node): + self._ros_node = ros_node @property def position(self) -> Point3D: @@ -38,5 +45,5 @@ class MockCNCAsync: self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1) self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1) self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1) - await asyncio.sleep(move_time / 20) + await self._ros_node.sleep(move_time / 20) self._status = "Idle" diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py index 9609255..f369a20 100644 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py +++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py @@ -15,108 +15,113 @@ from typing import List, Optional, Dict, Any, Union, Tuple from dataclasses import dataclass from abc import ABC, abstractmethod +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + # 基础导入 try: from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well + PYLABROBOT_AVAILABLE = True except ImportError: # 如果 pylabrobot 不可用，创建基础的模拟类 PYLABROBOT_AVAILABLE = False - + class Resource: def __init__(self, name: str): self.name = name - + class Deck(Resource): pass - + class Plate(Resource): pass - + class TipRack(Resource): pass - + class Tip(Resource): pass - + class Well(Resource): pass + # LaiYu_Liquid 控制器导入 try: - from .controllers.pipette_controller import ( - PipetteController, TipStatus, LiquidClass, LiquidParameters - ) - from .controllers.xyz_controller import ( - XYZController, MachineConfig, CoordinateOrigin, MotorAxis - ) + from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters + from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis + CONTROLLERS_AVAILABLE = True except ImportError: CONTROLLERS_AVAILABLE = False + # 创建模拟的控制器类 class PipetteController: def __init__(self, *args, **kwargs): pass - + def connect(self): return True - + def initialize(self): return True - + class XYZController: def __init__(self, *args, **kwargs): pass - + def connect_device(self): return True + logger = logging.getLogger(__name__) class LaiYuLiquidError(RuntimeError): """LaiYu_Liquid 设备异常""" + pass @dataclass class LaiYuLiquidConfig: """LaiYu_Liquid 设备配置""" + port: str = "/dev/cu.usbserial-3130" # RS485转USB端口 address: int = 1 # 设备地址 baudrate: int = 9600 # 波特率 timeout: float = 5.0 # 通信超时时间 - + # 工作台尺寸 deck_width: float = 340.0 # 工作台宽度 (mm) deck_height: float = 250.0 # 工作台高度 (mm) deck_depth: float = 160.0 # 工作台深度 (mm) - + # 移液参数 max_volume: float = 1000.0 # 最大体积 (μL) min_volume: float = 0.1 # 最小体积 (μL) - + # 运动参数 max_speed: float = 100.0 # 最大速度 (mm/s) acceleration: float = 50.0 # 加速度 (mm/s²) - + # 安全参数 safe_height: float = 50.0 # 安全高度 (mm) tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm) liquid_detection: bool = True # 液面检测 - + # 取枪头相关参数 tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm) tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s) tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm) tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm) tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm) - + # 丢弃枪头相关参数 tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm) tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm) trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm) - + # 安全范围配置 deck_width: float = 300.0 # 工作台宽度 (mm) deck_height: float = 200.0 # 工作台高度 (mm) @@ -128,25 +133,25 @@ class LaiYuLiquidConfig: class LaiYuLiquidDeck: """LaiYu_Liquid 工作台管理""" - + def __init__(self, config: LaiYuLiquidConfig): self.config = config self.resources: Dict[str, Resource] = {} self.positions: Dict[str, Tuple[float, float, float]] = {} - + def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]): """添加资源到工作台""" self.resources[name] = resource self.positions[name] = position - + def get_resource(self, name: str) -> Optional[Resource]: """获取资源""" return self.resources.get(name) - + def get_position(self, name: str) -> Optional[Tuple[float, float, float]]: """获取资源位置""" return self.positions.get(name) - + def list_resources(self) -> List[str]: """列出所有资源""" return list(self.resources.keys()) @@ -154,8 +159,18 @@ class LaiYuLiquidDeck: class LaiYuLiquidContainer: """LaiYu_Liquid 容器类""" - - def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0): + + def __init__( + self, + name: str, + size_x: float = 0, + size_y: float = 0, + size_z: float = 0, + container_type: str = "", + volume: float = 0.0, + max_volume: float = 1000.0, + lid_height: float = 0.0, + ): self.name = name self.size_x = size_x self.size_y = size_y @@ -166,19 +181,19 @@ class LaiYuLiquidContainer: self.max_volume = max_volume self.last_updated = time.time() self.child_resources = {} # 存储子资源 - + @property def is_empty(self) -> bool: return self.volume <= 0.0 - + @property def is_full(self) -> bool: return self.volume >= self.max_volume - + @property def available_volume(self) -> float: return max(0.0, self.max_volume - self.volume) - + def add_volume(self, volume: float) -> bool: """添加体积""" if self.volume + volume <= self.max_volume: @@ -186,7 +201,7 @@ class LaiYuLiquidContainer: self.last_updated = time.time() return True return False - + def remove_volume(self, volume: float) -> bool: """移除体积""" if self.volume >= volume: @@ -194,20 +209,25 @@ class LaiYuLiquidContainer: self.last_updated = time.time() return True return False - + def assign_child_resource(self, resource, location=None): """分配子资源 - 与 PyLabRobot 资源管理系统兼容""" - if hasattr(resource, 'name'): - self.child_resources[resource.name] = { - 'resource': resource, - 'location': location - } + if hasattr(resource, "name"): + self.child_resources[resource.name] = {"resource": resource, "location": location} class LaiYuLiquidTipRack: """LaiYu_Liquid 吸头架类""" - - def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0): + + def __init__( + self, + name: str, + size_x: float = 0, + size_y: float = 0, + size_z: float = 0, + tip_count: int = 96, + tip_volume: float = 1000.0, + ): self.name = name self.size_x = size_x self.size_y = size_y @@ -216,34 +236,31 @@ class LaiYuLiquidTipRack: self.tip_volume = tip_volume self.tips_available = [True] * tip_count self.child_resources = {} # 存储子资源 - + @property def available_tips(self) -> int: return sum(self.tips_available) - + @property def is_empty(self) -> bool: return self.available_tips == 0 - + def pick_tip(self, position: int) -> bool: """拾取吸头""" if 0 <= position < self.tip_count and self.tips_available[position]: self.tips_available[position] = False return True return False - + def has_tip(self, position: int) -> bool: """检查位置是否有吸头""" if 0 <= position < self.tip_count: return self.tips_available[position] return False - + def assign_child_resource(self, resource, location=None): """分配子资源到指定位置""" - self.child_resources[resource.name] = { - 'resource': resource, - 'location': location - } + self.child_resources[resource.name] = {"resource": resource, "location": location} def get_module_info(): @@ -253,36 +270,32 @@ def get_module_info(): "version": "1.0.0", "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能", "author": "UniLabOS Team", - "capabilities": [ - "移液器控制", - "XYZ轴运动控制", - "吸头架管理", - "板和容器管理", - "资源位置管理" - ], - "dependencies": { - "required": ["serial"], - "optional": ["pylabrobot"] - } + "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"], + "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]}, } class LaiYuLiquidBackend: """LaiYu_Liquid 硬件通信后端""" - - def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None): + + _ros_node: BaseROS2DeviceNode + + def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None): self.config = config self.deck = deck # 工作台引用，用于获取资源位置信息 self.pipette_controller = None self.xyz_controller = None self.is_connected = False self.is_initialized = False - + # 状态跟踪 self.current_position = (0.0, 0.0, 0.0) self.tip_attached = False self.current_volume = 0.0 - + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def _validate_position(self, x: float, y: float, z: float) -> bool: """验证位置是否在安全范围内""" try: @@ -290,71 +303,71 @@ class LaiYuLiquidBackend: if not (0 <= x <= self.config.deck_width): logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]") return False - + # 检查Y轴范围 if not (0 <= y <= self.config.deck_height): logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]") return False - + # 检查Z轴范围（负值表示向下，0为工作台表面） if not (-self.config.deck_depth <= z <= self.config.safe_height): logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]") return False - + return True except Exception as e: logger.error(f"位置验证失败: {e}") return False - + def _check_hardware_ready(self) -> bool: """检查硬件是否准备就绪""" if not self.is_connected: logger.error("设备未连接") return False - + if CONTROLLERS_AVAILABLE: if self.xyz_controller is None: logger.error("XYZ控制器未初始化") return False - + return True - + async def emergency_stop(self) -> bool: """紧急停止所有运动""" try: logger.warning("执行紧急停止") - + if CONTROLLERS_AVAILABLE and self.xyz_controller: # 停止XYZ控制器 await self.xyz_controller.stop_all_motion() logger.info("XYZ控制器已停止") - + if self.pipette_controller: # 停止移液器控制器 await self.pipette_controller.stop() logger.info("移液器控制器已停止") - + return True except Exception as e: logger.error(f"紧急停止失败: {e}") return False - + async def move_to_safe_position(self) -> bool: """移动到安全位置""" try: if not self._check_hardware_ready(): return False - + safe_position = ( self.config.deck_width / 2, # 工作台中心X self.config.deck_height / 2, # 工作台中心Y - self.config.safe_height # 安全高度Z + self.config.safe_height, # 安全高度Z ) - + if not self._validate_position(*safe_position): logger.error("安全位置无效") return False - + if CONTROLLERS_AVAILABLE and self.xyz_controller: await self.xyz_controller.move_to_work_coord(*safe_position) self.current_position = safe_position @@ -365,33 +378,28 @@ class LaiYuLiquidBackend: self.current_position = safe_position logger.info("模拟移动到安全位置") return True - + except Exception as e: logger.error(f"移动到安全位置失败: {e}") return False - + async def setup(self) -> bool: """设置硬件连接""" try: if CONTROLLERS_AVAILABLE: # 初始化移液器控制器 - self.pipette_controller = PipetteController( - port=self.config.port, - address=self.config.address - ) - + self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address) + # 初始化XYZ控制器 machine_config = MachineConfig() self.xyz_controller = XYZController( - port=self.config.port, - baudrate=self.config.baudrate, - machine_config=machine_config + port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config ) - + # 连接设备 pipette_connected = await asyncio.to_thread(self.pipette_controller.connect) xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device) - + if pipette_connected and xyz_connected: self.is_connected = True logger.info("LaiYu_Liquid 硬件连接成功") @@ -404,124 +412,123 @@ class LaiYuLiquidBackend: logger.info("LaiYu_Liquid 运行在模拟模式") self.is_connected = True return True - + except Exception as e: logger.error(f"LaiYu_Liquid 设置失败: {e}") return False - + async def stop(self): """停止设备""" try: - if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'): + if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"): await asyncio.to_thread(self.pipette_controller.disconnect) - - if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'): + + if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"): await asyncio.to_thread(self.xyz_controller.disconnect) - + self.is_connected = False self.is_initialized = False logger.info("LaiYu_Liquid 已停止") - + except Exception as e: logger.error(f"LaiYu_Liquid 停止失败: {e}") - + async def move_to(self, x: float, y: float, z: float) -> bool: """移动到指定位置""" try: if not self.is_connected: raise LaiYuLiquidError("设备未连接") - + # 模拟移动 - await asyncio.sleep(0.1) # 模拟移动时间 + await self._ros_node.sleep(0.1) # 模拟移动时间 self.current_position = (x, y, z) logger.debug(f"移动到位置: ({x}, {y}, {z})") return True - + except Exception as e: logger.error(f"移动失败: {e}") return False - + async def pick_up_tip(self, tip_rack: str, position: int) -> bool: """拾取吸头 - 包含真正的Z轴下降控制""" try: # 硬件准备检查 if not self._check_hardware_ready(): return False - + if self.tip_attached: logger.warning("已有吸头附着，无法拾取新吸头") return False - + logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头") - + # 获取枪头架位置信息 if self.deck is None: logger.error("工作台未初始化") return False - + tip_position = self.deck.get_position(tip_rack) if tip_position is None: logger.error(f"未找到枪头架 {tip_rack} 的位置信息") return False - + # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移） tip_x, tip_y, tip_z = tip_position - + # 验证所有关键位置的安全性 safe_z = tip_z + self.config.tip_approach_height pickup_z = tip_z - self.config.tip_pickup_force_depth retract_z = tip_z + self.config.tip_pickup_retract_height - - if not (self._validate_position(tip_x, tip_y, safe_z) and - self._validate_position(tip_x, tip_y, pickup_z) and - self._validate_position(tip_x, tip_y, retract_z)): + + if not ( + self._validate_position(tip_x, tip_y, safe_z) + and self._validate_position(tip_x, tip_y, pickup_z) + and self._validate_position(tip_x, tip_y, retract_z) + ): logger.error("枪头拾取位置超出安全范围") return False - + if CONTROLLERS_AVAILABLE and self.xyz_controller: # 真实硬件控制流程 logger.info("使用真实XYZ控制器进行枪头拾取") - + try: # 1. 移动到枪头上方的安全位置 safe_z = tip_z + self.config.tip_approach_height logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})") move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - tip_x, tip_y, safe_z + self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z ) if not move_success: logger.error("移动到枪头上方失败") return False - + # 2. Z轴下降到枪头位置 pickup_z = tip_z - self.config.tip_pickup_force_depth logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm") z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - tip_x, tip_y, pickup_z + self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z ) if not z_down_success: logger.error("Z轴下降到枪头位置失败") return False - + # 3. 等待一小段时间确保枪头牢固附着 - await asyncio.sleep(0.2) - + await self._ros_node.sleep(0.2) + # 4. Z轴上升到回退高度 retract_z = tip_z + self.config.tip_pickup_retract_height logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm") z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - tip_x, tip_y, retract_z + self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z ) if not z_up_success: logger.error("Z轴上升失败") return False - + # 5. 更新当前位置 self.current_position = (tip_x, tip_y, retract_z) - + except Exception as move_error: logger.error(f"枪头拾取过程中发生错误: {move_error}") # 尝试移动到安全位置 @@ -529,35 +536,35 @@ class LaiYuLiquidBackend: await self.emergency_stop() await self.move_to_safe_position() return False - + else: # 模拟模式 logger.info("模拟模式：执行枪头拾取动作") - await asyncio.sleep(1.0) # 模拟整个拾取过程的时间 + await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间 self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height) - + # 6. 标记枪头已附着 self.tip_attached = True logger.info("吸头拾取成功") return True - + except Exception as e: logger.error(f"拾取吸头失败: {e}") return False - + async def drop_tip(self, location: str = "trash") -> bool: """丢弃吸头 - 包含真正的Z轴控制""" try: # 硬件准备检查 if not self._check_hardware_ready(): return False - + if not self.tip_attached: logger.warning("没有吸头附着，无需丢弃") return True - + logger.info(f"开始丢弃吸头到 {location}") - + # 确定丢弃位置 if location == "trash": # 使用配置中的垃圾桶位置 @@ -567,48 +574,48 @@ class LaiYuLiquidBackend: if self.deck is None: logger.error("工作台未初始化") return False - + drop_position = self.deck.get_position(location) if drop_position is None: logger.error(f"未找到丢弃位置 {location} 的信息") return False drop_x, drop_y, drop_z = drop_position - + # 验证丢弃位置的安全性 safe_z = drop_z + self.config.safe_height drop_height_z = drop_z + self.config.tip_drop_height - - if not (self._validate_position(drop_x, drop_y, safe_z) and - self._validate_position(drop_x, drop_y, drop_height_z)): + + if not ( + self._validate_position(drop_x, drop_y, safe_z) + and self._validate_position(drop_x, drop_y, drop_height_z) + ): logger.error("枪头丢弃位置超出安全范围") return False - + if CONTROLLERS_AVAILABLE and self.xyz_controller: # 真实硬件控制流程 logger.info("使用真实XYZ控制器进行枪头丢弃") - + try: # 1. 移动到丢弃位置上方的安全高度 safe_z = drop_z + self.config.tip_drop_height logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})") move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - drop_x, drop_y, safe_z + self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z ) if not move_success: logger.error("移动到丢弃位置上方失败") return False - + # 2. Z轴下降到丢弃高度 logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm") z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - drop_x, drop_y, drop_z + self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z ) if not z_down_success: logger.error("Z轴下降到丢弃位置失败") return False - + # 3. 执行枪头弹出动作（如果有移液器控制器） if self.pipette_controller: try: @@ -617,23 +624,22 @@ class LaiYuLiquidBackend: logger.info("执行枪头弹出命令") except Exception as e: logger.warning(f"枪头弹出命令失败: {e}") - + # 4. 等待一小段时间确保枪头完全脱离 - await asyncio.sleep(0.3) - + await self._ros_node.sleep(0.3) + # 5. Z轴上升到安全高度 logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm") z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - drop_x, drop_y, safe_z + self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z ) if not z_up_success: logger.error("Z轴上升失败") return False - + # 6. 更新当前位置 self.current_position = (drop_x, drop_y, safe_z) - + except Exception as drop_error: logger.error(f"枪头丢弃过程中发生错误: {drop_error}") # 尝试移动到安全位置 @@ -641,63 +647,63 @@ class LaiYuLiquidBackend: await self.emergency_stop() await self.move_to_safe_position() return False - + else: # 模拟模式 logger.info("模拟模式：执行枪头丢弃动作") - await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间 + await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间 self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height) - + # 7. 标记枪头已脱离，清空体积 self.tip_attached = False self.current_volume = 0.0 logger.info("吸头丢弃成功") return True - + except Exception as e: logger.error(f"丢弃吸头失败: {e}") return False - + async def aspirate(self, volume: float, location: str) -> bool: """吸取液体""" try: if not self.is_connected: raise LaiYuLiquidError("设备未连接") - + if not self.tip_attached: raise LaiYuLiquidError("没有吸头附着") - + if volume <= 0 or volume > self.config.max_volume: raise LaiYuLiquidError(f"体积超出范围: {volume}") - + # 模拟吸取 - await asyncio.sleep(0.3) + await self._ros_node.sleep(0.3) self.current_volume += volume logger.debug(f"从 {location} 吸取 {volume} μL") return True - + except Exception as e: logger.error(f"吸取失败: {e}") return False - + async def dispense(self, volume: float, location: str) -> bool: """分配液体""" try: if not self.is_connected: raise LaiYuLiquidError("设备未连接") - + if not self.tip_attached: raise LaiYuLiquidError("没有吸头附着") - + if volume <= 0 or volume > self.current_volume: raise LaiYuLiquidError(f"分配体积无效: {volume}") - + # 模拟分配 - await asyncio.sleep(0.3) + await self._ros_node.sleep(0.3) self.current_volume -= volume logger.debug(f"向 {location} 分配 {volume} μL") return True - + except Exception as e: logger.error(f"分配失败: {e}") return False @@ -705,7 +711,7 @@ class LaiYuLiquidBackend: class LaiYuLiquid: """LaiYu_Liquid 主要接口类""" - + def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs): # 如果传入了关键字参数，创建配置对象 if kwargs and config is None: @@ -717,37 +723,37 @@ class LaiYuLiquid: self.config = LaiYuLiquidConfig(**config_params) else: self.config = config or LaiYuLiquidConfig() - + # 先创建deck，然后传递给backend self.deck = LaiYuLiquidDeck(self.config) self.backend = LaiYuLiquidBackend(self.config, self.deck) self.is_setup = False - + @property def current_position(self) -> Tuple[float, float, float]: """获取当前位置""" return self.backend.current_position - + @property def current_volume(self) -> float: """获取当前体积""" return self.backend.current_volume - + @property def is_connected(self) -> bool: """获取连接状态""" return self.backend.is_connected - + @property def is_initialized(self) -> bool: """获取初始化状态""" return self.backend.is_initialized - + @property def tip_attached(self) -> bool: """获取吸头附着状态""" return self.backend.tip_attached - + async def setup(self) -> bool: """设置液体处理器""" try: @@ -759,27 +765,28 @@ class LaiYuLiquid: except Exception as e: logger.error(f"LaiYu_Liquid 设置失败: {e}") return False - + async def stop(self): """停止液体处理器""" await self.backend.stop() self.is_setup = False - - async def transfer(self, source: str, target: str, volume: float, - tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool: + + async def transfer( + self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0 + ) -> bool: """液体转移""" try: if not self.is_setup: raise LaiYuLiquidError("设备未设置") - + # 获取源和目标位置 source_pos = self.deck.get_position(source) target_pos = self.deck.get_position(target) tip_pos = self.deck.get_position(tip_rack) - + if not all([source_pos, target_pos, tip_pos]): raise LaiYuLiquidError("位置信息不完整") - + # 执行转移步骤 steps = [ ("移动到吸头架", self.backend.move_to(*tip_pos)), @@ -788,22 +795,22 @@ class LaiYuLiquid: ("吸取液体", self.backend.aspirate(volume, source)), ("移动到目标位置", self.backend.move_to(*target_pos)), ("分配液体", self.backend.dispense(volume, target)), - ("丢弃吸头", self.backend.drop_tip()) + ("丢弃吸头", self.backend.drop_tip()), ] - + for step_name, step_coro in steps: logger.debug(f"执行步骤: {step_name}") success = await step_coro if not success: raise LaiYuLiquidError(f"步骤失败: {step_name}") - + logger.info(f"液体转移完成: {source} -> {target}, {volume} μL") return True - + except Exception as e: logger.error(f"液体转移失败: {e}") return False - + def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]): """添加资源到工作台""" if resource_type == "plate": @@ -812,9 +819,9 @@ class LaiYuLiquid: resource = TipRack(name) else: resource = Resource(name) - + self.deck.add_resource(name, resource, position) - + def get_status(self) -> Dict[str, Any]: """获取设备状态""" return { @@ -823,59 +830,59 @@ class LaiYuLiquid: "current_position": self.backend.current_position, "tip_attached": self.backend.tip_attached, "current_volume": self.backend.current_volume, - "resources": self.deck.list_resources() + "resources": self.deck.list_resources(), } def create_quick_setup() -> LaiYuLiquidDeck: """ 创建快速设置的LaiYu液体处理工作站 - + Returns: LaiYuLiquidDeck: 配置好的工作台实例 """ # 创建默认配置 config = LaiYuLiquidConfig() - + # 创建工作台 deck = LaiYuLiquidDeck(config) - + # 导入资源创建函数 try: from .laiyu_liquid_res import ( create_tip_rack_1000ul, create_tip_rack_200ul, create_96_well_plate, - create_waste_container + create_waste_container, ) - + # 添加基本资源 tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") tip_rack_200 = create_tip_rack_200ul("tip_rack_200") plate_96 = create_96_well_plate("plate_96") waste = create_waste_container("waste") - + # 添加到工作台 deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0)) deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0)) deck.add_resource("plate_96", plate_96, (250, 50, 0)) deck.add_resource("waste", waste, (50, 150, 0)) - + except ImportError: # 如果资源模块不可用，创建空的工作台 logger.warning("资源模块不可用，创建空的工作台") - + return deck __all__ = [ "LaiYuLiquid", - "LaiYuLiquidBackend", + "LaiYuLiquidBackend", "LaiYuLiquidConfig", "LaiYuLiquidDeck", "LaiYuLiquidContainer", "LaiYuLiquidTipRack", "LaiYuLiquidError", "create_quick_setup", - "get_module_info" -] \ No newline at end of file + "get_module_info", +] diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 69b757b..32e370f 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -25,6 +25,8 @@ from pylabrobot.resources import ( Tip, ) +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class LiquidHandlerMiddleware(LiquidHandler): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8): @@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler): class LiquidHandlerAbstract(LiquidHandlerMiddleware): """Extended LiquidHandler with additional operations.""" support_touch_tip = True + _ros_node: BaseROS2DeviceNode def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): """Initialize a LiquidHandler. @@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): self.group_info = dict() super().__init__(backend, deck, simulator, channel_num) + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + @classmethod - def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]): """Set the liquid in a well.""" for well, liquid_name, volume in zip(wells, liquid_names, volumes): well.set_liquids([(liquid_name, volume)]) # type: ignore @@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): print(f"Waiting time: {msg}") print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}") - await asyncio.sleep(seconds) + await self._ros_node.sleep(seconds) if msg: print(f"Done: {msg}") print(f"Current time: {time.strftime('%H:%M:%S')}") diff --git a/unilabos/devices/pump_and_valve/runze_async.py b/unilabos/devices/pump_and_valve/runze_async.py index 9b8d649..7bc1115 100644 --- a/unilabos/devices/pump_and_valve/runze_async.py +++ b/unilabos/devices/pump_and_valve/runze_async.py @@ -8,6 +8,8 @@ import serial.tools.list_ports from serial import Serial from serial.serialutil import SerialException +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class RunzeSyringePumpMode(Enum): Normal = 0 @@ -77,6 +79,8 @@ class RunzeSyringePumpInfo: class RunzeSyringePumpAsync: + _ros_node: BaseROS2DeviceNode + def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None): self.port = port self.address = address @@ -102,6 +106,9 @@ class RunzeSyringePumpAsync: self._run_future: Optional[Future[Any]] = None self._run_lock = Lock() + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def _adjust_total_steps(self): self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000 self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000 @@ -182,7 +189,7 @@ class RunzeSyringePumpAsync: try: await self._query(command) while True: - await asyncio.sleep(0.5) # Wait for 0.5 seconds before polling again + await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again status = await self.query_device_status() if status == '`': @@ -364,7 +371,7 @@ class RunzeSyringePumpAsync: if self._read_task: raise RunzeSyringePumpConnectionError - self._read_task = asyncio.create_task(self._read_loop()) + self._read_task = self._ros_node.create_task(self._read_loop()) try: await self.query_device_status() diff --git a/unilabos/devices/virtual/virtual_centrifuge.py b/unilabos/devices/virtual/virtual_centrifuge.py index 79f9dce..afce45a 100644 --- a/unilabos/devices/virtual/virtual_centrifuge.py +++ b/unilabos/devices/virtual/virtual_centrifuge.py @@ -3,9 +3,13 @@ import logging import time as time_module from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualCentrifuge: """Virtual centrifuge device - 简化版，只保留核心功能""" + + _ros_node: BaseROS2DeviceNode def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): # 处理可能的不同调用方式 @@ -32,6 +36,9 @@ class VirtualCentrifuge: for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node async def initialize(self) -> bool: """Initialize virtual centrifuge""" @@ -132,7 +139,7 @@ class VirtualCentrifuge: break # 每秒更新一次 - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) # 离心完成 self.data.update({ diff --git a/unilabos/devices/virtual/virtual_column.py b/unilabos/devices/virtual/virtual_column.py index 892a320..539f302 100644 --- a/unilabos/devices/virtual/virtual_column.py +++ b/unilabos/devices/virtual/virtual_column.py @@ -2,9 +2,13 @@ import asyncio import logging from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualColumn: """Virtual column device for RunColumn protocol 🏛️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: @@ -28,6 +32,9 @@ class VirtualColumn: print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨") print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual column 🚀""" self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨") @@ -101,7 +108,7 @@ class VirtualColumn: step_time = separation_time / steps for i in range(steps): - await asyncio.sleep(step_time) + await self._ros_node.sleep(step_time) progress = (i + 1) / steps * 100 volume_processed = (i + 1) * 5.0 # 假设每步处理5mL diff --git a/unilabos/devices/virtual/virtual_filter.py b/unilabos/devices/virtual/virtual_filter.py index ffd8f54..98effc9 100644 --- a/unilabos/devices/virtual/virtual_filter.py +++ b/unilabos/devices/virtual/virtual_filter.py @@ -4,70 +4,76 @@ import time as time_module from typing import Dict, Any, Optional from unilabos.compile.utils.vessel_parser import get_vessel +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class VirtualFilter: """Virtual filter device - 完全按照 Filter.action 规范 🌊""" - + + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): - if device_id is None and 'id' in kwargs: - device_id = kwargs.pop('id') - if config is None and 'config' in kwargs: - config = kwargs.pop('config') - + if device_id is None and "id" in kwargs: + device_id = kwargs.pop("id") + if config is None and "config" in kwargs: + config = kwargs.pop("config") + self.device_id = device_id or "unknown_filter" self.config = config or {} self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}") self.data = {} - + # 从config或kwargs中获取配置参数 - self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL') - self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0) - self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0) - self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0) - + self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL") + self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0) + self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0) + self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0) + # 处理其他kwargs参数 - skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'} + skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"} for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) - + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual filter 🚀""" self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨") - + # 按照 Filter.action 的 feedback 字段初始化 - self.data.update({ - "status": "Idle", - "progress": 0.0, # Filter.action feedback - "current_temp": 25.0, # Filter.action feedback - "filtered_volume": 0.0, # Filter.action feedback - "message": "Ready for filtration" - }) - + self.data.update( + { + "status": "Idle", + "progress": 0.0, # Filter.action feedback + "current_temp": 25.0, # Filter.action feedback + "filtered_volume": 0.0, # Filter.action feedback + "message": "Ready for filtration", + } + ) + self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊") return True - + async def cleanup(self) -> bool: """Cleanup virtual filter 🧹""" self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚") - - self.data.update({ - "status": "Offline" - }) - + + self.data.update({"status": "Offline"}) + self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤") return True - + async def filter( - self, + self, vessel: dict, filtrate_vessel: dict = {}, - stir: bool = False, - stir_speed: float = 300.0, - temp: float = 25.0, - continue_heatchill: bool = False, - volume: float = 0.0 + stir: bool = False, + stir_speed: float = 300.0, + temp: float = 25.0, + continue_heatchill: bool = False, + volume: float = 0.0, ) -> bool: """Execute filter action - 完全按照 Filter.action 参数 🌊""" vessel_id, _ = get_vessel(vessel) @@ -79,59 +85,52 @@ class VirtualFilter: temp = 25.0 # 0度自动设置为室温 self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠") elif temp < 4.0: - temp = 4.0 # 小于4度自动设置为4度 + temp = 4.0 # 小于4度自动设置为4度 self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️") - + self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰") self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)") self.logger.info(f" 🌡️ 温度: {temp}°C") self.logger.info(f" 💧 体积: {volume}mL") self.logger.info(f" 🔥 保持加热: {continue_heatchill}") - + # 验证参数 if temp > self._max_temp or temp < 4.0: error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error: 温度超出范围 ⚠️", - "message": error_msg - }) + self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg}) return False - + if stir and stir_speed > self._max_stir_speed: error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error: 搅拌速度超出范围 ⚠️", - "message": error_msg - }) + self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg}) return False - + if volume > self._max_volume: error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error", - "message": error_msg - }) + self.data.update({"status": f"Error", "message": error_msg}) return False - + # 开始过滤 filter_volume = volume if volume > 0 else 50.0 self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧") - - self.data.update({ - "status": f"Running", - "current_temp": temp, - "filtered_volume": 0.0, - "progress": 0.0, - "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}" - }) - + + self.data.update( + { + "status": f"Running", + "current_temp": temp, + "filtered_volume": 0.0, + "progress": 0.0, + "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}", + } + ) + try: # 过滤过程 - 实时更新进度 start_time = time_module.time() - + # 根据体积和搅拌估算过滤时间 base_time = filter_volume / 5.0 # 5mL/s 基础速度 if stir: @@ -140,78 +139,79 @@ class VirtualFilter: if temp > 50.0: base_time *= 0.7 # 高温加速过滤 self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡") - + filter_time = max(base_time, 10.0) # 最少10秒 self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛") - + while True: current_time = time_module.time() elapsed = current_time - start_time remaining = max(0, filter_time - elapsed) progress = min(100.0, (elapsed / filter_time) * 100) current_filtered = (progress / 100.0) * filter_volume - + # 更新状态 - 按照 Filter.action feedback 字段 status_msg = f"🌊 过滤中: {vessel}" if stir: status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM" status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL" - - self.data.update({ - "progress": progress, # Filter.action feedback - "current_temp": temp, # Filter.action feedback - "filtered_volume": current_filtered, # Filter.action feedback - "status": "Running", - "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered" - }) - + + self.data.update( + { + "progress": progress, # Filter.action feedback + "current_temp": temp, # Filter.action feedback + "filtered_volume": current_filtered, # Filter.action feedback + "status": "Running", + "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered", + } + ) + # 进度日志（每25%打印一次） if progress >= 25 and progress % 25 < 1: self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨") - + if remaining <= 0: break - - await asyncio.sleep(1.0) - + + await self._ros_node.sleep(1.0) + # 过滤完成 final_temp = temp if continue_heatchill else 25.0 final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}" if continue_heatchill: final_status += " | 🔥 继续加热搅拌" self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️") - - self.data.update({ - "status": final_status, - "progress": 100.0, # Filter.action feedback - "current_temp": final_temp, # Filter.action feedback - "filtered_volume": filter_volume, # Filter.action feedback - "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}" - }) - + + self.data.update( + { + "status": final_status, + "progress": 100.0, # Filter.action feedback + "current_temp": final_temp, # Filter.action feedback + "filtered_volume": filter_volume, # Filter.action feedback + "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}", + } + ) + self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨") self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁") return True - + except Exception as e: error_msg = f"过滤过程中发生错误: {str(e)} 💥" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error", - "message": f"❌ Filtration failed: {str(e)}" - }) + self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"}) return False - + # === 核心状态属性 - 按照 Filter.action feedback 字段 === @property def status(self) -> str: return self.data.get("status", "❓ Unknown") - + @property def progress(self) -> float: """Filter.action feedback 字段 📊""" return self.data.get("progress", 0.0) - + @property def current_temp(self) -> float: """Filter.action feedback 字段 🌡️""" @@ -230,15 +230,15 @@ class VirtualFilter: @property def message(self) -> str: return self.data.get("message", "") - + @property def max_temp(self) -> float: return self._max_temp - + @property def max_stir_speed(self) -> float: return self._max_stir_speed - + @property def max_volume(self) -> float: - return self._max_volume \ No newline at end of file + return self._max_volume diff --git a/unilabos/devices/virtual/virtual_heatchill.py b/unilabos/devices/virtual/virtual_heatchill.py index 2f7e555..29a9fd2 100644 --- a/unilabos/devices/virtual/virtual_heatchill.py +++ b/unilabos/devices/virtual/virtual_heatchill.py @@ -3,9 +3,13 @@ import logging import time as time_module # 重命名time模块，避免与参数冲突 from typing import Dict, Any +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualHeatChill: """Virtual heat chill device for HeatChillProtocol testing 🌡️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: @@ -35,6 +39,9 @@ class VirtualHeatChill: print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨") print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual heat chill 🚀""" self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨") @@ -177,7 +184,7 @@ class VirtualHeatChill: break # 等待1秒后再次检查 - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) # 操作完成 final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else "" diff --git a/unilabos/devices/virtual/virtual_rotavap.py b/unilabos/devices/virtual/virtual_rotavap.py index 23e24b7..5e85d35 100644 --- a/unilabos/devices/virtual/virtual_rotavap.py +++ b/unilabos/devices/virtual/virtual_rotavap.py @@ -3,13 +3,19 @@ import logging import time as time_module from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + + def debug_print(message): """调试输出 🔍""" print(f"🌪️ [ROTAVAP] {message}", flush=True) + class VirtualRotavap: """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and "id" in kwargs: @@ -38,56 +44,65 @@ class VirtualRotavap: print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨") print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual rotary evaporator 🚀""" self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨") - + # 只保留核心状态 - self.data.update({ - "status": "🏠 待机中", - "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error - "current_temp": 25.0, - "target_temp": 25.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, # 大气压 - "evaporated_volume": 0.0, - "progress": 0.0, - "remaining_time": 0.0, - "message": "🌪️ Ready for evaporation" - }) - + self.data.update( + { + "status": "🏠 待机中", + "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error + "current_temp": 25.0, + "target_temp": 25.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, # 大气压 + "evaporated_volume": 0.0, + "progress": 0.0, + "remaining_time": 0.0, + "message": "🌪️ Ready for evaporation", + } + ) + self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️") - self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM") + self.logger.info( + f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM" + ) return True async def cleanup(self) -> bool: """Cleanup virtual rotary evaporator 🧹""" self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚") - - self.data.update({ - "status": "💤 离线", - "rotavap_state": "Offline", - "current_temp": 25.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, - "message": "💤 System offline" - }) - + + self.data.update( + { + "status": "💤 离线", + "rotavap_state": "Offline", + "current_temp": 25.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, + "message": "💤 System offline", + } + ) + self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤") return True async def evaporate( - self, - vessel: str, - pressure: float = 0.1, - temp: float = 60.0, + self, + vessel: str, + pressure: float = 0.1, + temp: float = 60.0, time: float = 180.0, stir_speed: float = 100.0, solvent: str = "", - **kwargs + **kwargs, ) -> bool: """Execute evaporate action - 简化版 🌪️""" - + # 🔧 新增：确保time参数是数值类型 if isinstance(time, str): try: @@ -98,31 +113,31 @@ class VirtualRotavap: elif not isinstance(time, (int, float)): self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒") time = 180.0 - + # 确保time是float类型; 并加速 time = float(time) / 10.0 - + # 🔧 简化处理：如果vessel就是设备自己，直接操作 if vessel == self.device_id: debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作") actual_vessel = self.device_id else: actual_vessel = vessel - + # 参数预处理 if solvent: self.logger.info(f"🧪 识别到溶剂: {solvent}") # 根据溶剂调整参数 solvent_lower = solvent.lower() - if any(s in solvent_lower for s in ['water', 'aqueous']): + if any(s in solvent_lower for s in ["water", "aqueous"]): temp = max(temp, 80.0) pressure = max(pressure, 0.2) self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") - elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']): + elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]): temp = min(temp, 50.0) pressure = min(pressure, 0.05) self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") - + self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}") self.logger.info(f" 🥽 容器: {actual_vessel}") self.logger.info(f" 🌡️ 温度: {temp}°C") @@ -131,126 +146,140 @@ class VirtualRotavap: self.logger.info(f" 🌀 转速: {stir_speed} RPM") if solvent: self.logger.info(f" 🧪 溶剂: {solvent}") - + # 验证参数 if temp > self._max_temp or temp < 10.0: error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"❌ 错误: 温度超出范围", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": error_msg - }) + self.data.update( + { + "status": f"❌ 错误: 温度超出范围", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": error_msg, + } + ) return False if stir_speed > self._max_rotation_speed or stir_speed < 10.0: error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"❌ 错误: 转速超出范围", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": error_msg - }) + self.data.update( + { + "status": f"❌ 错误: 转速超出范围", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": error_msg, + } + ) return False if pressure < 0.01 or pressure > 1.0: error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"❌ 错误: 压力超出范围", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": error_msg - }) + self.data.update( + { + "status": f"❌ 错误: 压力超出范围", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": error_msg, + } + ) return False # 开始蒸发 - 🔧 现在time已经确保是float类型 self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️") - - self.data.update({ - "status": f"🌪️ 蒸发中: {actual_vessel}", - "rotavap_state": "Evaporating", - "current_temp": temp, - "target_temp": temp, - "rotation_speed": stir_speed, - "vacuum_pressure": pressure, - "remaining_time": time, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM" - }) + + self.data.update( + { + "status": f"🌪️ 蒸发中: {actual_vessel}", + "rotavap_state": "Evaporating", + "current_temp": temp, + "target_temp": temp, + "rotation_speed": stir_speed, + "vacuum_pressure": pressure, + "remaining_time": time, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM", + } + ) try: # 蒸发过程 - 实时更新进度 start_time = time_module.time() total_time = time last_logged_progress = 0 - + while True: current_time = time_module.time() elapsed = current_time - start_time remaining = max(0, total_time - elapsed) progress = min(100.0, (elapsed / total_time) * 100) - + # 模拟蒸发体积 - 根据溶剂类型调整 - if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): + if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]): evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢 - elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): + elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]): evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快 else: evaporated_vol = progress * 0.8 # 默认蒸发量 - + # 🔧 更新状态 - 确保包含所有必需字段 status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s" - - self.data.update({ - "remaining_time": remaining, - "progress": progress, - "evaporated_volume": evaporated_vol, - "current_temp": temp, - "status": status_msg, - "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining" - }) - + + self.data.update( + { + "remaining_time": remaining, + "progress": progress, + "evaporated_volume": evaporated_vol, + "current_temp": temp, + "status": status_msg, + "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining", + } + ) + # 进度日志（每25%打印一次） if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress: - self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨") + self.logger.info( + f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨" + ) last_logged_progress = int(progress) - + # 时间到了，退出循环 if remaining <= 0: break - + # 每秒更新一次 - await asyncio.sleep(1.0) - + await self._ros_node.sleep(1.0) + # 蒸发完成 - if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): + if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]): final_evaporated = 60.0 # 水系溶剂 - elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): + elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]): final_evaporated = 100.0 # 易挥发溶剂 else: final_evaporated = 80.0 # 默认 - - self.data.update({ - "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL", - "rotavap_state": "Completed", - "evaporated_volume": final_evaporated, - "progress": 100.0, - "current_temp": temp, - "remaining_time": 0.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, - "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}" - }) + + self.data.update( + { + "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL", + "rotavap_state": "Completed", + "evaporated_volume": final_evaporated, + "progress": 100.0, + "current_temp": temp, + "remaining_time": 0.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, + "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}", + } + ) self.logger.info(f"🎉 蒸发操作完成! ✨") self.logger.info(f"📊 蒸发结果:") @@ -262,24 +291,26 @@ class VirtualRotavap: self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s") if solvent: self.logger.info(f" 🧪 处理溶剂: {solvent} 🏁") - + return True except Exception as e: # 出错处理 error_msg = f"蒸发过程中发生错误: {str(e)} 💥" self.logger.error(f"❌ {error_msg}") - - self.data.update({ - "status": f"❌ 蒸发错误: {str(e)}", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, - "message": f"❌ Evaporation failed: {str(e)}" - }) + + self.data.update( + { + "status": f"❌ 蒸发错误: {str(e)}", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, + "message": f"❌ Evaporation failed: {str(e)}", + } + ) return False # === 核心状态属性 === diff --git a/unilabos/devices/virtual/virtual_separator.py b/unilabos/devices/virtual/virtual_separator.py index e1c4612..0f266ce 100644 --- a/unilabos/devices/virtual/virtual_separator.py +++ b/unilabos/devices/virtual/virtual_separator.py @@ -2,9 +2,13 @@ import asyncio import logging from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualSeparator: """Virtual separator device for SeparateProtocol testing""" + + _ros_node: BaseROS2DeviceNode def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): # 处理可能的不同调用方式 @@ -35,6 +39,9 @@ class VirtualSeparator: for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node async def initialize(self) -> bool: """Initialize virtual separator""" @@ -119,14 +126,14 @@ class VirtualSeparator: for repeat in range(repeats): # 搅拌阶段 for progress in range(0, 51, 10): - await asyncio.sleep(simulation_time / (repeats * 10)) + await self._ros_node.sleep(simulation_time / (repeats * 10)) overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats self.data["progress"] = overall_progress self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)" # 静置分相阶段 for progress in range(50, 101, 10): - await asyncio.sleep(simulation_time / (repeats * 10)) + await self._ros_node.sleep(simulation_time / (repeats * 10)) overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats self.data["progress"] = overall_progress self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)" diff --git a/unilabos/devices/virtual/virtual_solenoid_valve.py b/unilabos/devices/virtual/virtual_solenoid_valve.py index e019424..26970cb 100644 --- a/unilabos/devices/virtual/virtual_solenoid_valve.py +++ b/unilabos/devices/virtual/virtual_solenoid_valve.py @@ -2,11 +2,16 @@ import time import asyncio from typing import Union +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualSolenoidValve: """ 虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态 """ + + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: dict = None, **kwargs): # 从配置中获取参数，提供默认值 if config is None: @@ -21,6 +26,9 @@ class VirtualSolenoidValve: self._status = "Idle" self._valve_state = "Closed" # "Open" or "Closed" self._is_open = False + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node async def initialize(self) -> bool: """初始化设备""" @@ -63,7 +71,7 @@ class VirtualSolenoidValve: self._status = "Busy" # 模拟阀门响应时间 - await asyncio.sleep(self.response_time) + await self._ros_node.sleep(self.response_time) # 处理不同的命令格式 if isinstance(command, str): diff --git a/unilabos/devices/virtual/virtual_solid_dispenser.py b/unilabos/devices/virtual/virtual_solid_dispenser.py index f8c14a7..6318261 100644 --- a/unilabos/devices/virtual/virtual_solid_dispenser.py +++ b/unilabos/devices/virtual/virtual_solid_dispenser.py @@ -3,6 +3,8 @@ import logging import re from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualSolidDispenser: """ 虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️ @@ -13,6 +15,8 @@ class VirtualSolidDispenser: - 简单反馈：成功/失败 + 消息 📊 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): self.device_id = device_id or "virtual_solid_dispenser" self.config = config or {} @@ -32,6 +36,9 @@ class VirtualSolidDispenser: print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨") print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """初始化固体加样器 🚀""" self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨") @@ -263,7 +270,7 @@ class VirtualSolidDispenser: for i in range(steps): progress = (i + 1) / steps * 100 - await asyncio.sleep(step_time) + await self._ros_node.sleep(step_time) if i % 2 == 0: # 每隔一步显示进度 self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...") diff --git a/unilabos/devices/virtual/virtual_stirrer.py b/unilabos/devices/virtual/virtual_stirrer.py index cccf61e..8e95617 100644 --- a/unilabos/devices/virtual/virtual_stirrer.py +++ b/unilabos/devices/virtual/virtual_stirrer.py @@ -3,9 +3,13 @@ import logging import time as time_module from typing import Dict, Any +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualStirrer: """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: @@ -34,6 +38,9 @@ class VirtualStirrer: print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨") print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual stirrer 🚀""" self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨") @@ -134,7 +141,7 @@ class VirtualStirrer: if remaining <= 0: break - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s") @@ -176,7 +183,7 @@ class VirtualStirrer: if remaining <= 0: break - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s") diff --git a/unilabos/devices/virtual/virtual_transferpump.py b/unilabos/devices/virtual/virtual_transferpump.py index 1187db5..7b8eea8 100644 --- a/unilabos/devices/virtual/virtual_transferpump.py +++ b/unilabos/devices/virtual/virtual_transferpump.py @@ -4,6 +4,8 @@ from enum import Enum from typing import Union, Optional import logging +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualPumpMode(Enum): Normal = 0 @@ -14,6 +16,8 @@ class VirtualPumpMode(Enum): class VirtualTransferPump: """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: dict = None, **kwargs): """ 初始化虚拟转移泵 @@ -53,6 +57,9 @@ class VirtualTransferPump: print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s") print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """初始化虚拟泵 🚀""" self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨") @@ -104,7 +111,7 @@ class VirtualTransferPump: async def _simulate_operation(self, duration: float): """模拟操作延时 ⏱️""" self._status = "Busy" - await asyncio.sleep(duration) + await self._ros_node.sleep(duration) self._status = "Idle" def _calculate_duration(self, volume: float, velocity: float = None) -> float: @@ -223,7 +230,7 @@ class VirtualTransferPump: # 等待一小步时间 if i < steps and step_duration > 0: - await asyncio.sleep(step_duration) + await self._ros_node.sleep(step_duration) else: # 移动距离很小，直接完成 self._position = target_position @@ -341,7 +348,7 @@ class VirtualTransferPump: # 短暂停顿 self.logger.debug("⏸️ 短暂停顿...") - await asyncio.sleep(0.1) + await self._ros_node.sleep(0.1) # 排液 await self.dispense(volume, dispense_velocity) From 6d934e354cd6d47967da9f521e1a2ddccbd8f413 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 3 Nov 2025 16:31:37 +0800 Subject: [PATCH 063/104] adjust with_children param --- unilabos/ros/nodes/base_device_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 2fc7ea7..19503fd 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -656,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ].call_async( SerialCommand.Request( command=json.dumps( - {"data": {"data": resources_uuid, "with_children": False}, "action": "get"} + {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"} ) ) ) # type: ignore From 86c7880b5c11b7d5c5052a38a3d9c6680ed10d04 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 14:46:27 +0800 Subject: [PATCH 064/104] disable slave connect websocket --- unilabos/app/main.py | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/unilabos/app/main.py b/unilabos/app/main.py index c646518..db15e2c 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -375,22 +375,23 @@ def main(): args_dict["bridges"] = [] - # 获取通信客户端（仅支持WebSocket） - comm_client = get_communication_client() - - if "websocket" in args_dict["app_bridges"]: - args_dict["bridges"].append(comm_client) if "fastapi" in args_dict["app_bridges"]: args_dict["bridges"].append(http_client) - if "websocket" in args_dict["app_bridges"]: + # 获取通信客户端（仅支持WebSocket） + if BasicConfig.is_host_mode: + comm_client = get_communication_client() + if "websocket" in args_dict["app_bridges"]: + args_dict["bridges"].append(comm_client) + def _exit(signum, frame): + comm_client.stop() + sys.exit(0) - def _exit(signum, frame): - comm_client.stop() - sys.exit(0) + signal.signal(signal.SIGINT, _exit) + signal.signal(signal.SIGTERM, _exit) + comm_client.start() + else: + print_status("SlaveMode跳过Websocket连接") - signal.signal(signal.SIGINT, _exit) - signal.signal(signal.SIGTERM, _exit) - comm_client.start() args_dict["resources_mesh_config"] = {} args_dict["resources_edge_config"] = resource_edge_info # web visiualize 2D From 83854a741df4befebae46029a38c95690545f901 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 14:52:09 +0800 Subject: [PATCH 065/104] correct remove_resource stats --- unilabos/ros/nodes/resource_tracker.py | 41 ++++++++++++++++++++------ 1 file changed, 32 insertions(+), 9 deletions(-) diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index c958fe7..fc3ca7a 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -2,7 +2,7 @@ import traceback import uuid from pydantic import BaseModel, field_serializer, field_validator from pydantic import Field -from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING +from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union from unilabos.utils.log import logger @@ -927,7 +927,7 @@ class DeviceNodeResourceTracker(object): """ 递归遍历资源树，更新所有节点的uuid - Args:0 + Args: resource: 资源对象（可以是dict或实例） uuid_map: uuid映射字典，{old_uuid: new_uuid} @@ -952,6 +952,27 @@ class DeviceNodeResourceTracker(object): return self._traverse_and_process(resource, process) + def loop_gather_uuid(self, resource) -> List[str]: + """ + 递归遍历资源树，收集所有节点的uuid + + Args: + resource: 资源对象（可以是dict或实例） + + Returns: + 收集到的uuid列表 + """ + uuid_list = [] + + def process(res): + current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") + if current_uuid: + uuid_list.append(current_uuid) + return 0 + + self._traverse_and_process(resource, process) + return uuid_list + def _collect_uuid_mapping(self, resource): """ 递归收集资源的 uuid 映射到 uuid_to_resources @@ -972,7 +993,7 @@ class DeviceNodeResourceTracker(object): self._traverse_and_process(resource, process) - def _remove_uuid_mapping(self, resource): + def _remove_uuid_mapping(self, resource) -> int: """ 递归清除资源的 uuid 映射 @@ -985,9 +1006,10 @@ class DeviceNodeResourceTracker(object): if current_uuid and current_uuid in self.uuid_to_resources: self.uuid_to_resources.pop(current_uuid) logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}") + return 1 return 0 - self._traverse_and_process(resource, process) + return self._traverse_and_process(resource, process) def parent_resource(self, resource): if id(resource) in self.resource2parent_resource: @@ -1042,13 +1064,12 @@ class DeviceNodeResourceTracker(object): removed = True break - if not removed: + # 递归清除uuid映射 + count = self._remove_uuid_mapping(resource) + if not count: logger.warning(f"尝试移除不存在的资源: {resource}") return False - # 递归清除uuid映射 - self._remove_uuid_mapping(resource) - # 清除 resource2parent_resource 中与该资源相关的映射 # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射 keys_to_remove = [] @@ -1071,7 +1092,9 @@ class DeviceNodeResourceTracker(object): self.uuid_to_resources.clear() self.resource2parent_resource.clear() - def figure_resource(self, query_resource, try_mode=False): + def figure_resource( + self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False + ) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]: if isinstance(query_resource, list): return [self.figure_resource(r, try_mode) for r in query_resource] elif ( From baa107c2300579a1f64aa678b47f9e68b0845486 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 15:04:53 +0800 Subject: [PATCH 066/104] change uuid logger to trace level --- .../devices/liquid_handling/liquid_handler_abstract.py | 10 +++++----- unilabos/ros/nodes/resource_tracker.py | 8 +++++--- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 32e370f..6aefaf3 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1,11 +1,11 @@ from __future__ import annotations -import re -import traceback -from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast -from collections import Counter + import asyncio import time -import pprint as pp +import traceback +from collections import Counter +from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast + from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod from pylabrobot.liquid_handling.standard import GripDirection diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index fc3ca7a..085ce02 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -894,7 +894,7 @@ class DeviceNodeResourceTracker(object): new_uuid = name_to_uuid_map[resource_name] self.set_resource_uuid(res, new_uuid) self.uuid_to_resources[new_uuid] = res - logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}") + logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}") return 1 return 0 @@ -917,7 +917,8 @@ class DeviceNodeResourceTracker(object): if resource_name and resource_name in name_to_extra_map: extra = name_to_extra_map[resource_name] self.set_resource_extra(res, extra) - logger.debug(f"设置资源Extra: {resource_name} -> {extra}") + if len(extra): + logger.debug(f"设置资源Extra: {resource_name} -> {extra}") return 1 return 0 @@ -986,9 +987,10 @@ class DeviceNodeResourceTracker(object): if current_uuid: old = self.uuid_to_resources.get(current_uuid) self.uuid_to_resources[current_uuid] = res - logger.debug( + logger.trace( f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}" ) + return 1 return 0 self._traverse_and_process(resource, process) From af2fb7f34a65eed7fe68c8e01c6cde56b6559c52 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 16:11:27 +0800 Subject: [PATCH 067/104] enable slave mode --- unilabos/app/backend.py | 4 +- unilabos/app/register.py | 5 +- unilabos/ros/main_slave_run.py | 130 +++++++++++++----------- unilabos/ros/nodes/presets/host_node.py | 21 ++-- unilabos/ros/nodes/resource_tracker.py | 2 +- unilabos/utils/log.py | 3 +- 6 files changed, 90 insertions(+), 75 deletions(-) diff --git a/unilabos/app/backend.py b/unilabos/app/backend.py index d43b954..b2bc0af 100644 --- a/unilabos/app/backend.py +++ b/unilabos/app/backend.py @@ -13,7 +13,7 @@ def start_backend( graph=None, controllers_config: dict = {}, bridges=[], - without_host: bool = False, + is_slave: bool = False, visual: str = "None", resources_mesh_config: dict = {}, **kwargs, @@ -32,7 +32,7 @@ def start_backend( raise ValueError(f"Unsupported backend: {backend}") backend_thread = threading.Thread( - target=main if not without_host else slave, + target=main if not is_slave else slave, args=( devices_config, resources_config, diff --git a/unilabos/app/register.py b/unilabos/app/register.py index f456183..633df98 100644 --- a/unilabos/app/register.py +++ b/unilabos/app/register.py @@ -1,11 +1,12 @@ import json import time +from typing import Optional, Tuple, Dict, Any from unilabos.utils.log import logger from unilabos.utils.type_check import TypeEncoder -def register_devices_and_resources(lab_registry): +def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]: """ 注册设备和资源到服务器（仅支持HTTP） """ @@ -28,6 +29,8 @@ def register_devices_and_resources(lab_registry): resources_to_register[resource_info["id"]] = resource_info logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}") + if gather_only: + return devices_to_register, resources_to_register # 注册设备 if devices_to_register: try: diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index d9ad368..1ded6da 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -6,11 +6,12 @@ from typing import Optional, Dict, Any, List import rclpy from unilabos_msgs.srv._serial_command import SerialCommand_Response +from unilabos.app.register import register_devices_and_resources from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.srv import SerialCommand # type: ignore -from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor +from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node from rclpy.timer import Timer @@ -108,66 +109,51 @@ def slave( rclpy_init_args: List[str] = ["--log-level", "debug"], ) -> None: """从节点函数""" + # 1. 初始化 ROS2 if not rclpy.ok(): rclpy.init(args=rclpy_init_args) executor = rclpy.__executor if not executor: executor = rclpy.__executor = MultiThreadedExecutor() - devices_instances = {} - for device_config in devices_config.root_nodes: - device_id = device_config.res_content.id - if device_config.res_content.type != "device": - d = initialize_device_from_dict(device_id, device_config.get_nested_dict()) - devices_instances[device_id] = d - # 默认初始化 - # if d is not None and isinstance(d, Node): - # executor.add_node(d) - # else: - # print(f"Warning: Device {device_id} could not be initialized or is not a valid Node") - n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[]) - executor.add_node(n) - - if visual != "disable": - from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher - - resource_mesh_manager = ResourceMeshManager( - resources_mesh_config, - resources_config, # type: ignore FIXME - resource_tracker=DeviceNodeResourceTracker(), - device_id="resource_mesh_manager", - ) - joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker()) - - executor.add_node(resource_mesh_manager) - executor.add_node(joint_republisher) + # 1.5 启动 executor 线程 thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread") thread.start() + # 2. 创建 Slave Machine Node + n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[]) + executor.add_node(n) + + # 3. 向 Host 报送节点信息和物料，获取 UUID 映射 + uuid_mapping = {} if not BasicConfig.slave_no_host: + # 3.1 报送节点信息 sclient = n.create_client(SerialCommand, "/node_info_update") sclient.wait_for_service() + registry_config = {} + devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True) + registry_config.update(devices_to_register) + registry_config.update(resources_to_register) request = SerialCommand.Request() request.command = json.dumps( { "machine_name": BasicConfig.machine_name, "type": "slave", "devices_config": devices_config.dump(), - "registry_config": lab_registry.obtain_registry_device_info(), + "registry_config": registry_config, }, ensure_ascii=False, cls=TypeEncoder, ) - response = sclient.call_async(request).result() + sclient.call_async(request).result() logger.info(f"Slave node info updated.") - # 使用新的 c2s_update_resource_tree 服务 - rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree") - rclient.wait_for_service() - - # 序列化 ResourceTreeSet 为 JSON + # 3.2 报送物料树，获取 UUID 映射 if resources_config: + rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree") + rclient.wait_for_service() + request = SerialCommand.Request() request.command = json.dumps( { @@ -180,35 +166,61 @@ def slave( }, ensure_ascii=False, ) - tree_response: SerialCommand_Response = rclient.call_async(request).result() + tree_response: SerialCommand_Response = rclient.call(request) uuid_mapping = json.loads(tree_response.response) - # 创建反向映射：new_uuid -> old_uuid - reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()} - for node in resources_config.root_nodes: - if node.res_content.type == "device": - for sub_node in node.children: - # 只有二级子设备 - if sub_node.res_content.type != "device": - device_tracker = devices_instances[node.res_content.id].resource_tracker - # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找 - old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid) - if old_uuid: - # 找到旧UUID，使用UUID查找 - resource_instance = device_tracker.figure_resource({"uuid": old_uuid}) - else: - # 未找到旧UUID，使用name查找 - resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name}) - device_tracker.loop_update_uuid(resource_instance, uuid_mapping) + logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes") + + # 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑） + old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes} + for old_uuid, node in old_uuids.items(): + if old_uuid in uuid_mapping: + new_uuid = uuid_mapping[old_uuid] + node.res_content.uuid = new_uuid + # 更新所有子节点的 parent_uuid + for child in node.children: + child.res_content.parent_uuid = new_uuid else: - logger.error("Slave模式不允许新增非设备节点下的物料") - continue - if tree_response: - logger.info(f"Slave resource tree added. Response: {tree_response.response}") - else: - logger.warning("Slave resource tree add response is None") + logger.warning(f"资源UUID未更新: {old_uuid}") else: logger.info("No resources to add.") + # 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新） + devices_instances = {} + for device_config in devices_config.root_nodes: + device_id = device_config.res_content.id + if device_config.res_content.type == "device": + d = initialize_device_from_dict(device_id, device_config.get_nested_dict()) + if d is not None: + devices_instances[device_id] = d + logger.info(f"Device {device_id} initialized.") + else: + logger.warning(f"Device {device_id} initialization failed.") + + # 5. 如果启用可视化，创建可视化相关节点 + if visual != "disable": + from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher + + # 将 ResourceTreeSet 转换为 list 用于 visual 组件 + resources_list = ( + [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes] + if resources_config + else [] + ) + resource_mesh_manager = ResourceMeshManager( + resources_mesh_config, + resources_list, + resource_tracker=DeviceNodeResourceTracker(), + device_id="resource_mesh_manager", + ) + joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker()) + lh_joint_pub = LiquidHandlerJointPublisher( + resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker() + ) + executor.add_node(resource_mesh_manager) + executor.add_node(joint_republisher) + executor.add_node(lh_joint_pub) + + # 7. 保持运行 while True: time.sleep(1) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 346cf9c..5c43a5d 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -878,11 +878,10 @@ class HostNode(BaseROS2DeviceNode): success = False uuid_mapping = {} if len(self.bridges) > 0: - from unilabos.app.web.client import HTTPClient + from unilabos.app.web.client import HTTPClient, http_client - client: HTTPClient = self.bridges[-1] resource_start_time = time.time() - uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add) + uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add) success = True resource_end_time = time.time() self.lab_logger().info( @@ -990,9 +989,10 @@ class HostNode(BaseROS2DeviceNode): """ 更新节点信息回调 """ - self.lab_logger().info(f"[Host Node] Node info update request received: {request}") + # self.lab_logger().info(f"[Host Node] Node info update request received: {request}") try: from unilabos.app.communication import get_communication_client + from unilabos.app.web.client import HTTPClient, http_client info = json.loads(request.command) if "SYNC_SLAVE_NODE_INFO" in info: @@ -1001,10 +1001,10 @@ class HostNode(BaseROS2DeviceNode): edge_device_id = info["edge_device_id"] self.device_machine_names[edge_device_id] = machine_name else: - comm_client = get_communication_client() - registry_config = info["registry_config"] - for device_config in registry_config: - comm_client.publish_registry(device_config["id"], device_config) + devices_config = info.pop("devices_config") + registry_config = info.pop("registry_config") + if registry_config: + http_client.resource_registry({"resources": registry_config}) self.lab_logger().debug(f"[Host Node] Node info update: {info}") response.response = "OK" except Exception as e: @@ -1030,10 +1030,9 @@ class HostNode(BaseROS2DeviceNode): success = False if len(self.bridges) > 0: # 边的提交待定 - from unilabos.app.web.client import HTTPClient + from unilabos.app.web.client import HTTPClient, http_client - client: HTTPClient = self.bridges[-1] - r = client.resource_add(add_schema(resources)) + r = http_client.resource_add(add_schema(resources)) success = bool(r) response.success = success diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index 085ce02..ce23a5b 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -1007,7 +1007,7 @@ class DeviceNodeResourceTracker(object): current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") if current_uuid and current_uuid in self.uuid_to_resources: self.uuid_to_resources.pop(current_uuid) - logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}") + logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}") return 1 return 0 diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index 74442a6..3894233 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -191,7 +191,8 @@ def configure_logger(loglevel=None): # 添加处理器到根日志记录器 root_logger.addHandler(console_handler) - + logging.getLogger("asyncio").setLevel(logging.INFO) + logging.getLogger("urllib3").setLevel(logging.INFO) # 配置日志系统 configure_logger() From 5f859917d48779b3cc83e7cc8331413267c0f726 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 19:57:16 +0800 Subject: [PATCH 068/104] support name change during materials change --- unilabos/ros/nodes/base_device_node.py | 221 ++++++++++++++++++------- 1 file changed, 160 insertions(+), 61 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 19503fd..febc95f 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -638,6 +638,147 @@ class BaseROS2DeviceNode(Node, Generic[T]): - remove: 从资源树中移除资源 """ from pylabrobot.resources.resource import Resource as ResourcePLR + + def _handle_add( + plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + ) -> Dict[str, Any]: + """ + 处理资源添加操作的内部函数 + + Args: + plr_resources: PLR资源列表 + tree_set: 资源树集合 + additional_add_params: 额外的添加参数 + + Returns: + 操作结果字典 + """ + for plr_resource, tree in zip(plr_resources, tree_set.trees): + self.resource_tracker.add_resource(plr_resource) + self.transfer_to_new_resource(plr_resource, tree, additional_add_params) + + func = getattr(self.driver_instance, "resource_tree_add", None) + if callable(func): + func(plr_resources) + + return {"success": True, "action": "add"} + + def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]: + """ + 处理资源移除操作的内部函数 + + Args: + resources_uuid: 要移除的资源UUID列表 + + Returns: + 操作结果字典，包含移除的资源列表 + """ + found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( + [{"uuid": uid} for uid in resources_uuid], try_mode=True + ) + found_plr_resources = [] + other_plr_resources = [] + + for found_resource in found_resources: + for resource in found_resource: + if issubclass(resource.__class__, ResourcePLR): + found_plr_resources.append(resource) + else: + other_plr_resources.append(resource) + + # 调用driver的remove回调 + func = getattr(self.driver_instance, "resource_tree_remove", None) + if callable(func): + func(found_plr_resources) + + # 从parent卸载并从tracker移除 + for plr_resource in found_plr_resources: + if plr_resource.parent is not None: + plr_resource.parent.unassign_child_resource(plr_resource) + self.resource_tracker.remove_resource(plr_resource) + self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") + + for other_plr_resource in other_plr_resources: + self.resource_tracker.remove_resource(other_plr_resource) + self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") + + return { + "success": True, + "action": "remove", + "removed_plr": found_plr_resources, + "removed_other": other_plr_resources, + } + + def _handle_update( + plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + ) -> Dict[str, Any]: + """ + 处理资源更新操作的内部函数 + + Args: + plr_resources: PLR资源列表（包含新状态） + tree_set: 资源树集合 + additional_add_params: 额外的参数 + + Returns: + 操作结果字典 + """ + for plr_resource, tree in zip(plr_resources, tree_set.trees): + states = plr_resource.serialize_all_state() + original_instance: ResourcePLR = self.resource_tracker.figure_resource( + {"uuid": tree.root_node.res_content.uuid}, try_mode=False + ) + + # Update操作中包含改名：需要先remove再add + if original_instance.name != plr_resource.name: + old_name = original_instance.name + new_name = plr_resource.name + self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") + + # 收集所有相关的uuid（包括子节点） + all_uuids = self.resource_tracker.loop_gather_uuid(original_instance) + _handle_remove(all_uuids) + original_instance.name = new_name + _handle_add([original_instance], tree_set, additional_add_params) + + self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") + continue + + # 常规更新：不涉及改名 + original_parent_resource = original_instance.parent + original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) + target_parent_resource_uuid = tree.root_node.res_content.uuid_parent + + self.lab_logger().info( + f"物料{original_instance} 原始父节点{original_parent_resource_uuid} " + f"目标父节点{target_parent_resource_uuid} 更新" + ) + + # 更新extra + if getattr(plr_resource, "unilabos_extra", None) is not None: + original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501 + + # 如果父节点变化，需要重新挂载 + if ( + original_parent_resource_uuid != target_parent_resource_uuid + and original_parent_resource is not None + ): + self.transfer_to_new_resource(original_instance, tree, additional_add_params) + + # 加载状态 + original_instance.load_all_state(states) + child_count = len(original_instance.get_all_children()) + self.lab_logger().info( + f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" + ) + + # 调用driver的update回调 + func = getattr(self.driver_instance, "resource_tree_update", None) + if callable(func): + func(plr_resources) + + return {"success": True, "action": "update"} + try: data = json.loads(req.command) results = [] @@ -664,68 +805,20 @@ class BaseROS2DeviceNode(Node, Generic[T]): tree_set = ResourceTreeSet.from_raw_list(raw_nodes) try: if action == "add": - # 添加资源到资源跟踪器 + if tree_set is None: + raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - for plr_resource, tree in zip(plr_resources, tree_set.trees): - self.resource_tracker.add_resource(plr_resource) - self.transfer_to_new_resource(plr_resource, tree, additional_add_params) - func = getattr(self.driver_instance, "resource_tree_add", None) - if callable(func): - func(plr_resources) - results.append({"success": True, "action": "add"}) + result = _handle_add(plr_resources, tree_set, additional_add_params) + results.append(result) elif action == "update": - # 更新资源 + if tree_set is None: + raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - for plr_resource, tree in zip(plr_resources, tree_set.trees): - states = plr_resource.serialize_all_state() - original_instance: ResourcePLR = self.resource_tracker.figure_resource( - {"uuid": tree.root_node.res_content.uuid}, try_mode=False - ) - original_parent_resource = original_instance.parent - original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) - target_parent_resource_uuid = tree.root_node.res_content.uuid_parent - self.lab_logger().info( - f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新" - ) - # todo: 对extra进行update - if getattr(plr_resource, "unilabos_extra", None) is not None: - original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") - if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None: - self.transfer_to_new_resource(original_instance, tree, additional_add_params) - original_instance.load_all_state(states) - self.lab_logger().info( - f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个" - ) - - func = getattr(self.driver_instance, "resource_tree_update", None) - if callable(func): - func(plr_resources) - results.append({"success": True, "action": "update"}) + result = _handle_update(plr_resources, tree_set, additional_add_params) + results.append(result) elif action == "remove": - # 移除资源 - found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( - [{"uuid": uid} for uid in resources_uuid], try_mode=True - ) - found_plr_resources = [] - other_plr_resources = [] - for found_resource in found_resources: - for resource in found_resource: - if issubclass(resource.__class__, ResourcePLR): - found_plr_resources.append(resource) - else: - other_plr_resources.append(resource) - func = getattr(self.driver_instance, "resource_tree_remove", None) - if callable(func): - func(found_plr_resources) - for plr_resource in found_plr_resources: - if plr_resource.parent is not None: - plr_resource.parent.unassign_child_resource(plr_resource) - self.resource_tracker.remove_resource(plr_resource) - self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") - for other_plr_resource in other_plr_resources: - self.resource_tracker.remove_resource(other_plr_resource) - self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") - results.append({"success": True, "action": "remove"}) + result = _handle_remove(resources_uuid) + results.append(result) except Exception as e: error_msg = f"Error processing {action} operation: {str(e)}" self.lab_logger().error(f"[Resource Tree Update] {error_msg}") @@ -1004,9 +1097,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 通过资源跟踪器获取本地实例 final_resources = queried_resources if is_sequence else queried_resources[0] - final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [ - self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources - ] + final_resources = ( + self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) + if not is_sequence + else [ + self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) + for res in queried_resources + ] + ) action_kwargs[k] = final_resources except Exception as e: @@ -1227,6 +1325,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): raise JsonCommandInitError( f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}" ) + def _convert_resource_sync(self, resource_data: Dict[str, Any]): """同步转换资源数据为实例""" # 创建资源查询请求 From 8b5653d8013fc8b544263d05dd8317d5c5e4e5f3 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 22:12:54 +0800 Subject: [PATCH 069/104] fix json dumps --- unilabos/ros/nodes/base_device_node.py | 10 +++----- unilabos/ros/nodes/presets/host_node.py | 33 ++++++++----------------- 2 files changed, 14 insertions(+), 29 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index febc95f..e52ea80 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -705,8 +705,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): return { "success": True, "action": "remove", - "removed_plr": found_plr_resources, - "removed_other": other_plr_resources, + # "removed_plr": found_plr_resources, + # "removed_other": other_plr_resources, } def _handle_update( @@ -736,13 +736,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") # 收集所有相关的uuid（包括子节点） - all_uuids = self.resource_tracker.loop_gather_uuid(original_instance) - _handle_remove(all_uuids) + _handle_remove([original_instance.unilabos_uuid]) original_instance.name = new_name _handle_add([original_instance], tree_set, additional_add_params) self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") - continue # 常规更新：不涉及改名 original_parent_resource = original_instance.parent @@ -827,7 +825,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 返回处理结果 result_json = {"results": results, "total": len(data)} - res.response = json.dumps(result_json, ensure_ascii=False) + res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder) self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") except json.JSONDecodeError as e: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 5c43a5d..7a8806d 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -165,29 +165,16 @@ class HostNode(BaseROS2DeviceNode): # resources_config 的 root node 是 # # 创建反向映射：new_uuid -> old_uuid # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()} - # for tree in resources_config.trees: - # node = tree.root_node - # if node.res_content.type == "device": - # if node.res_content.id == "host_node": - # continue - # # slave节点走c2s更新接口，拿到add自行update uuid - # device_tracker = self.devices_instances[node.res_content.id].resource_tracker - # old_uuid = reverse_uuid_mapping.get(node.res_content.uuid) - # if old_uuid: - # # 找到旧UUID，使用UUID查找 - # resource_instance = device_tracker.uuid_to_resources.get(old_uuid) - # else: - # # 未找到旧UUID，使用name查找 - # resource_instance = device_tracker.figure_resource( - # {"name": node.res_content.name} - # ) - # device_tracker.loop_update_uuid(resource_instance, uuid_mapping) - # else: - # try: - # for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): - # self.resource_tracker.add_resource(plr_resource) - # except Exception as ex: - # self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！") + for tree in resources_config.trees: + node = tree.root_node + if node.res_content.type == "device": + continue + else: + try: + for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): + self._resource_tracker.add_resource(plr_resource) + except Exception as ex: + self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！") except Exception as ex: logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}") # 初始化Node基类，传递空参数覆盖列表 From 200105f647d9f7288fea7abda9160a34859e2bc8 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sat, 8 Nov 2025 13:35:47 +0800 Subject: [PATCH 070/104] Add debug prints to create_orders and add resource_tree_transfer method --- .../bioyond_cell/2025092701.xlsx | Bin 18159 -> 18162 bytes .../bioyond_cell/bioyond_cell_workstation.py | 71 +++++++++++++++++- .../workstation/bioyond_studio/config.py | 6 +- .../workstation/bioyond_studio/station.py | 13 +++- .../workstation/coin_cell_assembly.zip | Bin 19794 -> 0 bytes .../coin_cell_assembly/coin_cell_assembly.py | 6 +- .../coin_cell_assembly_1105.csv | 64 ++++++++++++++++ .../resources/bioyond/YB_bottle_carriers.py | 4 +- unilabos/resources/bioyond/YB_bottles.py | 2 +- 9 files changed, 152 insertions(+), 14 deletions(-) delete mode 100644 unilabos/devices/workstation/coin_cell_assembly.zip create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx index 4147095ed2784e56ccc6f637aec02c2a575c2cc8..9d0696191d2c76ff1788e485ed89d498ebf0f503 100644 GIT binary patch delta 162 zcmaFg%lN66aYMfR)60|-knO!jk?+Pq!Wg^kg8@*izEW&=IL$k|HHLn=(6)7AJijMz78J`iDh1 z;pR`ab`58gojlpqhVjzm3qZ1dGOwEj9Znlh*CbziRF-lK9?54(+=)wR502!e# A2LJ#7 delta 163 zcmey=%lN*RaYMflRTwRyX$3mc=^A)Q1f1v3L1{W3cn{bW0vWQ8JIB{yRwg%Vq(;*ugIJDV~)qsgxNI*fjs zi}VkRa>6Z`Z08!zC^dPSs}1A%$(Mm-&13;L3&xL=J>6^>`zN=%*)d8?KIW#z7U#kM F1OQjPG1CA5 diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index ee82579..4b27572 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -3,6 +3,7 @@ from cgi import print_arguments from doctest import debug from typing import Dict, Any, List, Optional import requests +from pylabrobot.resources.resource import Resource as ResourcePLR from pathlib import Path import pandas as pd import time @@ -254,7 +255,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", + xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -306,7 +307,7 @@ class BioyondCellWorkstation(BioyondWorkstation): # ---------- 模式 1: Excel 导入 ---------- if xlsx_path: - path = Path(xlsx_path) + path = Path(__file__).parent / Path(xlsx_path) if path.exists(): # ★ 修改点：路径存在才加载 try: df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") @@ -471,14 +472,23 @@ class BioyondCellWorkstation(BioyondWorkstation): - totalMass 自动计算为所有物料质量之和 - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） """ - path = Path(xlsx_path) + default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") + path = Path(xlsx_path) if xlsx_path else default_path + print(f"[create_orders] 使用 Excel 路径: {path}") + if path != default_path: + print("[create_orders] 来源: 调用方传入自定义路径") + else: + print("[create_orders] 来源: 使用默认模板路径") + if not path.exists(): + print(f"[create_orders] ⚠️ Excel 文件不存在: {path}") raise FileNotFoundError(f"未找到 Excel 文件：{path}") try: df = pd.read_excel(path, sheet_name=0, engine="openpyxl") except Exception as e: raise RuntimeError(f"读取 Excel 失败：{e}") + print(f"[create_orders] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}") # 列名容错：返回可选列名，找不到则返回 None def _pick(col_names: List[str]) -> Optional[str]: @@ -495,9 +505,20 @@ class BioyondCellWorkstation(BioyondWorkstation): col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + print("[create_orders] 列匹配结果:", { + "order_name": col_order_name, + "create_time": col_create_time, + "bottle_type": col_bottle_type, + "mix_time": col_mix_time, + "load": col_load, + "pouch": col_pouch, + "conductivity": col_cond, + "conductivity_bottle_count": col_cond_cnt, + }) # 物料列：所有以 (g) 结尾 material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + print(f"[create_orders] 识别到的物料列: {material_cols}") if not material_cols: raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") @@ -545,6 +566,9 @@ class BioyondCellWorkstation(BioyondWorkstation): if mass > 0: mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) total_mass += mass + else: + if mass < 0: + print(f"[create_orders] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}") order_data = { "batchId": batch_id, @@ -559,11 +583,22 @@ class BioyondCellWorkstation(BioyondWorkstation): "materialInfos": mats, "totalMass": round(total_mass, 4) # 自动汇总 } + print(f"[create_orders] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, " + f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, " + f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, " + f"material_count={len(mats)}") + + if order_data["totalMass"] <= 0: + print(f"[create_orders] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败") + if not mats: + print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料") + orders.append(order_data) + print(f"[create_orders] 即将提交订单数量: {len(orders)}") response = self._post_lims("/api/lims/order/orders", orders) - print(response) + print(f"[create_orders] 接口返回: {response}") # 等待任务报送成功 data_list = response.get("data", []) if data_list: @@ -1014,7 +1049,35 @@ class BioyondCellWorkstation(BioyondWorkstation): "create_result": create_result, "inbound_result": inbound_result, } + def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR): + # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{ + # "old_parent": old_parent, + # "plr_resource": plr_resource, + # "parent_resource": parent_resource, + # }) + print("resource_tree_transfer", plr_resource, parent_resource) + if hasattr(plr_resource, "unilabos_extra") and plr_resource.unilabos_extra: + if "update_resource_site" in plr_resource.unilabos_extra: + site = plr_resource.unilabos_extra["update_resource_site"] + plr_model = plr_resource.model + board_type = None + for key, (moudle_name,moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items(): + if plr_model == moudle_name: + board_type = key + break + if board_type is None: + pass + bottle1 = plr_resource.children[0] + bottle_moudle = bottle1.model + bottle_type = None + for key, (moudle_name, moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items(): + if bottle_moudle == moudle_name: + bottle_type = key + break + self.create_sample(plr_resource.name, board_type,bottle_type,site) + return + self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}") def create_sample( self, diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index b594125..adb2d72 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -8,8 +8,8 @@ import os # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.21.32.65:44389"),#实机 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"),# 仿真机 + # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机 + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机 "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), @@ -17,7 +17,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.115"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index d6fe487..44f9cf1 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -177,7 +177,18 @@ class BioyondWorkstation(WorkstationBase): ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ "resources": [self.deck] }) - + def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR): + # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{ + # "old_parent": old_parent, + # "plr_resource": plr_resource, + # "parent_resource": parent_resource, + # }) + print("resource_tree_transfer", plr_resource, parent_resource) + if hasattr(plr_resource, "unilabos_data") and plr_resource.unilabos_data: + if "update_resource_site" in plr_resource.unilabos_data: + site = plr_resource.unilabos_data["update_resource_site"] + return + self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}") def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot): ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{ "plr_resources": resource, diff --git a/unilabos/devices/workstation/coin_cell_assembly.zip 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z8(wW(e68j)U;Hx7-t2XVxmveOV^z}qII#RXv&5aHK)d0V; zJSFx`4%;{XC$bI!guZ4T0Pq6(3E_H6dLswEmHx~78}c)2RewVEpFn bool: + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> bool: elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) summary_csv_file = os.path.join(file_path, "duandian.csv") # 如果断点文件存在，先读取之前的进度 diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv new file mode 100644 index 0000000..3f7b357 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv @@ -0,0 +1,64 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, +COIL_SYS_START_CMD,BOOL,,,,coil,9010, +COIL_SYS_STOP_CMD,BOOL,,,,coil,9020, +COIL_SYS_RESET_CMD,BOOL,,,,coil,9030, +COIL_SYS_HAND_CMD,BOOL,,,,coil,9040, +COIL_SYS_AUTO_CMD,BOOL,,,,coil,9050, +COIL_SYS_INIT_CMD,BOOL,,,,coil,9060, +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,9700, +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,9710,unilab_rec_msg_succ_cmd +COIL_SYS_START_STATUS,BOOL,,,,coil,9210, +COIL_SYS_STOP_STATUS,BOOL,,,,coil,9220, +COIL_SYS_RESET_STATUS,BOOL,,,,coil,9230, +COIL_SYS_HAND_STATUS,BOOL,,,,coil,9240, +COIL_SYS_AUTO_STATUS,BOOL,,,,coil,9250, +COIL_SYS_INIT_STATUS,BOOL,,,,coil,9260, +COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,9500, +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,9510,request_send_msg_status +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,17000, +REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,17002,unilab_send_msg_electrolyte_num +REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,17004,unilab_send_msg_electrolyte_vol +REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,17006,unilab_send_msg_assembly_type +REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,17008,unilab_send_msg_assembly_pressure +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,16000,data_assembly_coin_cell_num +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,16002,data_open_circuit_voltage +REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,16004, +REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,16006, +REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,16008, +REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,16010,data_pole_weight +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,16012,data_assembly_time +REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,16014,data_assembly_pressure +REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,16016,data_electrolyte_volume +REG_DATA_COIN_NUM,INT16,,,,hold_register,16018,data_coin_num +REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,16020,data_electrolyte_code() +REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,16030,data_coin_cell_code() +REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,18004,data_stack_vision_code() +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,16050,data_glove_box_pressure +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,16052,data_glove_box_water_content +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,16054,data_glove_box_o2_content +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9720, +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9520, +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,17496, +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,16000, +UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,9730, +UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,9530, +REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,16018,ASSEMBLY_TYPE7or8 +COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,9340, +REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,17440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,17450, +REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,17480, +REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,17443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,17453, +REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,9360,电池压制模式 +,,,,,,, +,BOOL,,视觉对位（false:使用，true:忽略）,,coil,9300,视觉对位 +,BOOL,,复检（false:使用，true:忽略）,,coil,9310,视觉复检 +,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,9320,手套箱左仓 +,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,9420,手套箱右仓 +,BOOL,,真空检知（false:使用，true:忽略）,,coil,9350,真空检知 +,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,9370,滴液模式 +,BOOL,,正极片称重（false:使用，true:忽略）,,coil,9380,正极片称重 +,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,9390,正负极反装 +,BOOL,,压制清洁（false:使用，true:忽略）,,coil,9400,压制清洁 +,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,9410,负极片摆盘方式 +REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,9460, diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index 01d64c5..5284f0a 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -355,7 +355,7 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="6x5ml_DispensingVialCarrier", + model="YB_6x5ml_DispensingVialCarrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 @@ -554,7 +554,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="6x_LargeDispenseHeadCarrier", + model="YB_6x_LargeDispenseHeadCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index 8ebdb41..432383e 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -87,7 +87,7 @@ def YB_fen_ye_5ml_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="Separation_Bottle_5ml", + model="YB_fen_ye_5ml_Bottle", ) """20ml分液瓶""" From a2a8ee9088278ba571fa53ede75c6416068e0273 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 21:43:25 +0800 Subject: [PATCH 071/104] fix run async execution error --- unilabos/ros/nodes/base_device_node.py | 39 ++++++++------------------ unilabos/utils/async_util.py | 22 --------------- 2 files changed, 12 insertions(+), 49 deletions(-) delete mode 100644 unilabos/utils/async_util.py diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index f106312..edf41fb 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import ( ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator -from unilabos.utils.async_util import run_async_func +from rclpy.task import Task from unilabos.utils.import_manager import default_manager from unilabos.utils.log import info, debug, warning, error, critical, logger, trace from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str @@ -1385,18 +1385,19 @@ class ROS2DeviceNode: 它不继承设备类，而是通过代理模式访问设备类的属性和方法。 """ - # 类变量，用于循环管理 - _loop = None - _loop_running = False - _loop_thread = None - @classmethod - def get_loop(cls): - return cls._loop + def run_async_func(cls, func, trace_error=True, **kwargs) -> Task: + def _handle_future_exception(fut): + try: + fut.result() + except Exception as e: + error(f"异步任务 {func.__name__} 报错了") + error(traceback.format_exc()) - @classmethod - def run_async_func(cls, func, trace_error=True, **kwargs): - return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs) + future = rclpy.get_global_executor().create_task(func(**kwargs)) + if trace_error: + future.add_done_callback(_handle_future_exception) + return future @property def driver_instance(self): @@ -1436,11 +1437,6 @@ class ROS2DeviceNode: print_publish: 是否打印发布信息 driver_is_ros: """ - # 在初始化时检查循环状态 - if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None: - pass - elif ROS2DeviceNode._loop_thread is None: - self._start_loop() # 保存设备类是否支持异步上下文 self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__") @@ -1529,17 +1525,6 @@ class ROS2DeviceNode: except Exception as e: self._ros_node.lab_logger().error(f"设备后初始化失败: {e}") - def _start_loop(self): - def run_event_loop(): - loop = asyncio.new_event_loop() - ROS2DeviceNode._loop = loop - asyncio.set_event_loop(loop) - loop.run_forever() - - ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop") - ROS2DeviceNode._loop_thread.start() - logger.info(f"循环线程已启动") - class DeviceInfoType(TypedDict): id: str diff --git a/unilabos/utils/async_util.py b/unilabos/utils/async_util.py deleted file mode 100644 index 0f50a73..0000000 --- a/unilabos/utils/async_util.py +++ /dev/null @@ -1,22 +0,0 @@ -import asyncio -import traceback -from asyncio import get_event_loop - -from unilabos.utils.log import error - - -def run_async_func(func, *, loop=None, trace_error=True, **kwargs): - if loop is None: - loop = get_event_loop() - - def _handle_future_exception(fut): - try: - fut.result() - except Exception as e: - error(f"异步任务 {func.__name__} 报错了") - error(traceback.format_exc()) - - future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop) - if trace_error: - future.add_done_callback(_handle_future_exception) - return future From 4c3972820bca6c572394fd7d63a4e1b5d8641ac1 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 3 Nov 2025 15:42:12 +0800 Subject: [PATCH 072/104] support sleep and create_task in node --- .../devices/liquid_handling/prcxi/prcxi.py | 395 +++++++++++------- unilabos/ros/nodes/base_device_node.py | 19 +- unilabos/ros/nodes/presets/host_node.py | 3 +- 3 files changed, 257 insertions(+), 160 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index d9c0433..a8677f4 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import ( from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class PRCXIError(RuntimeError): @@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract): ) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num) + def post_init(self, ros_node: BaseROS2DeviceNode): + super().post_init(ros_node) + self._unilabos_backend.post_init(ros_node) + def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): return super().set_liquid(wells, liquid_names, volumes) @@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): _num_channels = 8 # 默认通道数为 8 _is_reset_ok = False + _ros_node: BaseROS2DeviceNode @property def is_reset_ok(self) -> bool: @@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._execute_setup = setup self.debug = debug + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def create_protocol(self, protocol_name): self.protocol_name = protocol_name self.steps_todo_list = [] @@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.api_client.call("IAutomation", "Reset") while not self.is_reset_ok: print("Waiting for PRCXI9300 to reset...") - await asyncio.sleep(1) + await self._ros_node.sleep(1) print("PRCXI9300 reset successfully.") except ConnectionRefusedError as e: raise RuntimeError( @@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): tipspot_index = tipspot.parent.children.index(tipspot) tip_columns.append(tipspot_index // 8) if len(set(tip_columns)) != 1: - raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns)) + raise ValueError( + "All pickups must be from the same tip column. Found different columns: " + str(tip_columns) + ) PlateNo = plate_indexes[0] + 1 hole_col = tip_columns[0] + 1 hole_row = 1 @@ -1109,12 +1120,15 @@ class PRCXI9300Api: "LiquidDispensingMethod": liquid_method, } + class DefaultLayout: def __init__(self, product_name: str = "PRCXI9300"): self.labresource = {} if product_name not in ["PRCXI9300", "PRCXI9320"]: - raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.") + raise ValueError( + f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported." + ) if product_name == "PRCXI9300": self.rows = 2 @@ -1129,25 +1143,93 @@ class DefaultLayout: self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] self.trash_slot = 16 self.waste_liquid_slot = 12 - self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets": - [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示 - {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示 -] -} + self.default_layout = { + "MatrixId": f"{time.time()}", + "MatrixName": f"{time.time()}", + "MatrixCount": 16, + "WorkTablets": [ + { + "Number": 1, + "Code": "T1", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 2, + "Code": "T2", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 3, + "Code": "T3", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 4, + "Code": "T4", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 5, + "Code": "T5", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 6, + "Code": "T6", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 7, + "Code": "T7", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 8, + "Code": "T8", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 9, + "Code": "T9", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 10, + "Code": "T10", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 11, + "Code": "T11", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 12, + "Code": "T12", + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, + }, # 这个设置成废液槽，用储液槽表示 + { + "Number": 13, + "Code": "T13", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 14, + "Code": "T14", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 15, + "Code": "T15", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 16, + "Code": "T16", + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, + }, # 这个设置成垃圾桶，用储液槽表示 + ], + } def get_layout(self) -> Dict[str, Any]: return { @@ -1155,7 +1237,7 @@ class DefaultLayout: "columns": self.columns, "layout": self.layout, "trash_slot": self.trash_slot, - "waste_liquid_slot": self.waste_liquid_slot + "waste_liquid_slot": self.waste_liquid_slot, } def get_trash_slot(self) -> int: @@ -1178,17 +1260,19 @@ class DefaultLayout: reserved_positions = {12, 16} available_positions = [i for i in range(1, 17) if i not in reserved_positions] - # 计算总需求 + # 计算总需求 total_needed = sum(count for _, _, count in needs) if total_needed > len(available_positions): - raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）") + raise ValueError( + f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）" + ) # 依次分配位置 current_pos = 0 for reagent_name, material_name, count in needs: - material_uuid = self.labresource[material_name]['uuid'] - material_enum = self.labresource[material_name]['materialEnum'] + material_uuid = self.labresource[material_name]["uuid"] + material_enum = self.labresource[material_name]["materialEnum"] for _ in range(count): if current_pos >= len(available_positions): @@ -1196,17 +1280,18 @@ class DefaultLayout: position = available_positions[current_pos] # 找到对应的tablet并更新 - for tablet in self.default_layout['WorkTablets']: - if tablet['Number'] == position: - tablet['Material']['uuid'] = material_uuid - tablet['Material']['materialEnum'] = material_enum - layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position)) + for tablet in self.default_layout["WorkTablets"]: + if tablet["Number"] == position: + tablet["Material"]["uuid"] = material_uuid + tablet["Material"]["materialEnum"] = material_enum + layout_list.append( + dict(reagent_name=reagent_name, material_name=material_name, positions=position) + ) break current_pos += 1 return self.default_layout, layout_list - if __name__ == "__main__": # Example usage # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分 @@ -1302,10 +1387,7 @@ if __name__ == "__main__": # # # plate2.set_well_liquids(plate_2_liquids) - - - - # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, + # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, # timeout=10.0, setup=False, debug=False, # simulator=True, # matrix_id="71593", @@ -1391,10 +1473,7 @@ if __name__ == "__main__": # # input("Press Enter to continue...") # Wait for user input before proceeding # # print("PRCXI9300Handler initialized with deck and host settings.") - - -### 9320 ### - + ### 9320 ### deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100) @@ -1412,12 +1491,15 @@ if __name__ == "__main__": new_plate: PRCXI9300Container = PRCXI9300Container.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") -> 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({ - k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items() - }) + 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()}), ) tip_rack_serialized = tip_rack.serialize() tip_rack_serialized["parent_name"] = deck.name @@ -1629,6 +1711,7 @@ if __name__ == "__main__": ) backend: PRCXI9300Backend = handler.backend from pylabrobot.resources import set_volume_tracking + set_volume_tracking(enabled=True) # res = backend.api_client.get_all_materials() asyncio.run(handler.setup()) # Initialize the handler and setup the connection @@ -1640,10 +1723,10 @@ if __name__ == "__main__": for well in plate13.get_all_items(): # well_pos = well.name.split("_")[1] # 走一行 - # if well_pos.startswith("A"): - if well.name.startswith("PlateT13"): # 走整个Plate + # if well_pos.startswith("A"): + if well.name.startswith("PlateT13"): # 走整个Plate asyncio.run(handler.dispense([well], [0.01], [0])) - + # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0])) # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0])) # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0])) @@ -1652,26 +1735,25 @@ if __name__ == "__main__": asyncio.run(handler.run_protocol()) time.sleep(5) os._exit(0) -# 第一种情景：一个孔往多个孔加液 + # 第一种情景：一个孔往多个孔加液 # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300]) # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) -# 第二个情景：多个孔往多个孔加液(但是个数得对应) - plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23) - plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) + # 第二个情景：多个孔往多个孔加液(但是个数得对应) + plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23) + plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23) # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# # with open("deck.json", "w", encoding="utf-8") as f: -# # json.dump(A, f, indent=4, ensure_ascii=False) + # A = tree_to_list([resource_plr_to_ulab(deck)]) + # # with open("deck.json", "w", encoding="utf-8") as f: + # # json.dump(A, f, indent=4, ensure_ascii=False) -# print(plate11.get_well(0).tracker.get_used_volume()) - # Initialize the backend and setup the connection + # print(plate11.get_well(0).tracker.get_used_volume()) + # Initialize the backend and setup the connection asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking - # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0])) # print(plate8.children[8]) # asyncio.run(handler.run_protocol()) @@ -1685,121 +1767,118 @@ if __name__ == "__main__": # print(plate1.children[0]) # asyncio.run(handler.discard_tips([0])) -# asyncio.run(handler.add_liquid( -# asp_vols=[10]*7, -# dis_vols=[10]*7, -# reagent_sources=plate11.children[:7], -# targets=plate1.children[2:9], -# use_channels=[0], -# flow_rates=[None] * 7, -# offsets=[Coordinate(0, 0, 0)] * 7, -# liquid_height=[None] * 7, -# blow_out_air_volume=[None] * 2, -# delays=None, -# mix_time=3, -# mix_vol=5, -# spread="custom", -# )) + # asyncio.run(handler.add_liquid( + # asp_vols=[10]*7, + # dis_vols=[10]*7, + # reagent_sources=plate11.children[:7], + # targets=plate1.children[2:9], + # use_channels=[0], + # flow_rates=[None] * 7, + # offsets=[Coordinate(0, 0, 0)] * 7, + # liquid_height=[None] * 7, + # blow_out_air_volume=[None] * 2, + # delays=None, + # mix_time=3, + # mix_vol=5, + # spread="custom", + # )) # asyncio.run(handler.run_protocol()) # Run the protocol + # # # asyncio.run(handler.transfer_liquid( + # # # asp_vols=[10]*2, + # # # dis_vols=[10]*2, + # # # sources=plate11.children[:2], + # # # targets=plate11.children[-2:], + # # # use_channels=[0], + # # # offsets=[Coordinate(0, 0, 0)] * 4, + # # # liquid_height=[None] * 2, + # # # blow_out_air_volume=[None] * 2, + # # # delays=None, + # # # mix_times=3, + # # # mix_vol=5, + # # # spread="wide", + # # # tip_racks=[plate8] + # # # )) + # # # asyncio.run(handler.remove_liquid( + # # # vols=[10]*2, + # # # sources=plate11.children[:2], + # # # waste_liquid=plate11.children[43], + # # # use_channels=[0], + # # # offsets=[Coordinate(0, 0, 0)] * 4, + # # # liquid_height=[None] * 2, + # # # blow_out_air_volume=[None] * 2, + # # # delays=None, + # # # spread="wide" + # # # )) + # # asyncio.run(handler.run_protocol()) + # # # asyncio.run(handler.discard_tips()) + # # # asyncio.run(handler.mix(well_containers.children[:8 + # # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) + # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info -# # # asyncio.run(handler.transfer_liquid( -# # # asp_vols=[10]*2, -# # # dis_vols=[10]*2, -# # # sources=plate11.children[:2], -# # # targets=plate11.children[-2:], -# # # use_channels=[0], -# # # offsets=[Coordinate(0, 0, 0)] * 4, -# # # liquid_height=[None] * 2, -# # # blow_out_air_volume=[None] * 2, -# # # delays=None, -# # # mix_times=3, -# # # mix_vol=5, -# # # spread="wide", -# # # tip_racks=[plate8] -# # # )) - -# # # asyncio.run(handler.remove_liquid( -# # # vols=[10]*2, -# # # sources=plate11.children[:2], -# # # waste_liquid=plate11.children[43], -# # # use_channels=[0], -# # # offsets=[Coordinate(0, 0, 0)] * 4, -# # # liquid_height=[None] * 2, -# # # blow_out_air_volume=[None] * 2, -# # # delays=None, -# # # spread="wide" -# # # )) -# # asyncio.run(handler.run_protocol()) - -# # # asyncio.run(handler.discard_tips()) -# # # asyncio.run(handler.mix(well_containers.children[:8 -# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) -# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info - - -# # # asyncio.run(handler.remove_liquid( -# # # vols=[100]*16, -# # # sources=well_containers.children[-16:], -# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 -# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], -# # # flow_rates=[None] * 32, -# # # offsets=[Coordinate(0, 0, 0)] * 32, -# # # liquid_height=[None] * 32, -# # # blow_out_air_volume=[None] * 32, -# # # spread="wide", -# # # )) -# # # asyncio.run(handler.transfer_liquid( -# # # asp_vols=[100]*16, -# # # dis_vols=[100]*16, -# # # tip_racks=[tip_rack], -# # # sources=well_containers.children[-16:], -# # # targets=well_containers.children[:16], -# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], -# # # offsets=[Coordinate(0, 0, 0)] * 32, -# # # asp_flow_rates=[None] * 16, -# # # dis_flow_rates=[None] * 16, -# # # liquid_height=[None] * 32, -# # # blow_out_air_volume=[None] * 32, -# # # mix_times=3, -# # # mix_vol=50, -# # # spread="wide", -# # # )) -# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info -# # # input("pick_up_tips add step") - #asyncio.run(handler.run_protocol()) # Run the protocol -# # # input("Running protocol...") -# # # input("Press Enter to continue...") # Wait for user input before proceeding -# # # print("PRCXI9300Handler initialized with deck and host settings.") - - -# 一些推荐版位组合的测试样例： - -# 一些推荐版位组合的测试样例： + # # # asyncio.run(handler.remove_liquid( + # # # vols=[100]*16, + # # # sources=well_containers.children[-16:], + # # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 + # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # # # flow_rates=[None] * 32, + # # # offsets=[Coordinate(0, 0, 0)] * 32, + # # # liquid_height=[None] * 32, + # # # blow_out_air_volume=[None] * 32, + # # # spread="wide", + # # # )) + # # # asyncio.run(handler.transfer_liquid( + # # # asp_vols=[100]*16, + # # # dis_vols=[100]*16, + # # # tip_racks=[tip_rack], + # # # sources=well_containers.children[-16:], + # # # targets=well_containers.children[:16], + # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # # # offsets=[Coordinate(0, 0, 0)] * 32, + # # # asp_flow_rates=[None] * 16, + # # # dis_flow_rates=[None] * 16, + # # # liquid_height=[None] * 32, + # # # blow_out_air_volume=[None] * 32, + # # # mix_times=3, + # # # mix_vol=50, + # # # spread="wide", + # # # )) + # # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info + # # # input("pick_up_tips add step") + # asyncio.run(handler.run_protocol()) # Run the protocol + # # # input("Running protocol...") + # # # input("Press Enter to continue...") # Wait for user input before proceeding + # # # print("PRCXI9300Handler initialized with deck and host settings.") + # 一些推荐版位组合的测试样例： + # 一些推荐版位组合的测试样例： with open("prcxi_material.json", "r") as f: material_info = json.load(f) layout = DefaultLayout("PRCXI9320") layout.add_lab_resource(material_info) - MatrixLayout_1, dict_1 = layout.recommend_layout([ - ("reagent_1", "96 细胞培养皿", 3), - ("reagent_2", "12道储液槽", 1), - ("reagent_3", "200μL Tip头", 7), - ("reagent_4", "10μL加长 Tip头", 1), - ]) + MatrixLayout_1, dict_1 = layout.recommend_layout( + [ + ("reagent_1", "96 细胞培养皿", 3), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 7), + ("reagent_4", "10μL加长 Tip头", 1), + ] + ) print(dict_1) - MatrixLayout_2, dict_2 = layout.recommend_layout([ - ("reagent_1", "96深孔板", 4), - ("reagent_2", "12道储液槽", 1), - ("reagent_3", "200μL Tip头", 1), - ("reagent_4", "10μL加长 Tip头", 1), - ]) + MatrixLayout_2, dict_2 = layout.recommend_layout( + [ + ("reagent_1", "96深孔板", 4), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 1), + ("reagent_4", "10μL加长 Tip头", 1), + ] + ) # with open("prcxi_material.json", "r") as f: # material_info = json.load(f) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index edf41fb..2fc7ea7 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import ( ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator -from rclpy.task import Task +from rclpy.task import Task, Future from unilabos.utils.import_manager import default_manager from unilabos.utils.log import info, debug, warning, error, critical, logger, trace from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str @@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]): rclpy.get_global_executor().add_node(self) self.lab_logger().debug(f"ROS节点初始化完成") + async def sleep(self, rel_time: float, callback_group=None): + if callback_group is None: + callback_group = self.callback_group + await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group) + + @classmethod + async def create_task(cls, func, trace_error=True, **kwargs) -> Task: + return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs) + async def update_resource(self, resources: List["ResourcePLR"]): r = SerialCommand.Request() tree_set = ResourceTreeSet.from_plr_resources(resources) @@ -1399,6 +1408,14 @@ class ROS2DeviceNode: future.add_done_callback(_handle_future_exception) return future + @classmethod + async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None): + future = Future() + timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock()) + await future + timer.cancel() + node.destroy_timer(timer) + @property def driver_instance(self): return self._driver_instance diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 43d16e8..346cf9c 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -18,7 +18,8 @@ from unilabos_msgs.srv import ( ResourceDelete, ResourceUpdate, ResourceList, - SerialCommand, ResourceGet, + SerialCommand, + ResourceGet, ) # type: ignore from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unique_identifier_msgs.msg import UUID From 0f341e9b4dbee0f6e18ef2332578685f0c4d1026 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 3 Nov 2025 15:49:11 +0800 Subject: [PATCH 073/104] modify devices to use correct executor (sleep, create_task) --- test/registry/example_devices.py | 33 +- unilabos/devices/cnc/grbl_async.py | 11 +- unilabos/devices/cnc/mock.py | 9 +- .../laiyu_liquid/core/laiyu_liquid_main.py | 423 +++++++++--------- .../liquid_handler_abstract.py | 10 +- .../devices/pump_and_valve/runze_async.py | 11 +- .../devices/virtual/virtual_centrifuge.py | 9 +- unilabos/devices/virtual/virtual_column.py | 9 +- unilabos/devices/virtual/virtual_filter.py | 202 ++++----- unilabos/devices/virtual/virtual_heatchill.py | 9 +- unilabos/devices/virtual/virtual_rotavap.py | 273 ++++++----- unilabos/devices/virtual/virtual_separator.py | 11 +- .../devices/virtual/virtual_solenoid_valve.py | 10 +- .../virtual/virtual_solid_dispenser.py | 9 +- unilabos/devices/virtual/virtual_stirrer.py | 11 +- .../devices/virtual/virtual_transferpump.py | 13 +- 16 files changed, 597 insertions(+), 456 deletions(-) diff --git a/test/registry/example_devices.py b/test/registry/example_devices.py index d5b26b2..d41c7b4 100644 --- a/test/registry/example_devices.py +++ b/test/registry/example_devices.py @@ -3,7 +3,8 @@ """ import asyncio -from typing import Dict, Any, Optional, List +from typing import Dict, Any, List +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class SmartPumpController: @@ -14,6 +15,8 @@ class SmartPumpController: 适用于实验室自动化系统中的液体处理任务。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"): """ 初始化智能泵控制器 @@ -30,6 +33,9 @@ class SmartPumpController: self.calibration_factor = 1.0 self.pump_mode = "continuous" # continuous, volume, rate + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def connect_device(self, timeout: int = 10) -> bool: """ 连接到泵设备 @@ -90,7 +96,7 @@ class SmartPumpController: pump_time = (volume / flow_rate) * 60 # 转换为秒 self.current_flow_rate = flow_rate - await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程 + await self._ros_node.sleep(min(pump_time, 3.0)) # 模拟泵送过程 self.total_volume_pumped += volume self.current_flow_rate = 0.0 @@ -170,6 +176,8 @@ class AdvancedTemperatureController: 适用于需要精确温度控制的化学反应和材料处理过程。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, controller_id: str = "temp_controller_01"): """ 初始化温度控制器 @@ -185,6 +193,9 @@ class AdvancedTemperatureController: self.pid_enabled = True self.temperature_history: List[Dict] = [] + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool: """ 设置目标温度 @@ -238,7 +249,7 @@ class AdvancedTemperatureController: } ) - await asyncio.sleep(step_time) + await self._ros_node.sleep(step_time) # 保持历史记录不超过100条 if len(self.temperature_history) > 100: @@ -330,6 +341,8 @@ class MultiChannelAnalyzer: 常用于光谱分析、电化学测量等应用场景。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8): """ 初始化多通道分析仪 @@ -344,6 +357,9 @@ class MultiChannelAnalyzer: self.is_measuring = False self.sample_rate = 1000 # Hz + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool: """ 配置通道 @@ -376,7 +392,7 @@ class MultiChannelAnalyzer: # 模拟数据采集 measurements = [] - for second in range(duration): + for _ in range(duration): timestamp = asyncio.get_event_loop().time() frame_data = {} @@ -391,7 +407,7 @@ class MultiChannelAnalyzer: measurements.append({"timestamp": timestamp, "data": frame_data}) - await asyncio.sleep(1.0) # 每秒采集一次 + await self._ros_node.sleep(1.0) # 每秒采集一次 self.is_measuring = False @@ -465,6 +481,8 @@ class AutomatedDispenser: 集成称重功能，确保分配精度和重现性。 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, dispenser_id: str = "dispenser_01"): """ 初始化自动分配器 @@ -479,6 +497,9 @@ class AutomatedDispenser: self.container_capacity = 1000.0 # mL self.precision_mode = True + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def move_to_position(self, x: float, y: float, z: float) -> bool: """ 移动到指定位置 @@ -517,7 +538,7 @@ class AutomatedDispenser: if viscosity == "high": dispense_time *= 2 # 高粘度液体需要更长时间 - await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒 + await self._ros_node.sleep(min(dispense_time, 5.0)) # 最多等待5秒 self.dispensed_total += volume diff --git a/unilabos/devices/cnc/grbl_async.py b/unilabos/devices/cnc/grbl_async.py index 7e5ac7f..3ecd4ba 100644 --- a/unilabos/devices/cnc/grbl_async.py +++ b/unilabos/devices/cnc/grbl_async.py @@ -12,6 +12,7 @@ from serial import Serial from serial.serialutil import SerialException from unilabos.messages import Point3D +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class GrblCNCConnectionError(Exception): @@ -32,6 +33,7 @@ class GrblCNCInfo: class GrblCNCAsync: _status: str = "Offline" _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) + _ros_node: BaseROS2DeviceNode def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)): self.port = port @@ -58,6 +60,9 @@ class GrblCNCAsync: self._run_future: Optional[Future[Any]] = None self._run_lock = Lock() + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def _read_all(self): data = self._serial.read_until(b"\n") data_decoded = data.decode() @@ -148,7 +153,7 @@ class GrblCNCAsync: try: await self._query(command) while True: - await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again + await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again status = await self.get_status() if "Idle" in status: @@ -214,7 +219,7 @@ class GrblCNCAsync: self._pose_number = i self.pose_number_remaining = len(points) - i await self.set_position(point) - await asyncio.sleep(0.5) + await self._ros_node.sleep(0.5) self._step_number = -1 async def stop_operation(self): @@ -235,7 +240,7 @@ class GrblCNCAsync: async def open(self): if self._read_task: raise GrblCNCConnectionError - self._read_task = asyncio.create_task(self._read_loop()) + self._read_task = self._ros_node.create_task(self._read_loop()) try: await self.get_status() diff --git a/unilabos/devices/cnc/mock.py b/unilabos/devices/cnc/mock.py index b8c52f1..ebe9683 100644 --- a/unilabos/devices/cnc/mock.py +++ b/unilabos/devices/cnc/mock.py @@ -2,6 +2,8 @@ import time import asyncio from pydantic import BaseModel +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class Point3D(BaseModel): x: float @@ -14,9 +16,14 @@ def d(a: Point3D, b: Point3D) -> float: class MockCNCAsync: + _ros_node: BaseROS2DeviceNode["MockCNCAsync"] + def __init__(self): self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) self._status = "Idle" + + def post_create(self, ros_node): + self._ros_node = ros_node @property def position(self) -> Point3D: @@ -38,5 +45,5 @@ class MockCNCAsync: self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1) self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1) self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1) - await asyncio.sleep(move_time / 20) + await self._ros_node.sleep(move_time / 20) self._status = "Idle" diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py index 9609255..f369a20 100644 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py +++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py @@ -15,108 +15,113 @@ from typing import List, Optional, Dict, Any, Union, Tuple from dataclasses import dataclass from abc import ABC, abstractmethod +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + # 基础导入 try: from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well + PYLABROBOT_AVAILABLE = True except ImportError: # 如果 pylabrobot 不可用，创建基础的模拟类 PYLABROBOT_AVAILABLE = False - + class Resource: def __init__(self, name: str): self.name = name - + class Deck(Resource): pass - + class Plate(Resource): pass - + class TipRack(Resource): pass - + class Tip(Resource): pass - + class Well(Resource): pass + # LaiYu_Liquid 控制器导入 try: - from .controllers.pipette_controller import ( - PipetteController, TipStatus, LiquidClass, LiquidParameters - ) - from .controllers.xyz_controller import ( - XYZController, MachineConfig, CoordinateOrigin, MotorAxis - ) + from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters + from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis + CONTROLLERS_AVAILABLE = True except ImportError: CONTROLLERS_AVAILABLE = False + # 创建模拟的控制器类 class PipetteController: def __init__(self, *args, **kwargs): pass - + def connect(self): return True - + def initialize(self): return True - + class XYZController: def __init__(self, *args, **kwargs): pass - + def connect_device(self): return True + logger = logging.getLogger(__name__) class LaiYuLiquidError(RuntimeError): """LaiYu_Liquid 设备异常""" + pass @dataclass class LaiYuLiquidConfig: """LaiYu_Liquid 设备配置""" + port: str = "/dev/cu.usbserial-3130" # RS485转USB端口 address: int = 1 # 设备地址 baudrate: int = 9600 # 波特率 timeout: float = 5.0 # 通信超时时间 - + # 工作台尺寸 deck_width: float = 340.0 # 工作台宽度 (mm) deck_height: float = 250.0 # 工作台高度 (mm) deck_depth: float = 160.0 # 工作台深度 (mm) - + # 移液参数 max_volume: float = 1000.0 # 最大体积 (μL) min_volume: float = 0.1 # 最小体积 (μL) - + # 运动参数 max_speed: float = 100.0 # 最大速度 (mm/s) acceleration: float = 50.0 # 加速度 (mm/s²) - + # 安全参数 safe_height: float = 50.0 # 安全高度 (mm) tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm) liquid_detection: bool = True # 液面检测 - + # 取枪头相关参数 tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm) tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s) tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm) tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm) tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm) - + # 丢弃枪头相关参数 tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm) tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm) trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm) - + # 安全范围配置 deck_width: float = 300.0 # 工作台宽度 (mm) deck_height: float = 200.0 # 工作台高度 (mm) @@ -128,25 +133,25 @@ class LaiYuLiquidConfig: class LaiYuLiquidDeck: """LaiYu_Liquid 工作台管理""" - + def __init__(self, config: LaiYuLiquidConfig): self.config = config self.resources: Dict[str, Resource] = {} self.positions: Dict[str, Tuple[float, float, float]] = {} - + def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]): """添加资源到工作台""" self.resources[name] = resource self.positions[name] = position - + def get_resource(self, name: str) -> Optional[Resource]: """获取资源""" return self.resources.get(name) - + def get_position(self, name: str) -> Optional[Tuple[float, float, float]]: """获取资源位置""" return self.positions.get(name) - + def list_resources(self) -> List[str]: """列出所有资源""" return list(self.resources.keys()) @@ -154,8 +159,18 @@ class LaiYuLiquidDeck: class LaiYuLiquidContainer: """LaiYu_Liquid 容器类""" - - def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0): + + def __init__( + self, + name: str, + size_x: float = 0, + size_y: float = 0, + size_z: float = 0, + container_type: str = "", + volume: float = 0.0, + max_volume: float = 1000.0, + lid_height: float = 0.0, + ): self.name = name self.size_x = size_x self.size_y = size_y @@ -166,19 +181,19 @@ class LaiYuLiquidContainer: self.max_volume = max_volume self.last_updated = time.time() self.child_resources = {} # 存储子资源 - + @property def is_empty(self) -> bool: return self.volume <= 0.0 - + @property def is_full(self) -> bool: return self.volume >= self.max_volume - + @property def available_volume(self) -> float: return max(0.0, self.max_volume - self.volume) - + def add_volume(self, volume: float) -> bool: """添加体积""" if self.volume + volume <= self.max_volume: @@ -186,7 +201,7 @@ class LaiYuLiquidContainer: self.last_updated = time.time() return True return False - + def remove_volume(self, volume: float) -> bool: """移除体积""" if self.volume >= volume: @@ -194,20 +209,25 @@ class LaiYuLiquidContainer: self.last_updated = time.time() return True return False - + def assign_child_resource(self, resource, location=None): """分配子资源 - 与 PyLabRobot 资源管理系统兼容""" - if hasattr(resource, 'name'): - self.child_resources[resource.name] = { - 'resource': resource, - 'location': location - } + if hasattr(resource, "name"): + self.child_resources[resource.name] = {"resource": resource, "location": location} class LaiYuLiquidTipRack: """LaiYu_Liquid 吸头架类""" - - def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0): + + def __init__( + self, + name: str, + size_x: float = 0, + size_y: float = 0, + size_z: float = 0, + tip_count: int = 96, + tip_volume: float = 1000.0, + ): self.name = name self.size_x = size_x self.size_y = size_y @@ -216,34 +236,31 @@ class LaiYuLiquidTipRack: self.tip_volume = tip_volume self.tips_available = [True] * tip_count self.child_resources = {} # 存储子资源 - + @property def available_tips(self) -> int: return sum(self.tips_available) - + @property def is_empty(self) -> bool: return self.available_tips == 0 - + def pick_tip(self, position: int) -> bool: """拾取吸头""" if 0 <= position < self.tip_count and self.tips_available[position]: self.tips_available[position] = False return True return False - + def has_tip(self, position: int) -> bool: """检查位置是否有吸头""" if 0 <= position < self.tip_count: return self.tips_available[position] return False - + def assign_child_resource(self, resource, location=None): """分配子资源到指定位置""" - self.child_resources[resource.name] = { - 'resource': resource, - 'location': location - } + self.child_resources[resource.name] = {"resource": resource, "location": location} def get_module_info(): @@ -253,36 +270,32 @@ def get_module_info(): "version": "1.0.0", "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能", "author": "UniLabOS Team", - "capabilities": [ - "移液器控制", - "XYZ轴运动控制", - "吸头架管理", - "板和容器管理", - "资源位置管理" - ], - "dependencies": { - "required": ["serial"], - "optional": ["pylabrobot"] - } + "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"], + "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]}, } class LaiYuLiquidBackend: """LaiYu_Liquid 硬件通信后端""" - - def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None): + + _ros_node: BaseROS2DeviceNode + + def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None): self.config = config self.deck = deck # 工作台引用，用于获取资源位置信息 self.pipette_controller = None self.xyz_controller = None self.is_connected = False self.is_initialized = False - + # 状态跟踪 self.current_position = (0.0, 0.0, 0.0) self.tip_attached = False self.current_volume = 0.0 - + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def _validate_position(self, x: float, y: float, z: float) -> bool: """验证位置是否在安全范围内""" try: @@ -290,71 +303,71 @@ class LaiYuLiquidBackend: if not (0 <= x <= self.config.deck_width): logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]") return False - + # 检查Y轴范围 if not (0 <= y <= self.config.deck_height): logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]") return False - + # 检查Z轴范围（负值表示向下，0为工作台表面） if not (-self.config.deck_depth <= z <= self.config.safe_height): logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]") return False - + return True except Exception as e: logger.error(f"位置验证失败: {e}") return False - + def _check_hardware_ready(self) -> bool: """检查硬件是否准备就绪""" if not self.is_connected: logger.error("设备未连接") return False - + if CONTROLLERS_AVAILABLE: if self.xyz_controller is None: logger.error("XYZ控制器未初始化") return False - + return True - + async def emergency_stop(self) -> bool: """紧急停止所有运动""" try: logger.warning("执行紧急停止") - + if CONTROLLERS_AVAILABLE and self.xyz_controller: # 停止XYZ控制器 await self.xyz_controller.stop_all_motion() logger.info("XYZ控制器已停止") - + if self.pipette_controller: # 停止移液器控制器 await self.pipette_controller.stop() logger.info("移液器控制器已停止") - + return True except Exception as e: logger.error(f"紧急停止失败: {e}") return False - + async def move_to_safe_position(self) -> bool: """移动到安全位置""" try: if not self._check_hardware_ready(): return False - + safe_position = ( self.config.deck_width / 2, # 工作台中心X self.config.deck_height / 2, # 工作台中心Y - self.config.safe_height # 安全高度Z + self.config.safe_height, # 安全高度Z ) - + if not self._validate_position(*safe_position): logger.error("安全位置无效") return False - + if CONTROLLERS_AVAILABLE and self.xyz_controller: await self.xyz_controller.move_to_work_coord(*safe_position) self.current_position = safe_position @@ -365,33 +378,28 @@ class LaiYuLiquidBackend: self.current_position = safe_position logger.info("模拟移动到安全位置") return True - + except Exception as e: logger.error(f"移动到安全位置失败: {e}") return False - + async def setup(self) -> bool: """设置硬件连接""" try: if CONTROLLERS_AVAILABLE: # 初始化移液器控制器 - self.pipette_controller = PipetteController( - port=self.config.port, - address=self.config.address - ) - + self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address) + # 初始化XYZ控制器 machine_config = MachineConfig() self.xyz_controller = XYZController( - port=self.config.port, - baudrate=self.config.baudrate, - machine_config=machine_config + port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config ) - + # 连接设备 pipette_connected = await asyncio.to_thread(self.pipette_controller.connect) xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device) - + if pipette_connected and xyz_connected: self.is_connected = True logger.info("LaiYu_Liquid 硬件连接成功") @@ -404,124 +412,123 @@ class LaiYuLiquidBackend: logger.info("LaiYu_Liquid 运行在模拟模式") self.is_connected = True return True - + except Exception as e: logger.error(f"LaiYu_Liquid 设置失败: {e}") return False - + async def stop(self): """停止设备""" try: - if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'): + if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"): await asyncio.to_thread(self.pipette_controller.disconnect) - - if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'): + + if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"): await asyncio.to_thread(self.xyz_controller.disconnect) - + self.is_connected = False self.is_initialized = False logger.info("LaiYu_Liquid 已停止") - + except Exception as e: logger.error(f"LaiYu_Liquid 停止失败: {e}") - + async def move_to(self, x: float, y: float, z: float) -> bool: """移动到指定位置""" try: if not self.is_connected: raise LaiYuLiquidError("设备未连接") - + # 模拟移动 - await asyncio.sleep(0.1) # 模拟移动时间 + await self._ros_node.sleep(0.1) # 模拟移动时间 self.current_position = (x, y, z) logger.debug(f"移动到位置: ({x}, {y}, {z})") return True - + except Exception as e: logger.error(f"移动失败: {e}") return False - + async def pick_up_tip(self, tip_rack: str, position: int) -> bool: """拾取吸头 - 包含真正的Z轴下降控制""" try: # 硬件准备检查 if not self._check_hardware_ready(): return False - + if self.tip_attached: logger.warning("已有吸头附着，无法拾取新吸头") return False - + logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头") - + # 获取枪头架位置信息 if self.deck is None: logger.error("工作台未初始化") return False - + tip_position = self.deck.get_position(tip_rack) if tip_position is None: logger.error(f"未找到枪头架 {tip_rack} 的位置信息") return False - + # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移） tip_x, tip_y, tip_z = tip_position - + # 验证所有关键位置的安全性 safe_z = tip_z + self.config.tip_approach_height pickup_z = tip_z - self.config.tip_pickup_force_depth retract_z = tip_z + self.config.tip_pickup_retract_height - - if not (self._validate_position(tip_x, tip_y, safe_z) and - self._validate_position(tip_x, tip_y, pickup_z) and - self._validate_position(tip_x, tip_y, retract_z)): + + if not ( + self._validate_position(tip_x, tip_y, safe_z) + and self._validate_position(tip_x, tip_y, pickup_z) + and self._validate_position(tip_x, tip_y, retract_z) + ): logger.error("枪头拾取位置超出安全范围") return False - + if CONTROLLERS_AVAILABLE and self.xyz_controller: # 真实硬件控制流程 logger.info("使用真实XYZ控制器进行枪头拾取") - + try: # 1. 移动到枪头上方的安全位置 safe_z = tip_z + self.config.tip_approach_height logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})") move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - tip_x, tip_y, safe_z + self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z ) if not move_success: logger.error("移动到枪头上方失败") return False - + # 2. Z轴下降到枪头位置 pickup_z = tip_z - self.config.tip_pickup_force_depth logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm") z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - tip_x, tip_y, pickup_z + self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z ) if not z_down_success: logger.error("Z轴下降到枪头位置失败") return False - + # 3. 等待一小段时间确保枪头牢固附着 - await asyncio.sleep(0.2) - + await self._ros_node.sleep(0.2) + # 4. Z轴上升到回退高度 retract_z = tip_z + self.config.tip_pickup_retract_height logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm") z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - tip_x, tip_y, retract_z + self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z ) if not z_up_success: logger.error("Z轴上升失败") return False - + # 5. 更新当前位置 self.current_position = (tip_x, tip_y, retract_z) - + except Exception as move_error: logger.error(f"枪头拾取过程中发生错误: {move_error}") # 尝试移动到安全位置 @@ -529,35 +536,35 @@ class LaiYuLiquidBackend: await self.emergency_stop() await self.move_to_safe_position() return False - + else: # 模拟模式 logger.info("模拟模式：执行枪头拾取动作") - await asyncio.sleep(1.0) # 模拟整个拾取过程的时间 + await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间 self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height) - + # 6. 标记枪头已附着 self.tip_attached = True logger.info("吸头拾取成功") return True - + except Exception as e: logger.error(f"拾取吸头失败: {e}") return False - + async def drop_tip(self, location: str = "trash") -> bool: """丢弃吸头 - 包含真正的Z轴控制""" try: # 硬件准备检查 if not self._check_hardware_ready(): return False - + if not self.tip_attached: logger.warning("没有吸头附着，无需丢弃") return True - + logger.info(f"开始丢弃吸头到 {location}") - + # 确定丢弃位置 if location == "trash": # 使用配置中的垃圾桶位置 @@ -567,48 +574,48 @@ class LaiYuLiquidBackend: if self.deck is None: logger.error("工作台未初始化") return False - + drop_position = self.deck.get_position(location) if drop_position is None: logger.error(f"未找到丢弃位置 {location} 的信息") return False drop_x, drop_y, drop_z = drop_position - + # 验证丢弃位置的安全性 safe_z = drop_z + self.config.safe_height drop_height_z = drop_z + self.config.tip_drop_height - - if not (self._validate_position(drop_x, drop_y, safe_z) and - self._validate_position(drop_x, drop_y, drop_height_z)): + + if not ( + self._validate_position(drop_x, drop_y, safe_z) + and self._validate_position(drop_x, drop_y, drop_height_z) + ): logger.error("枪头丢弃位置超出安全范围") return False - + if CONTROLLERS_AVAILABLE and self.xyz_controller: # 真实硬件控制流程 logger.info("使用真实XYZ控制器进行枪头丢弃") - + try: # 1. 移动到丢弃位置上方的安全高度 safe_z = drop_z + self.config.tip_drop_height logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})") move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - drop_x, drop_y, safe_z + self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z ) if not move_success: logger.error("移动到丢弃位置上方失败") return False - + # 2. Z轴下降到丢弃高度 logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm") z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - drop_x, drop_y, drop_z + self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z ) if not z_down_success: logger.error("Z轴下降到丢弃位置失败") return False - + # 3. 执行枪头弹出动作（如果有移液器控制器） if self.pipette_controller: try: @@ -617,23 +624,22 @@ class LaiYuLiquidBackend: logger.info("执行枪头弹出命令") except Exception as e: logger.warning(f"枪头弹出命令失败: {e}") - + # 4. 等待一小段时间确保枪头完全脱离 - await asyncio.sleep(0.3) - + await self._ros_node.sleep(0.3) + # 5. Z轴上升到安全高度 logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm") z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, - drop_x, drop_y, safe_z + self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z ) if not z_up_success: logger.error("Z轴上升失败") return False - + # 6. 更新当前位置 self.current_position = (drop_x, drop_y, safe_z) - + except Exception as drop_error: logger.error(f"枪头丢弃过程中发生错误: {drop_error}") # 尝试移动到安全位置 @@ -641,63 +647,63 @@ class LaiYuLiquidBackend: await self.emergency_stop() await self.move_to_safe_position() return False - + else: # 模拟模式 logger.info("模拟模式：执行枪头丢弃动作") - await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间 + await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间 self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height) - + # 7. 标记枪头已脱离，清空体积 self.tip_attached = False self.current_volume = 0.0 logger.info("吸头丢弃成功") return True - + except Exception as e: logger.error(f"丢弃吸头失败: {e}") return False - + async def aspirate(self, volume: float, location: str) -> bool: """吸取液体""" try: if not self.is_connected: raise LaiYuLiquidError("设备未连接") - + if not self.tip_attached: raise LaiYuLiquidError("没有吸头附着") - + if volume <= 0 or volume > self.config.max_volume: raise LaiYuLiquidError(f"体积超出范围: {volume}") - + # 模拟吸取 - await asyncio.sleep(0.3) + await self._ros_node.sleep(0.3) self.current_volume += volume logger.debug(f"从 {location} 吸取 {volume} μL") return True - + except Exception as e: logger.error(f"吸取失败: {e}") return False - + async def dispense(self, volume: float, location: str) -> bool: """分配液体""" try: if not self.is_connected: raise LaiYuLiquidError("设备未连接") - + if not self.tip_attached: raise LaiYuLiquidError("没有吸头附着") - + if volume <= 0 or volume > self.current_volume: raise LaiYuLiquidError(f"分配体积无效: {volume}") - + # 模拟分配 - await asyncio.sleep(0.3) + await self._ros_node.sleep(0.3) self.current_volume -= volume logger.debug(f"向 {location} 分配 {volume} μL") return True - + except Exception as e: logger.error(f"分配失败: {e}") return False @@ -705,7 +711,7 @@ class LaiYuLiquidBackend: class LaiYuLiquid: """LaiYu_Liquid 主要接口类""" - + def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs): # 如果传入了关键字参数，创建配置对象 if kwargs and config is None: @@ -717,37 +723,37 @@ class LaiYuLiquid: self.config = LaiYuLiquidConfig(**config_params) else: self.config = config or LaiYuLiquidConfig() - + # 先创建deck，然后传递给backend self.deck = LaiYuLiquidDeck(self.config) self.backend = LaiYuLiquidBackend(self.config, self.deck) self.is_setup = False - + @property def current_position(self) -> Tuple[float, float, float]: """获取当前位置""" return self.backend.current_position - + @property def current_volume(self) -> float: """获取当前体积""" return self.backend.current_volume - + @property def is_connected(self) -> bool: """获取连接状态""" return self.backend.is_connected - + @property def is_initialized(self) -> bool: """获取初始化状态""" return self.backend.is_initialized - + @property def tip_attached(self) -> bool: """获取吸头附着状态""" return self.backend.tip_attached - + async def setup(self) -> bool: """设置液体处理器""" try: @@ -759,27 +765,28 @@ class LaiYuLiquid: except Exception as e: logger.error(f"LaiYu_Liquid 设置失败: {e}") return False - + async def stop(self): """停止液体处理器""" await self.backend.stop() self.is_setup = False - - async def transfer(self, source: str, target: str, volume: float, - tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool: + + async def transfer( + self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0 + ) -> bool: """液体转移""" try: if not self.is_setup: raise LaiYuLiquidError("设备未设置") - + # 获取源和目标位置 source_pos = self.deck.get_position(source) target_pos = self.deck.get_position(target) tip_pos = self.deck.get_position(tip_rack) - + if not all([source_pos, target_pos, tip_pos]): raise LaiYuLiquidError("位置信息不完整") - + # 执行转移步骤 steps = [ ("移动到吸头架", self.backend.move_to(*tip_pos)), @@ -788,22 +795,22 @@ class LaiYuLiquid: ("吸取液体", self.backend.aspirate(volume, source)), ("移动到目标位置", self.backend.move_to(*target_pos)), ("分配液体", self.backend.dispense(volume, target)), - ("丢弃吸头", self.backend.drop_tip()) + ("丢弃吸头", self.backend.drop_tip()), ] - + for step_name, step_coro in steps: logger.debug(f"执行步骤: {step_name}") success = await step_coro if not success: raise LaiYuLiquidError(f"步骤失败: {step_name}") - + logger.info(f"液体转移完成: {source} -> {target}, {volume} μL") return True - + except Exception as e: logger.error(f"液体转移失败: {e}") return False - + def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]): """添加资源到工作台""" if resource_type == "plate": @@ -812,9 +819,9 @@ class LaiYuLiquid: resource = TipRack(name) else: resource = Resource(name) - + self.deck.add_resource(name, resource, position) - + def get_status(self) -> Dict[str, Any]: """获取设备状态""" return { @@ -823,59 +830,59 @@ class LaiYuLiquid: "current_position": self.backend.current_position, "tip_attached": self.backend.tip_attached, "current_volume": self.backend.current_volume, - "resources": self.deck.list_resources() + "resources": self.deck.list_resources(), } def create_quick_setup() -> LaiYuLiquidDeck: """ 创建快速设置的LaiYu液体处理工作站 - + Returns: LaiYuLiquidDeck: 配置好的工作台实例 """ # 创建默认配置 config = LaiYuLiquidConfig() - + # 创建工作台 deck = LaiYuLiquidDeck(config) - + # 导入资源创建函数 try: from .laiyu_liquid_res import ( create_tip_rack_1000ul, create_tip_rack_200ul, create_96_well_plate, - create_waste_container + create_waste_container, ) - + # 添加基本资源 tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") tip_rack_200 = create_tip_rack_200ul("tip_rack_200") plate_96 = create_96_well_plate("plate_96") waste = create_waste_container("waste") - + # 添加到工作台 deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0)) deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0)) deck.add_resource("plate_96", plate_96, (250, 50, 0)) deck.add_resource("waste", waste, (50, 150, 0)) - + except ImportError: # 如果资源模块不可用，创建空的工作台 logger.warning("资源模块不可用，创建空的工作台") - + return deck __all__ = [ "LaiYuLiquid", - "LaiYuLiquidBackend", + "LaiYuLiquidBackend", "LaiYuLiquidConfig", "LaiYuLiquidDeck", "LaiYuLiquidContainer", "LaiYuLiquidTipRack", "LaiYuLiquidError", "create_quick_setup", - "get_module_info" -] \ No newline at end of file + "get_module_info", +] diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 69b757b..32e370f 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -25,6 +25,8 @@ from pylabrobot.resources import ( Tip, ) +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class LiquidHandlerMiddleware(LiquidHandler): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8): @@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler): class LiquidHandlerAbstract(LiquidHandlerMiddleware): """Extended LiquidHandler with additional operations.""" support_touch_tip = True + _ros_node: BaseROS2DeviceNode def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): """Initialize a LiquidHandler. @@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): self.group_info = dict() super().__init__(backend, deck, simulator, channel_num) + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + @classmethod - def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]): """Set the liquid in a well.""" for well, liquid_name, volume in zip(wells, liquid_names, volumes): well.set_liquids([(liquid_name, volume)]) # type: ignore @@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): print(f"Waiting time: {msg}") print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}") - await asyncio.sleep(seconds) + await self._ros_node.sleep(seconds) if msg: print(f"Done: {msg}") print(f"Current time: {time.strftime('%H:%M:%S')}") diff --git a/unilabos/devices/pump_and_valve/runze_async.py b/unilabos/devices/pump_and_valve/runze_async.py index 9b8d649..7bc1115 100644 --- a/unilabos/devices/pump_and_valve/runze_async.py +++ b/unilabos/devices/pump_and_valve/runze_async.py @@ -8,6 +8,8 @@ import serial.tools.list_ports from serial import Serial from serial.serialutil import SerialException +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class RunzeSyringePumpMode(Enum): Normal = 0 @@ -77,6 +79,8 @@ class RunzeSyringePumpInfo: class RunzeSyringePumpAsync: + _ros_node: BaseROS2DeviceNode + def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None): self.port = port self.address = address @@ -102,6 +106,9 @@ class RunzeSyringePumpAsync: self._run_future: Optional[Future[Any]] = None self._run_lock = Lock() + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def _adjust_total_steps(self): self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000 self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000 @@ -182,7 +189,7 @@ class RunzeSyringePumpAsync: try: await self._query(command) while True: - await asyncio.sleep(0.5) # Wait for 0.5 seconds before polling again + await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again status = await self.query_device_status() if status == '`': @@ -364,7 +371,7 @@ class RunzeSyringePumpAsync: if self._read_task: raise RunzeSyringePumpConnectionError - self._read_task = asyncio.create_task(self._read_loop()) + self._read_task = self._ros_node.create_task(self._read_loop()) try: await self.query_device_status() diff --git a/unilabos/devices/virtual/virtual_centrifuge.py b/unilabos/devices/virtual/virtual_centrifuge.py index 79f9dce..afce45a 100644 --- a/unilabos/devices/virtual/virtual_centrifuge.py +++ b/unilabos/devices/virtual/virtual_centrifuge.py @@ -3,9 +3,13 @@ import logging import time as time_module from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualCentrifuge: """Virtual centrifuge device - 简化版，只保留核心功能""" + + _ros_node: BaseROS2DeviceNode def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): # 处理可能的不同调用方式 @@ -32,6 +36,9 @@ class VirtualCentrifuge: for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node async def initialize(self) -> bool: """Initialize virtual centrifuge""" @@ -132,7 +139,7 @@ class VirtualCentrifuge: break # 每秒更新一次 - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) # 离心完成 self.data.update({ diff --git a/unilabos/devices/virtual/virtual_column.py b/unilabos/devices/virtual/virtual_column.py index 892a320..539f302 100644 --- a/unilabos/devices/virtual/virtual_column.py +++ b/unilabos/devices/virtual/virtual_column.py @@ -2,9 +2,13 @@ import asyncio import logging from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualColumn: """Virtual column device for RunColumn protocol 🏛️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: @@ -28,6 +32,9 @@ class VirtualColumn: print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨") print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual column 🚀""" self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨") @@ -101,7 +108,7 @@ class VirtualColumn: step_time = separation_time / steps for i in range(steps): - await asyncio.sleep(step_time) + await self._ros_node.sleep(step_time) progress = (i + 1) / steps * 100 volume_processed = (i + 1) * 5.0 # 假设每步处理5mL diff --git a/unilabos/devices/virtual/virtual_filter.py b/unilabos/devices/virtual/virtual_filter.py index ffd8f54..98effc9 100644 --- a/unilabos/devices/virtual/virtual_filter.py +++ b/unilabos/devices/virtual/virtual_filter.py @@ -4,70 +4,76 @@ import time as time_module from typing import Dict, Any, Optional from unilabos.compile.utils.vessel_parser import get_vessel +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class VirtualFilter: """Virtual filter device - 完全按照 Filter.action 规范 🌊""" - + + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): - if device_id is None and 'id' in kwargs: - device_id = kwargs.pop('id') - if config is None and 'config' in kwargs: - config = kwargs.pop('config') - + if device_id is None and "id" in kwargs: + device_id = kwargs.pop("id") + if config is None and "config" in kwargs: + config = kwargs.pop("config") + self.device_id = device_id or "unknown_filter" self.config = config or {} self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}") self.data = {} - + # 从config或kwargs中获取配置参数 - self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL') - self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0) - self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0) - self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0) - + self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL") + self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0) + self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0) + self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0) + # 处理其他kwargs参数 - skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'} + skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"} for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) - + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual filter 🚀""" self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨") - + # 按照 Filter.action 的 feedback 字段初始化 - self.data.update({ - "status": "Idle", - "progress": 0.0, # Filter.action feedback - "current_temp": 25.0, # Filter.action feedback - "filtered_volume": 0.0, # Filter.action feedback - "message": "Ready for filtration" - }) - + self.data.update( + { + "status": "Idle", + "progress": 0.0, # Filter.action feedback + "current_temp": 25.0, # Filter.action feedback + "filtered_volume": 0.0, # Filter.action feedback + "message": "Ready for filtration", + } + ) + self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊") return True - + async def cleanup(self) -> bool: """Cleanup virtual filter 🧹""" self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚") - - self.data.update({ - "status": "Offline" - }) - + + self.data.update({"status": "Offline"}) + self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤") return True - + async def filter( - self, + self, vessel: dict, filtrate_vessel: dict = {}, - stir: bool = False, - stir_speed: float = 300.0, - temp: float = 25.0, - continue_heatchill: bool = False, - volume: float = 0.0 + stir: bool = False, + stir_speed: float = 300.0, + temp: float = 25.0, + continue_heatchill: bool = False, + volume: float = 0.0, ) -> bool: """Execute filter action - 完全按照 Filter.action 参数 🌊""" vessel_id, _ = get_vessel(vessel) @@ -79,59 +85,52 @@ class VirtualFilter: temp = 25.0 # 0度自动设置为室温 self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠") elif temp < 4.0: - temp = 4.0 # 小于4度自动设置为4度 + temp = 4.0 # 小于4度自动设置为4度 self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️") - + self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰") self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)") self.logger.info(f" 🌡️ 温度: {temp}°C") self.logger.info(f" 💧 体积: {volume}mL") self.logger.info(f" 🔥 保持加热: {continue_heatchill}") - + # 验证参数 if temp > self._max_temp or temp < 4.0: error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error: 温度超出范围 ⚠️", - "message": error_msg - }) + self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg}) return False - + if stir and stir_speed > self._max_stir_speed: error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error: 搅拌速度超出范围 ⚠️", - "message": error_msg - }) + self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg}) return False - + if volume > self._max_volume: error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error", - "message": error_msg - }) + self.data.update({"status": f"Error", "message": error_msg}) return False - + # 开始过滤 filter_volume = volume if volume > 0 else 50.0 self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧") - - self.data.update({ - "status": f"Running", - "current_temp": temp, - "filtered_volume": 0.0, - "progress": 0.0, - "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}" - }) - + + self.data.update( + { + "status": f"Running", + "current_temp": temp, + "filtered_volume": 0.0, + "progress": 0.0, + "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}", + } + ) + try: # 过滤过程 - 实时更新进度 start_time = time_module.time() - + # 根据体积和搅拌估算过滤时间 base_time = filter_volume / 5.0 # 5mL/s 基础速度 if stir: @@ -140,78 +139,79 @@ class VirtualFilter: if temp > 50.0: base_time *= 0.7 # 高温加速过滤 self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡") - + filter_time = max(base_time, 10.0) # 最少10秒 self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛") - + while True: current_time = time_module.time() elapsed = current_time - start_time remaining = max(0, filter_time - elapsed) progress = min(100.0, (elapsed / filter_time) * 100) current_filtered = (progress / 100.0) * filter_volume - + # 更新状态 - 按照 Filter.action feedback 字段 status_msg = f"🌊 过滤中: {vessel}" if stir: status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM" status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL" - - self.data.update({ - "progress": progress, # Filter.action feedback - "current_temp": temp, # Filter.action feedback - "filtered_volume": current_filtered, # Filter.action feedback - "status": "Running", - "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered" - }) - + + self.data.update( + { + "progress": progress, # Filter.action feedback + "current_temp": temp, # Filter.action feedback + "filtered_volume": current_filtered, # Filter.action feedback + "status": "Running", + "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered", + } + ) + # 进度日志（每25%打印一次） if progress >= 25 and progress % 25 < 1: self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨") - + if remaining <= 0: break - - await asyncio.sleep(1.0) - + + await self._ros_node.sleep(1.0) + # 过滤完成 final_temp = temp if continue_heatchill else 25.0 final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}" if continue_heatchill: final_status += " | 🔥 继续加热搅拌" self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️") - - self.data.update({ - "status": final_status, - "progress": 100.0, # Filter.action feedback - "current_temp": final_temp, # Filter.action feedback - "filtered_volume": filter_volume, # Filter.action feedback - "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}" - }) - + + self.data.update( + { + "status": final_status, + "progress": 100.0, # Filter.action feedback + "current_temp": final_temp, # Filter.action feedback + "filtered_volume": filter_volume, # Filter.action feedback + "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}", + } + ) + self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨") self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁") return True - + except Exception as e: error_msg = f"过滤过程中发生错误: {str(e)} 💥" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"Error", - "message": f"❌ Filtration failed: {str(e)}" - }) + self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"}) return False - + # === 核心状态属性 - 按照 Filter.action feedback 字段 === @property def status(self) -> str: return self.data.get("status", "❓ Unknown") - + @property def progress(self) -> float: """Filter.action feedback 字段 📊""" return self.data.get("progress", 0.0) - + @property def current_temp(self) -> float: """Filter.action feedback 字段 🌡️""" @@ -230,15 +230,15 @@ class VirtualFilter: @property def message(self) -> str: return self.data.get("message", "") - + @property def max_temp(self) -> float: return self._max_temp - + @property def max_stir_speed(self) -> float: return self._max_stir_speed - + @property def max_volume(self) -> float: - return self._max_volume \ No newline at end of file + return self._max_volume diff --git a/unilabos/devices/virtual/virtual_heatchill.py b/unilabos/devices/virtual/virtual_heatchill.py index 2f7e555..29a9fd2 100644 --- a/unilabos/devices/virtual/virtual_heatchill.py +++ b/unilabos/devices/virtual/virtual_heatchill.py @@ -3,9 +3,13 @@ import logging import time as time_module # 重命名time模块，避免与参数冲突 from typing import Dict, Any +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualHeatChill: """Virtual heat chill device for HeatChillProtocol testing 🌡️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: @@ -35,6 +39,9 @@ class VirtualHeatChill: print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨") print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual heat chill 🚀""" self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨") @@ -177,7 +184,7 @@ class VirtualHeatChill: break # 等待1秒后再次检查 - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) # 操作完成 final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else "" diff --git a/unilabos/devices/virtual/virtual_rotavap.py b/unilabos/devices/virtual/virtual_rotavap.py index 23e24b7..5e85d35 100644 --- a/unilabos/devices/virtual/virtual_rotavap.py +++ b/unilabos/devices/virtual/virtual_rotavap.py @@ -3,13 +3,19 @@ import logging import time as time_module from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + + def debug_print(message): """调试输出 🔍""" print(f"🌪️ [ROTAVAP] {message}", flush=True) + class VirtualRotavap: """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and "id" in kwargs: @@ -38,56 +44,65 @@ class VirtualRotavap: print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨") print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual rotary evaporator 🚀""" self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨") - + # 只保留核心状态 - self.data.update({ - "status": "🏠 待机中", - "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error - "current_temp": 25.0, - "target_temp": 25.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, # 大气压 - "evaporated_volume": 0.0, - "progress": 0.0, - "remaining_time": 0.0, - "message": "🌪️ Ready for evaporation" - }) - + self.data.update( + { + "status": "🏠 待机中", + "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error + "current_temp": 25.0, + "target_temp": 25.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, # 大气压 + "evaporated_volume": 0.0, + "progress": 0.0, + "remaining_time": 0.0, + "message": "🌪️ Ready for evaporation", + } + ) + self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️") - self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM") + self.logger.info( + f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM" + ) return True async def cleanup(self) -> bool: """Cleanup virtual rotary evaporator 🧹""" self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚") - - self.data.update({ - "status": "💤 离线", - "rotavap_state": "Offline", - "current_temp": 25.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, - "message": "💤 System offline" - }) - + + self.data.update( + { + "status": "💤 离线", + "rotavap_state": "Offline", + "current_temp": 25.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, + "message": "💤 System offline", + } + ) + self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤") return True async def evaporate( - self, - vessel: str, - pressure: float = 0.1, - temp: float = 60.0, + self, + vessel: str, + pressure: float = 0.1, + temp: float = 60.0, time: float = 180.0, stir_speed: float = 100.0, solvent: str = "", - **kwargs + **kwargs, ) -> bool: """Execute evaporate action - 简化版 🌪️""" - + # 🔧 新增：确保time参数是数值类型 if isinstance(time, str): try: @@ -98,31 +113,31 @@ class VirtualRotavap: elif not isinstance(time, (int, float)): self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒") time = 180.0 - + # 确保time是float类型; 并加速 time = float(time) / 10.0 - + # 🔧 简化处理：如果vessel就是设备自己，直接操作 if vessel == self.device_id: debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作") actual_vessel = self.device_id else: actual_vessel = vessel - + # 参数预处理 if solvent: self.logger.info(f"🧪 识别到溶剂: {solvent}") # 根据溶剂调整参数 solvent_lower = solvent.lower() - if any(s in solvent_lower for s in ['water', 'aqueous']): + if any(s in solvent_lower for s in ["water", "aqueous"]): temp = max(temp, 80.0) pressure = max(pressure, 0.2) self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") - elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']): + elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]): temp = min(temp, 50.0) pressure = min(pressure, 0.05) self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") - + self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}") self.logger.info(f" 🥽 容器: {actual_vessel}") self.logger.info(f" 🌡️ 温度: {temp}°C") @@ -131,126 +146,140 @@ class VirtualRotavap: self.logger.info(f" 🌀 转速: {stir_speed} RPM") if solvent: self.logger.info(f" 🧪 溶剂: {solvent}") - + # 验证参数 if temp > self._max_temp or temp < 10.0: error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"❌ 错误: 温度超出范围", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": error_msg - }) + self.data.update( + { + "status": f"❌ 错误: 温度超出范围", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": error_msg, + } + ) return False if stir_speed > self._max_rotation_speed or stir_speed < 10.0: error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"❌ 错误: 转速超出范围", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": error_msg - }) + self.data.update( + { + "status": f"❌ 错误: 转速超出范围", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": error_msg, + } + ) return False if pressure < 0.01 or pressure > 1.0: error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️" self.logger.error(f"❌ {error_msg}") - self.data.update({ - "status": f"❌ 错误: 压力超出范围", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": error_msg - }) + self.data.update( + { + "status": f"❌ 错误: 压力超出范围", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": error_msg, + } + ) return False # 开始蒸发 - 🔧 现在time已经确保是float类型 self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️") - - self.data.update({ - "status": f"🌪️ 蒸发中: {actual_vessel}", - "rotavap_state": "Evaporating", - "current_temp": temp, - "target_temp": temp, - "rotation_speed": stir_speed, - "vacuum_pressure": pressure, - "remaining_time": time, - "progress": 0.0, - "evaporated_volume": 0.0, - "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM" - }) + + self.data.update( + { + "status": f"🌪️ 蒸发中: {actual_vessel}", + "rotavap_state": "Evaporating", + "current_temp": temp, + "target_temp": temp, + "rotation_speed": stir_speed, + "vacuum_pressure": pressure, + "remaining_time": time, + "progress": 0.0, + "evaporated_volume": 0.0, + "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM", + } + ) try: # 蒸发过程 - 实时更新进度 start_time = time_module.time() total_time = time last_logged_progress = 0 - + while True: current_time = time_module.time() elapsed = current_time - start_time remaining = max(0, total_time - elapsed) progress = min(100.0, (elapsed / total_time) * 100) - + # 模拟蒸发体积 - 根据溶剂类型调整 - if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): + if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]): evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢 - elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): + elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]): evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快 else: evaporated_vol = progress * 0.8 # 默认蒸发量 - + # 🔧 更新状态 - 确保包含所有必需字段 status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s" - - self.data.update({ - "remaining_time": remaining, - "progress": progress, - "evaporated_volume": evaporated_vol, - "current_temp": temp, - "status": status_msg, - "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining" - }) - + + self.data.update( + { + "remaining_time": remaining, + "progress": progress, + "evaporated_volume": evaporated_vol, + "current_temp": temp, + "status": status_msg, + "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining", + } + ) + # 进度日志（每25%打印一次） if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress: - self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨") + self.logger.info( + f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨" + ) last_logged_progress = int(progress) - + # 时间到了，退出循环 if remaining <= 0: break - + # 每秒更新一次 - await asyncio.sleep(1.0) - + await self._ros_node.sleep(1.0) + # 蒸发完成 - if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): + if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]): final_evaporated = 60.0 # 水系溶剂 - elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): + elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]): final_evaporated = 100.0 # 易挥发溶剂 else: final_evaporated = 80.0 # 默认 - - self.data.update({ - "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL", - "rotavap_state": "Completed", - "evaporated_volume": final_evaporated, - "progress": 100.0, - "current_temp": temp, - "remaining_time": 0.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, - "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}" - }) + + self.data.update( + { + "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL", + "rotavap_state": "Completed", + "evaporated_volume": final_evaporated, + "progress": 100.0, + "current_temp": temp, + "remaining_time": 0.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, + "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}", + } + ) self.logger.info(f"🎉 蒸发操作完成! ✨") self.logger.info(f"📊 蒸发结果:") @@ -262,24 +291,26 @@ class VirtualRotavap: self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s") if solvent: self.logger.info(f" 🧪 处理溶剂: {solvent} 🏁") - + return True except Exception as e: # 出错处理 error_msg = f"蒸发过程中发生错误: {str(e)} 💥" self.logger.error(f"❌ {error_msg}") - - self.data.update({ - "status": f"❌ 蒸发错误: {str(e)}", - "rotavap_state": "Error", - "current_temp": 25.0, - "progress": 0.0, - "evaporated_volume": 0.0, - "rotation_speed": 0.0, - "vacuum_pressure": 1.0, - "message": f"❌ Evaporation failed: {str(e)}" - }) + + self.data.update( + { + "status": f"❌ 蒸发错误: {str(e)}", + "rotavap_state": "Error", + "current_temp": 25.0, + "progress": 0.0, + "evaporated_volume": 0.0, + "rotation_speed": 0.0, + "vacuum_pressure": 1.0, + "message": f"❌ Evaporation failed: {str(e)}", + } + ) return False # === 核心状态属性 === diff --git a/unilabos/devices/virtual/virtual_separator.py b/unilabos/devices/virtual/virtual_separator.py index e1c4612..0f266ce 100644 --- a/unilabos/devices/virtual/virtual_separator.py +++ b/unilabos/devices/virtual/virtual_separator.py @@ -2,9 +2,13 @@ import asyncio import logging from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualSeparator: """Virtual separator device for SeparateProtocol testing""" + + _ros_node: BaseROS2DeviceNode def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): # 处理可能的不同调用方式 @@ -35,6 +39,9 @@ class VirtualSeparator: for key, value in kwargs.items(): if key not in skip_keys and not hasattr(self, key): setattr(self, key, value) + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node async def initialize(self) -> bool: """Initialize virtual separator""" @@ -119,14 +126,14 @@ class VirtualSeparator: for repeat in range(repeats): # 搅拌阶段 for progress in range(0, 51, 10): - await asyncio.sleep(simulation_time / (repeats * 10)) + await self._ros_node.sleep(simulation_time / (repeats * 10)) overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats self.data["progress"] = overall_progress self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)" # 静置分相阶段 for progress in range(50, 101, 10): - await asyncio.sleep(simulation_time / (repeats * 10)) + await self._ros_node.sleep(simulation_time / (repeats * 10)) overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats self.data["progress"] = overall_progress self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)" diff --git a/unilabos/devices/virtual/virtual_solenoid_valve.py b/unilabos/devices/virtual/virtual_solenoid_valve.py index e019424..26970cb 100644 --- a/unilabos/devices/virtual/virtual_solenoid_valve.py +++ b/unilabos/devices/virtual/virtual_solenoid_valve.py @@ -2,11 +2,16 @@ import time import asyncio from typing import Union +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualSolenoidValve: """ 虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态 """ + + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: dict = None, **kwargs): # 从配置中获取参数，提供默认值 if config is None: @@ -21,6 +26,9 @@ class VirtualSolenoidValve: self._status = "Idle" self._valve_state = "Closed" # "Open" or "Closed" self._is_open = False + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node async def initialize(self) -> bool: """初始化设备""" @@ -63,7 +71,7 @@ class VirtualSolenoidValve: self._status = "Busy" # 模拟阀门响应时间 - await asyncio.sleep(self.response_time) + await self._ros_node.sleep(self.response_time) # 处理不同的命令格式 if isinstance(command, str): diff --git a/unilabos/devices/virtual/virtual_solid_dispenser.py b/unilabos/devices/virtual/virtual_solid_dispenser.py index f8c14a7..6318261 100644 --- a/unilabos/devices/virtual/virtual_solid_dispenser.py +++ b/unilabos/devices/virtual/virtual_solid_dispenser.py @@ -3,6 +3,8 @@ import logging import re from typing import Dict, Any, Optional +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualSolidDispenser: """ 虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️ @@ -13,6 +15,8 @@ class VirtualSolidDispenser: - 简单反馈：成功/失败 + 消息 📊 """ + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): self.device_id = device_id or "virtual_solid_dispenser" self.config = config or {} @@ -32,6 +36,9 @@ class VirtualSolidDispenser: print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨") print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """初始化固体加样器 🚀""" self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨") @@ -263,7 +270,7 @@ class VirtualSolidDispenser: for i in range(steps): progress = (i + 1) / steps * 100 - await asyncio.sleep(step_time) + await self._ros_node.sleep(step_time) if i % 2 == 0: # 每隔一步显示进度 self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...") diff --git a/unilabos/devices/virtual/virtual_stirrer.py b/unilabos/devices/virtual/virtual_stirrer.py index cccf61e..8e95617 100644 --- a/unilabos/devices/virtual/virtual_stirrer.py +++ b/unilabos/devices/virtual/virtual_stirrer.py @@ -3,9 +3,13 @@ import logging import time as time_module from typing import Dict, Any +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualStirrer: """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): # 处理可能的不同调用方式 if device_id is None and 'id' in kwargs: @@ -34,6 +38,9 @@ class VirtualStirrer: print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨") print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """Initialize virtual stirrer 🚀""" self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨") @@ -134,7 +141,7 @@ class VirtualStirrer: if remaining <= 0: break - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s") @@ -176,7 +183,7 @@ class VirtualStirrer: if remaining <= 0: break - await asyncio.sleep(1.0) + await self._ros_node.sleep(1.0) self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s") diff --git a/unilabos/devices/virtual/virtual_transferpump.py b/unilabos/devices/virtual/virtual_transferpump.py index 1187db5..7b8eea8 100644 --- a/unilabos/devices/virtual/virtual_transferpump.py +++ b/unilabos/devices/virtual/virtual_transferpump.py @@ -4,6 +4,8 @@ from enum import Enum from typing import Union, Optional import logging +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + class VirtualPumpMode(Enum): Normal = 0 @@ -14,6 +16,8 @@ class VirtualPumpMode(Enum): class VirtualTransferPump: """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰""" + _ros_node: BaseROS2DeviceNode + def __init__(self, device_id: str = None, config: dict = None, **kwargs): """ 初始化虚拟转移泵 @@ -53,6 +57,9 @@ class VirtualTransferPump: print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s") print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}") + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + async def initialize(self) -> bool: """初始化虚拟泵 🚀""" self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨") @@ -104,7 +111,7 @@ class VirtualTransferPump: async def _simulate_operation(self, duration: float): """模拟操作延时 ⏱️""" self._status = "Busy" - await asyncio.sleep(duration) + await self._ros_node.sleep(duration) self._status = "Idle" def _calculate_duration(self, volume: float, velocity: float = None) -> float: @@ -223,7 +230,7 @@ class VirtualTransferPump: # 等待一小步时间 if i < steps and step_duration > 0: - await asyncio.sleep(step_duration) + await self._ros_node.sleep(step_duration) else: # 移动距离很小，直接完成 self._position = target_position @@ -341,7 +348,7 @@ class VirtualTransferPump: # 短暂停顿 self.logger.debug("⏸️ 短暂停顿...") - await asyncio.sleep(0.1) + await self._ros_node.sleep(0.1) # 排液 await self.dispense(volume, dispense_velocity) From 1b2c0dbcd7ef673ab8ae4f06dbaa1668539663b7 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 3 Nov 2025 16:31:37 +0800 Subject: [PATCH 074/104] adjust with_children param --- unilabos/ros/nodes/base_device_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 2fc7ea7..19503fd 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -656,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ].call_async( SerialCommand.Request( command=json.dumps( - {"data": {"data": resources_uuid, "with_children": False}, "action": "get"} + {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"} ) ) ) # type: ignore From 30b202bea09821d049e27fc53cd799ab45acc8ff Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 14:46:27 +0800 Subject: [PATCH 075/104] disable slave connect websocket --- unilabos/app/main.py | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/unilabos/app/main.py b/unilabos/app/main.py index c646518..db15e2c 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -375,22 +375,23 @@ def main(): args_dict["bridges"] = [] - # 获取通信客户端（仅支持WebSocket） - comm_client = get_communication_client() - - if "websocket" in args_dict["app_bridges"]: - args_dict["bridges"].append(comm_client) if "fastapi" in args_dict["app_bridges"]: args_dict["bridges"].append(http_client) - if "websocket" in args_dict["app_bridges"]: + # 获取通信客户端（仅支持WebSocket） + if BasicConfig.is_host_mode: + comm_client = get_communication_client() + if "websocket" in args_dict["app_bridges"]: + args_dict["bridges"].append(comm_client) + def _exit(signum, frame): + comm_client.stop() + sys.exit(0) - def _exit(signum, frame): - comm_client.stop() - sys.exit(0) + signal.signal(signal.SIGINT, _exit) + signal.signal(signal.SIGTERM, _exit) + comm_client.start() + else: + print_status("SlaveMode跳过Websocket连接") - signal.signal(signal.SIGINT, _exit) - signal.signal(signal.SIGTERM, _exit) - comm_client.start() args_dict["resources_mesh_config"] = {} args_dict["resources_edge_config"] = resource_edge_info # web visiualize 2D From d9dffc6bf88af790992bb3b68d7b33a385032547 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 14:52:09 +0800 Subject: [PATCH 076/104] correct remove_resource stats --- unilabos/ros/nodes/resource_tracker.py | 41 ++++++++++++++++++++------ 1 file changed, 32 insertions(+), 9 deletions(-) diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index c958fe7..fc3ca7a 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -2,7 +2,7 @@ import traceback import uuid from pydantic import BaseModel, field_serializer, field_validator from pydantic import Field -from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING +from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union from unilabos.utils.log import logger @@ -927,7 +927,7 @@ class DeviceNodeResourceTracker(object): """ 递归遍历资源树，更新所有节点的uuid - Args:0 + Args: resource: 资源对象（可以是dict或实例） uuid_map: uuid映射字典，{old_uuid: new_uuid} @@ -952,6 +952,27 @@ class DeviceNodeResourceTracker(object): return self._traverse_and_process(resource, process) + def loop_gather_uuid(self, resource) -> List[str]: + """ + 递归遍历资源树，收集所有节点的uuid + + Args: + resource: 资源对象（可以是dict或实例） + + Returns: + 收集到的uuid列表 + """ + uuid_list = [] + + def process(res): + current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") + if current_uuid: + uuid_list.append(current_uuid) + return 0 + + self._traverse_and_process(resource, process) + return uuid_list + def _collect_uuid_mapping(self, resource): """ 递归收集资源的 uuid 映射到 uuid_to_resources @@ -972,7 +993,7 @@ class DeviceNodeResourceTracker(object): self._traverse_and_process(resource, process) - def _remove_uuid_mapping(self, resource): + def _remove_uuid_mapping(self, resource) -> int: """ 递归清除资源的 uuid 映射 @@ -985,9 +1006,10 @@ class DeviceNodeResourceTracker(object): if current_uuid and current_uuid in self.uuid_to_resources: self.uuid_to_resources.pop(current_uuid) logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}") + return 1 return 0 - self._traverse_and_process(resource, process) + return self._traverse_and_process(resource, process) def parent_resource(self, resource): if id(resource) in self.resource2parent_resource: @@ -1042,13 +1064,12 @@ class DeviceNodeResourceTracker(object): removed = True break - if not removed: + # 递归清除uuid映射 + count = self._remove_uuid_mapping(resource) + if not count: logger.warning(f"尝试移除不存在的资源: {resource}") return False - # 递归清除uuid映射 - self._remove_uuid_mapping(resource) - # 清除 resource2parent_resource 中与该资源相关的映射 # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射 keys_to_remove = [] @@ -1071,7 +1092,9 @@ class DeviceNodeResourceTracker(object): self.uuid_to_resources.clear() self.resource2parent_resource.clear() - def figure_resource(self, query_resource, try_mode=False): + def figure_resource( + self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False + ) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]: if isinstance(query_resource, list): return [self.figure_resource(r, try_mode) for r in query_resource] elif ( From d897d70c3e7fd172710d7b4d38f0fe11ad9d20df Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 15:04:53 +0800 Subject: [PATCH 077/104] change uuid logger to trace level --- .../devices/liquid_handling/liquid_handler_abstract.py | 10 +++++----- unilabos/ros/nodes/resource_tracker.py | 8 +++++--- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 32e370f..6aefaf3 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1,11 +1,11 @@ from __future__ import annotations -import re -import traceback -from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast -from collections import Counter + import asyncio import time -import pprint as pp +import traceback +from collections import Counter +from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast + from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod from pylabrobot.liquid_handling.standard import GripDirection diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index fc3ca7a..085ce02 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -894,7 +894,7 @@ class DeviceNodeResourceTracker(object): new_uuid = name_to_uuid_map[resource_name] self.set_resource_uuid(res, new_uuid) self.uuid_to_resources[new_uuid] = res - logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}") + logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}") return 1 return 0 @@ -917,7 +917,8 @@ class DeviceNodeResourceTracker(object): if resource_name and resource_name in name_to_extra_map: extra = name_to_extra_map[resource_name] self.set_resource_extra(res, extra) - logger.debug(f"设置资源Extra: {resource_name} -> {extra}") + if len(extra): + logger.debug(f"设置资源Extra: {resource_name} -> {extra}") return 1 return 0 @@ -986,9 +987,10 @@ class DeviceNodeResourceTracker(object): if current_uuid: old = self.uuid_to_resources.get(current_uuid) self.uuid_to_resources[current_uuid] = res - logger.debug( + logger.trace( f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}" ) + return 1 return 0 self._traverse_and_process(resource, process) From 5a0c2f98509b7b67f1f71e0a9d47463e14e064e3 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 7 Nov 2025 16:11:27 +0800 Subject: [PATCH 078/104] enable slave mode --- unilabos/app/backend.py | 4 +- unilabos/app/register.py | 5 +- unilabos/ros/main_slave_run.py | 130 +++++++++++++----------- unilabos/ros/nodes/presets/host_node.py | 21 ++-- unilabos/ros/nodes/resource_tracker.py | 2 +- unilabos/utils/log.py | 3 +- 6 files changed, 90 insertions(+), 75 deletions(-) diff --git a/unilabos/app/backend.py b/unilabos/app/backend.py index d43b954..b2bc0af 100644 --- a/unilabos/app/backend.py +++ b/unilabos/app/backend.py @@ -13,7 +13,7 @@ def start_backend( graph=None, controllers_config: dict = {}, bridges=[], - without_host: bool = False, + is_slave: bool = False, visual: str = "None", resources_mesh_config: dict = {}, **kwargs, @@ -32,7 +32,7 @@ def start_backend( raise ValueError(f"Unsupported backend: {backend}") backend_thread = threading.Thread( - target=main if not without_host else slave, + target=main if not is_slave else slave, args=( devices_config, resources_config, diff --git a/unilabos/app/register.py b/unilabos/app/register.py index f456183..633df98 100644 --- a/unilabos/app/register.py +++ b/unilabos/app/register.py @@ -1,11 +1,12 @@ import json import time +from typing import Optional, Tuple, Dict, Any from unilabos.utils.log import logger from unilabos.utils.type_check import TypeEncoder -def register_devices_and_resources(lab_registry): +def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]: """ 注册设备和资源到服务器（仅支持HTTP） """ @@ -28,6 +29,8 @@ def register_devices_and_resources(lab_registry): resources_to_register[resource_info["id"]] = resource_info logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}") + if gather_only: + return devices_to_register, resources_to_register # 注册设备 if devices_to_register: try: diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index d9ad368..1ded6da 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -6,11 +6,12 @@ from typing import Optional, Dict, Any, List import rclpy from unilabos_msgs.srv._serial_command import SerialCommand_Response +from unilabos.app.register import register_devices_and_resources from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.srv import SerialCommand # type: ignore -from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor +from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node from rclpy.timer import Timer @@ -108,66 +109,51 @@ def slave( rclpy_init_args: List[str] = ["--log-level", "debug"], ) -> None: """从节点函数""" + # 1. 初始化 ROS2 if not rclpy.ok(): rclpy.init(args=rclpy_init_args) executor = rclpy.__executor if not executor: executor = rclpy.__executor = MultiThreadedExecutor() - devices_instances = {} - for device_config in devices_config.root_nodes: - device_id = device_config.res_content.id - if device_config.res_content.type != "device": - d = initialize_device_from_dict(device_id, device_config.get_nested_dict()) - devices_instances[device_id] = d - # 默认初始化 - # if d is not None and isinstance(d, Node): - # executor.add_node(d) - # else: - # print(f"Warning: Device {device_id} could not be initialized or is not a valid Node") - n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[]) - executor.add_node(n) - - if visual != "disable": - from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher - - resource_mesh_manager = ResourceMeshManager( - resources_mesh_config, - resources_config, # type: ignore FIXME - resource_tracker=DeviceNodeResourceTracker(), - device_id="resource_mesh_manager", - ) - joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker()) - - executor.add_node(resource_mesh_manager) - executor.add_node(joint_republisher) + # 1.5 启动 executor 线程 thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread") thread.start() + # 2. 创建 Slave Machine Node + n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[]) + executor.add_node(n) + + # 3. 向 Host 报送节点信息和物料，获取 UUID 映射 + uuid_mapping = {} if not BasicConfig.slave_no_host: + # 3.1 报送节点信息 sclient = n.create_client(SerialCommand, "/node_info_update") sclient.wait_for_service() + registry_config = {} + devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True) + registry_config.update(devices_to_register) + registry_config.update(resources_to_register) request = SerialCommand.Request() request.command = json.dumps( { "machine_name": BasicConfig.machine_name, "type": "slave", "devices_config": devices_config.dump(), - "registry_config": lab_registry.obtain_registry_device_info(), + "registry_config": registry_config, }, ensure_ascii=False, cls=TypeEncoder, ) - response = sclient.call_async(request).result() + sclient.call_async(request).result() logger.info(f"Slave node info updated.") - # 使用新的 c2s_update_resource_tree 服务 - rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree") - rclient.wait_for_service() - - # 序列化 ResourceTreeSet 为 JSON + # 3.2 报送物料树，获取 UUID 映射 if resources_config: + rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree") + rclient.wait_for_service() + request = SerialCommand.Request() request.command = json.dumps( { @@ -180,35 +166,61 @@ def slave( }, ensure_ascii=False, ) - tree_response: SerialCommand_Response = rclient.call_async(request).result() + tree_response: SerialCommand_Response = rclient.call(request) uuid_mapping = json.loads(tree_response.response) - # 创建反向映射：new_uuid -> old_uuid - reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()} - for node in resources_config.root_nodes: - if node.res_content.type == "device": - for sub_node in node.children: - # 只有二级子设备 - if sub_node.res_content.type != "device": - device_tracker = devices_instances[node.res_content.id].resource_tracker - # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找 - old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid) - if old_uuid: - # 找到旧UUID，使用UUID查找 - resource_instance = device_tracker.figure_resource({"uuid": old_uuid}) - else: - # 未找到旧UUID，使用name查找 - resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name}) - device_tracker.loop_update_uuid(resource_instance, uuid_mapping) + logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes") + + # 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑） + old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes} + for old_uuid, node in old_uuids.items(): + if old_uuid in uuid_mapping: + new_uuid = uuid_mapping[old_uuid] + node.res_content.uuid = new_uuid + # 更新所有子节点的 parent_uuid + for child in node.children: + child.res_content.parent_uuid = new_uuid else: - logger.error("Slave模式不允许新增非设备节点下的物料") - continue - if tree_response: - logger.info(f"Slave resource tree added. Response: {tree_response.response}") - else: - logger.warning("Slave resource tree add response is None") + logger.warning(f"资源UUID未更新: {old_uuid}") else: logger.info("No resources to add.") + # 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新） + devices_instances = {} + for device_config in devices_config.root_nodes: + device_id = device_config.res_content.id + if device_config.res_content.type == "device": + d = initialize_device_from_dict(device_id, device_config.get_nested_dict()) + if d is not None: + devices_instances[device_id] = d + logger.info(f"Device {device_id} initialized.") + else: + logger.warning(f"Device {device_id} initialization failed.") + + # 5. 如果启用可视化，创建可视化相关节点 + if visual != "disable": + from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher + + # 将 ResourceTreeSet 转换为 list 用于 visual 组件 + resources_list = ( + [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes] + if resources_config + else [] + ) + resource_mesh_manager = ResourceMeshManager( + resources_mesh_config, + resources_list, + resource_tracker=DeviceNodeResourceTracker(), + device_id="resource_mesh_manager", + ) + joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker()) + lh_joint_pub = LiquidHandlerJointPublisher( + resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker() + ) + executor.add_node(resource_mesh_manager) + executor.add_node(joint_republisher) + executor.add_node(lh_joint_pub) + + # 7. 保持运行 while True: time.sleep(1) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 346cf9c..5c43a5d 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -878,11 +878,10 @@ class HostNode(BaseROS2DeviceNode): success = False uuid_mapping = {} if len(self.bridges) > 0: - from unilabos.app.web.client import HTTPClient + from unilabos.app.web.client import HTTPClient, http_client - client: HTTPClient = self.bridges[-1] resource_start_time = time.time() - uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add) + uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add) success = True resource_end_time = time.time() self.lab_logger().info( @@ -990,9 +989,10 @@ class HostNode(BaseROS2DeviceNode): """ 更新节点信息回调 """ - self.lab_logger().info(f"[Host Node] Node info update request received: {request}") + # self.lab_logger().info(f"[Host Node] Node info update request received: {request}") try: from unilabos.app.communication import get_communication_client + from unilabos.app.web.client import HTTPClient, http_client info = json.loads(request.command) if "SYNC_SLAVE_NODE_INFO" in info: @@ -1001,10 +1001,10 @@ class HostNode(BaseROS2DeviceNode): edge_device_id = info["edge_device_id"] self.device_machine_names[edge_device_id] = machine_name else: - comm_client = get_communication_client() - registry_config = info["registry_config"] - for device_config in registry_config: - comm_client.publish_registry(device_config["id"], device_config) + devices_config = info.pop("devices_config") + registry_config = info.pop("registry_config") + if registry_config: + http_client.resource_registry({"resources": registry_config}) self.lab_logger().debug(f"[Host Node] Node info update: {info}") response.response = "OK" except Exception as e: @@ -1030,10 +1030,9 @@ class HostNode(BaseROS2DeviceNode): success = False if len(self.bridges) > 0: # 边的提交待定 - from unilabos.app.web.client import HTTPClient + from unilabos.app.web.client import HTTPClient, http_client - client: HTTPClient = self.bridges[-1] - r = client.resource_add(add_schema(resources)) + r = http_client.resource_add(add_schema(resources)) success = bool(r) response.success = success diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index 085ce02..ce23a5b 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -1007,7 +1007,7 @@ class DeviceNodeResourceTracker(object): current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") if current_uuid and current_uuid in self.uuid_to_resources: self.uuid_to_resources.pop(current_uuid) - logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}") + logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}") return 1 return 0 diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index 74442a6..3894233 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -191,7 +191,8 @@ def configure_logger(loglevel=None): # 添加处理器到根日志记录器 root_logger.addHandler(console_handler) - + logging.getLogger("asyncio").setLevel(logging.INFO) + logging.getLogger("urllib3").setLevel(logging.INFO) # 配置日志系统 configure_logger() From 85dc46cd3833bed48c4fd149a7d32f94f0bfa1a5 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 19:57:16 +0800 Subject: [PATCH 079/104] support name change during materials change --- unilabos/ros/nodes/base_device_node.py | 221 ++++++++++++++++++------- 1 file changed, 160 insertions(+), 61 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 19503fd..febc95f 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -638,6 +638,147 @@ class BaseROS2DeviceNode(Node, Generic[T]): - remove: 从资源树中移除资源 """ from pylabrobot.resources.resource import Resource as ResourcePLR + + def _handle_add( + plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + ) -> Dict[str, Any]: + """ + 处理资源添加操作的内部函数 + + Args: + plr_resources: PLR资源列表 + tree_set: 资源树集合 + additional_add_params: 额外的添加参数 + + Returns: + 操作结果字典 + """ + for plr_resource, tree in zip(plr_resources, tree_set.trees): + self.resource_tracker.add_resource(plr_resource) + self.transfer_to_new_resource(plr_resource, tree, additional_add_params) + + func = getattr(self.driver_instance, "resource_tree_add", None) + if callable(func): + func(plr_resources) + + return {"success": True, "action": "add"} + + def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]: + """ + 处理资源移除操作的内部函数 + + Args: + resources_uuid: 要移除的资源UUID列表 + + Returns: + 操作结果字典，包含移除的资源列表 + """ + found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( + [{"uuid": uid} for uid in resources_uuid], try_mode=True + ) + found_plr_resources = [] + other_plr_resources = [] + + for found_resource in found_resources: + for resource in found_resource: + if issubclass(resource.__class__, ResourcePLR): + found_plr_resources.append(resource) + else: + other_plr_resources.append(resource) + + # 调用driver的remove回调 + func = getattr(self.driver_instance, "resource_tree_remove", None) + if callable(func): + func(found_plr_resources) + + # 从parent卸载并从tracker移除 + for plr_resource in found_plr_resources: + if plr_resource.parent is not None: + plr_resource.parent.unassign_child_resource(plr_resource) + self.resource_tracker.remove_resource(plr_resource) + self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") + + for other_plr_resource in other_plr_resources: + self.resource_tracker.remove_resource(other_plr_resource) + self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") + + return { + "success": True, + "action": "remove", + "removed_plr": found_plr_resources, + "removed_other": other_plr_resources, + } + + def _handle_update( + plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + ) -> Dict[str, Any]: + """ + 处理资源更新操作的内部函数 + + Args: + plr_resources: PLR资源列表（包含新状态） + tree_set: 资源树集合 + additional_add_params: 额外的参数 + + Returns: + 操作结果字典 + """ + for plr_resource, tree in zip(plr_resources, tree_set.trees): + states = plr_resource.serialize_all_state() + original_instance: ResourcePLR = self.resource_tracker.figure_resource( + {"uuid": tree.root_node.res_content.uuid}, try_mode=False + ) + + # Update操作中包含改名：需要先remove再add + if original_instance.name != plr_resource.name: + old_name = original_instance.name + new_name = plr_resource.name + self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") + + # 收集所有相关的uuid（包括子节点） + all_uuids = self.resource_tracker.loop_gather_uuid(original_instance) + _handle_remove(all_uuids) + original_instance.name = new_name + _handle_add([original_instance], tree_set, additional_add_params) + + self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") + continue + + # 常规更新：不涉及改名 + original_parent_resource = original_instance.parent + original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) + target_parent_resource_uuid = tree.root_node.res_content.uuid_parent + + self.lab_logger().info( + f"物料{original_instance} 原始父节点{original_parent_resource_uuid} " + f"目标父节点{target_parent_resource_uuid} 更新" + ) + + # 更新extra + if getattr(plr_resource, "unilabos_extra", None) is not None: + original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501 + + # 如果父节点变化，需要重新挂载 + if ( + original_parent_resource_uuid != target_parent_resource_uuid + and original_parent_resource is not None + ): + self.transfer_to_new_resource(original_instance, tree, additional_add_params) + + # 加载状态 + original_instance.load_all_state(states) + child_count = len(original_instance.get_all_children()) + self.lab_logger().info( + f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" + ) + + # 调用driver的update回调 + func = getattr(self.driver_instance, "resource_tree_update", None) + if callable(func): + func(plr_resources) + + return {"success": True, "action": "update"} + try: data = json.loads(req.command) results = [] @@ -664,68 +805,20 @@ class BaseROS2DeviceNode(Node, Generic[T]): tree_set = ResourceTreeSet.from_raw_list(raw_nodes) try: if action == "add": - # 添加资源到资源跟踪器 + if tree_set is None: + raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - for plr_resource, tree in zip(plr_resources, tree_set.trees): - self.resource_tracker.add_resource(plr_resource) - self.transfer_to_new_resource(plr_resource, tree, additional_add_params) - func = getattr(self.driver_instance, "resource_tree_add", None) - if callable(func): - func(plr_resources) - results.append({"success": True, "action": "add"}) + result = _handle_add(plr_resources, tree_set, additional_add_params) + results.append(result) elif action == "update": - # 更新资源 + if tree_set is None: + raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - for plr_resource, tree in zip(plr_resources, tree_set.trees): - states = plr_resource.serialize_all_state() - original_instance: ResourcePLR = self.resource_tracker.figure_resource( - {"uuid": tree.root_node.res_content.uuid}, try_mode=False - ) - original_parent_resource = original_instance.parent - original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) - target_parent_resource_uuid = tree.root_node.res_content.uuid_parent - self.lab_logger().info( - f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新" - ) - # todo: 对extra进行update - if getattr(plr_resource, "unilabos_extra", None) is not None: - original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") - if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None: - self.transfer_to_new_resource(original_instance, tree, additional_add_params) - original_instance.load_all_state(states) - self.lab_logger().info( - f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个" - ) - - func = getattr(self.driver_instance, "resource_tree_update", None) - if callable(func): - func(plr_resources) - results.append({"success": True, "action": "update"}) + result = _handle_update(plr_resources, tree_set, additional_add_params) + results.append(result) elif action == "remove": - # 移除资源 - found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( - [{"uuid": uid} for uid in resources_uuid], try_mode=True - ) - found_plr_resources = [] - other_plr_resources = [] - for found_resource in found_resources: - for resource in found_resource: - if issubclass(resource.__class__, ResourcePLR): - found_plr_resources.append(resource) - else: - other_plr_resources.append(resource) - func = getattr(self.driver_instance, "resource_tree_remove", None) - if callable(func): - func(found_plr_resources) - for plr_resource in found_plr_resources: - if plr_resource.parent is not None: - plr_resource.parent.unassign_child_resource(plr_resource) - self.resource_tracker.remove_resource(plr_resource) - self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") - for other_plr_resource in other_plr_resources: - self.resource_tracker.remove_resource(other_plr_resource) - self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") - results.append({"success": True, "action": "remove"}) + result = _handle_remove(resources_uuid) + results.append(result) except Exception as e: error_msg = f"Error processing {action} operation: {str(e)}" self.lab_logger().error(f"[Resource Tree Update] {error_msg}") @@ -1004,9 +1097,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 通过资源跟踪器获取本地实例 final_resources = queried_resources if is_sequence else queried_resources[0] - final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [ - self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources - ] + final_resources = ( + self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) + if not is_sequence + else [ + self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) + for res in queried_resources + ] + ) action_kwargs[k] = final_resources except Exception as e: @@ -1227,6 +1325,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): raise JsonCommandInitError( f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}" ) + def _convert_resource_sync(self, resource_data: Dict[str, Any]): """同步转换资源数据为实例""" # 创建资源查询请求 From d7494ca45819bfda65db9098ef57ecf972c75499 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 22:12:54 +0800 Subject: [PATCH 080/104] fix json dumps --- unilabos/ros/nodes/base_device_node.py | 10 +++----- unilabos/ros/nodes/presets/host_node.py | 33 ++++++++----------------- 2 files changed, 14 insertions(+), 29 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index febc95f..e52ea80 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -705,8 +705,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): return { "success": True, "action": "remove", - "removed_plr": found_plr_resources, - "removed_other": other_plr_resources, + # "removed_plr": found_plr_resources, + # "removed_other": other_plr_resources, } def _handle_update( @@ -736,13 +736,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") # 收集所有相关的uuid（包括子节点） - all_uuids = self.resource_tracker.loop_gather_uuid(original_instance) - _handle_remove(all_uuids) + _handle_remove([original_instance.unilabos_uuid]) original_instance.name = new_name _handle_add([original_instance], tree_set, additional_add_params) self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") - continue # 常规更新：不涉及改名 original_parent_resource = original_instance.parent @@ -827,7 +825,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 返回处理结果 result_json = {"results": results, "total": len(data)} - res.response = json.dumps(result_json, ensure_ascii=False) + res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder) self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") except json.JSONDecodeError as e: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 5c43a5d..7a8806d 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -165,29 +165,16 @@ class HostNode(BaseROS2DeviceNode): # resources_config 的 root node 是 # # 创建反向映射：new_uuid -> old_uuid # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()} - # for tree in resources_config.trees: - # node = tree.root_node - # if node.res_content.type == "device": - # if node.res_content.id == "host_node": - # continue - # # slave节点走c2s更新接口，拿到add自行update uuid - # device_tracker = self.devices_instances[node.res_content.id].resource_tracker - # old_uuid = reverse_uuid_mapping.get(node.res_content.uuid) - # if old_uuid: - # # 找到旧UUID，使用UUID查找 - # resource_instance = device_tracker.uuid_to_resources.get(old_uuid) - # else: - # # 未找到旧UUID，使用name查找 - # resource_instance = device_tracker.figure_resource( - # {"name": node.res_content.name} - # ) - # device_tracker.loop_update_uuid(resource_instance, uuid_mapping) - # else: - # try: - # for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): - # self.resource_tracker.add_resource(plr_resource) - # except Exception as ex: - # self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！") + for tree in resources_config.trees: + node = tree.root_node + if node.res_content.type == "device": + continue + else: + try: + for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): + self._resource_tracker.add_resource(plr_resource) + except Exception as ex: + self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！") except Exception as ex: logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}") # 初始化Node基类，传递空参数覆盖列表 From 9bba4620b74b10dd499d42cc9b4663dddbecccf9 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 22:14:43 +0800 Subject: [PATCH 081/104] fix resource_get param --- unilabos/ros/nodes/base_device_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index e52ea80..7025e77 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -795,7 +795,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ].call_async( SerialCommand.Request( command=json.dumps( - {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"} + {"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"} ) ) ) # type: ignore From 48d429ae0038a11495333addcb1c4101efcb3272 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 22:14:43 +0800 Subject: [PATCH 082/104] fix resource_get param --- unilabos/ros/nodes/base_device_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index e52ea80..7025e77 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -795,7 +795,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ].call_async( SerialCommand.Request( command=json.dumps( - {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"} + {"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"} ) ) ) # type: ignore From 7af32b379bb90aa40e84a64ade4910d772c15073 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sat, 8 Nov 2025 14:53:25 +0800 Subject: [PATCH 083/104] Add YB_ prefix to bottle carrier model names --- unilabos/resources/bioyond/YB_bottle_carriers.py | 16 ++++++++-------- unilabos/resources/bioyond/YB_bottles.py | 12 ++++++------ 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index 5284f0a..d61a327 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="1BottleCarrier", + model="YB_1BottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -270,7 +270,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="1GaoNianYeBottleCarrier", + model="YB_1GaoNianYeBottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -307,7 +307,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="1Bottle100mlCarrier", + model="YB_1Bottle100mlCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -405,7 +405,7 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="6x20ml_DispensingVialCarrier", + model="YB_6x20ml_DispensingVialCarrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 @@ -455,7 +455,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="6x_SmallSolutionBottleCarrier", + model="YB_6x_SmallSolutionBottleCarrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 @@ -505,7 +505,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="4x_LargeSolutionBottleCarrier", + model="YB_4x_LargeSolutionBottleCarrier", ) carrier.num_items_x = 2 carrier.num_items_y = 2 @@ -591,7 +591,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier: resource_size_y=adapter_diameter, name_prefix=name, ), - model="AdapterBlock", + model="YB_AdapterBlock", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -639,7 +639,7 @@ def YB_TipBox(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="TipBox", + model="YB_TipBox", ) carrier.num_items_x = 12 carrier.num_items_y = 8 diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index 432383e..83b73e4 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -15,7 +15,7 @@ def YB_jia_yang_tou_da( height=height, max_volume=max_volume, barcode=barcode, - model="Solid_Stock", + model="YB_jia_yang_tou_da_1X1_carrier", ) """液1x1""" @@ -51,7 +51,7 @@ def YB_ye_100ml_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="Liquid_Bottle_100ml", + model="YB_1Bottle100mlCarrier", ) """高粘液""" @@ -105,7 +105,7 @@ def YB_fen_ye_20ml_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="Separation_Bottle_20ml", + model="YB_fen_ye_20ml_Bottle", ) """配液瓶(小)""" @@ -123,7 +123,7 @@ def YB_pei_ye_xiao_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="Mixing_Bottle_Small", + model="YB_pei_ye_xiao_Bottle", ) """配液瓶(大)""" @@ -141,7 +141,7 @@ def YB_pei_ye_da_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="Mixing_Bottle_Large", + model="YB_pei_ye_da_Bottle", ) """枪头""" @@ -159,5 +159,5 @@ def YB_Pipette_Tip( height=height, max_volume=max_volume, barcode=barcode, - model="Pipette_Tip", + model="YB_Pipette_Tip", ) From 45a778b928f8c29d0af7d1be371c4a317cc21bee Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Sat, 8 Nov 2025 15:18:52 +0800 Subject: [PATCH 084/104] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=87=8F=E5=B0=91mod?= =?UTF-8?q?bus=E6=8A=A5=E8=AD=A6=E4=BF=A1=E6=81=AF=EF=BC=8C=E4=BB=A5?= =?UTF-8?q?=E5=8F=8Awebsocket=E6=8A=A5=E8=AD=A6=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/app/ws_client.py | 3 ++- unilabos/utils/log.py | 7 +++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index c91ca8e..1cf0767 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -421,7 +421,8 @@ class MessageProcessor: ssl_context = ssl_module.create_default_context() ws_logger = logging.getLogger("websockets.client") - ws_logger.setLevel(logging.INFO) + # ws_logger.setLevel(logging.INFO) + ws_logger.setLevel(logging.WARNING) # 只显示警告和错误 async with websockets.connect( self.websocket_url, diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index 74442a6..b0b1dfb 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -191,6 +191,13 @@ def configure_logger(loglevel=None): # 添加处理器到根日志记录器 root_logger.addHandler(console_handler) + + # 降低第三方库的日志级别，避免过多输出 + # pymodbus 库的日志太详细，设置为 WARNING + logging.getLogger('pymodbus').setLevel(TRACE_LEVEL) + logging.getLogger('pymodbus.logging').setLevel(TRACE_LEVEL) + logging.getLogger('pymodbus.logging.base').setLevel(TRACE_LEVEL) + logging.getLogger('pymodbus.logging.decoders').setLevel(TRACE_LEVEL) # 配置日志系统 From be429147c0fd1074ca88c2019619cb36499e19d4 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sat, 8 Nov 2025 15:42:18 +0800 Subject: [PATCH 085/104] Fix infinite recursion in YB_jia_yang_tou_da by renaming carrier function to YB_jia_yang_tou_da_Carrier --- test/resources/test_resourcetreeset.py | 4 +- .../workstation/bioyond_studio/config.py | 28 +++++----- .../registry/resources/bioyond/YB_bottle.yaml | 18 +++---- .../resources/bioyond/YB_bottle_carriers.yaml | 54 +++++++++---------- .../resources/bioyond/YB_bottle_carriers.py | 48 ++++++++--------- unilabos/resources/bioyond/YB_bottles.py | 16 +++--- 6 files changed, 84 insertions(+), 84 deletions(-) diff --git a/test/resources/test_resourcetreeset.py b/test/resources/test_resourcetreeset.py index 99c6a98..3d3bd4e 100644 --- a/test/resources/test_resourcetreeset.py +++ b/test/resources/test_resourcetreeset.py @@ -15,9 +15,9 @@ lab_registry.setup() type_mapping = { - "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), - "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"), "配液瓶(小)": ("YB_pei_ye_xiao_Bottler", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), } diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index adb2d72..c416ab8 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -234,22 +234,22 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"), - "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), - "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"), - "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), - # "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), - "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), - "5ml分液瓶": ("YB_fen_ye_5ml_Bottle", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), - "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), - "20ml分液瓶": ("YB_fen_ye_20ml_Bottle", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), - "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "100ml液体": ("YB_100ml_yeti", "d37166b3-ecaa-481e-bd84-3032b795ba07"), + "液": ("YB_ye", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), + "高粘液": ("YB_gaonianye", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + # "加样头(大)板": ("YB_jia_yang_tou_da", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "5ml分液瓶板": ("YB_5ml_fenyepingban", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("YB_5ml_fenyeping", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("YB_20ml_fenyepingban", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "20ml分液瓶": ("YB_20ml_fenyeping", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "配液瓶(小)板": ("YB_peiyepingxiaoban", "3a190c8b-3284-af78-d29f-9a69463ad047"), "配液瓶(小)": ("YB_pei_ye_xiao_Bottle", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), - "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)板": ("YB_peiyepingdaban", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), "配液瓶(大)": ("YB_pei_ye_da_Bottle", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), - "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), - "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), - "枪头": ("YB_Pipette_Tip", "b6196971-1050-46da-9927-333e8dea062d"), + "适配器块": ("YB_shi_pei_qi_kuai", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("YB_qiang_tou_he", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("YB_qiang_tou", "b6196971-1050-46da-9927-333e8dea062d"), } SOLID_LIQUID_MAPPINGS = { diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml index 6d8a380..7cafab4 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -1,37 +1,37 @@ -YB_Pipette_Tip: +YB_qiang_tou: category: - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_Pipette_Tip + module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou type: pylabrobot - description: YB_Pipette_Tip + description: YB_qiang_tou handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_fen_ye_20ml_Bottle: +YB_20ml_fenyeping: category: - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle + module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping type: pylabrobot - description: YB_fen_ye_20ml_Bottle + description: YB_20ml_fenyeping handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_fen_ye_5ml_Bottle: +YB_5ml_fenyeping: category: - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle + module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping type: pylabrobot - description: YB_fen_ye_5ml_Bottle + description: YB_5ml_fenyeping handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index eb2ff6f..a387ca6 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -1,11 +1,11 @@ -YB_1Bottle100mlCarrier: +YB_100ml_yeti: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1Bottle100mlCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti type: pylabrobot - description: YB_1Bottle100mlCarrier + description: YB_100ml_yeti handles: [] icon: '' init_param_schema: {} @@ -24,27 +24,27 @@ YB_1BottleCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_1GaoNianYeBottleCarrier: +YB_gaonianye: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye type: pylabrobot - description: YB_1GaoNianYeBottleCarrier + description: YB_gaonianye handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_4x_LargeSolutionBottleCarrier: +YB_peiyepingdaban: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_4x_LargeSolutionBottleCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban type: pylabrobot - description: YB_4x_LargeSolutionBottleCarrier + description: YB_peiyepingdaban handles: [] icon: '' init_param_schema: {} @@ -76,66 +76,66 @@ YB_6VialCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_6x20ml_DispensingVialCarrier: +YB_20ml_fenyepingban: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban type: pylabrobot - description: YB_6x20ml_DispensingVialCarrier + description: YB_20ml_fenyepingban handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_6x5ml_DispensingVialCarrier: +YB_5ml_fenyepingban: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban type: pylabrobot - description: YB_6x5ml_DispensingVialCarrier + description: YB_5ml_fenyepingban handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_6x_SmallSolutionBottleCarrier: +YB_peiyepingxiaoban: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban type: pylabrobot - description: YB_6x_SmallSolutionBottleCarrier + description: YB_peiyepingxiaoban handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_AdapterBlock: +YB_shi_pei_qi_kuai: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_AdapterBlock + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai type: pylabrobot - description: YB_AdapterBlock + description: YB_shi_pei_qi_kuai handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_TipBox: +YB_qiang_tou_he: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipBox + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he type: pylabrobot - description: YB_TipBox + description: YB_qiang_tou_he handles: [] icon: '' init_param_schema: {} @@ -167,14 +167,14 @@ YB_jia_yang_tou_da: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_jia_yang_tou_da_1X1_carrier: +YB_jia_yang_tou_da_Carrier: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier type: pylabrobot - description: YB_jia_yang_tou_da_1X1_carrier + description: YB_jia_yang_tou_da_Carrier handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index d61a327..28c8fcc 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -6,11 +6,11 @@ from unilabos.resources.bioyond.YB_bottles import ( YB_ye_Bottle, YB_ye_100ml_Bottle, YB_gao_nian_ye_Bottle, - YB_fen_ye_5ml_Bottle, - YB_fen_ye_20ml_Bottle, + YB_5ml_fenyeping, + YB_20ml_fenyeping, YB_pei_ye_xiao_Bottle, YB_pei_ye_da_Bottle, - YB_Pipette_Tip, + YB_qiang_tou, ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -243,7 +243,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier: # 高粘液瓶载架 - 单个中央位置 -def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: +def YB_gaonianye(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -270,7 +270,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="YB_1GaoNianYeBottleCarrier", + model="YB_gaonianye", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -280,7 +280,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: # 100ml液体瓶载架 - 单个中央位置 -def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: +def YB_100ml_yeti(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -307,7 +307,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="YB_1Bottle100mlCarrier", + model="YB_100ml_yeti", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -316,7 +316,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: return carrier # 5ml分液瓶板 - 4x2布局，8个位置 -def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: +def YB_5ml_fenyepingban(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -355,18 +355,18 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_6x5ml_DispensingVialCarrier", + model="YB_5ml_fenyepingban", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_fen_ye_5ml_Bottle(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}") return carrier # 20ml分液瓶板 - 4x2布局，8个位置 -def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: +def YB_20ml_fenyepingban(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -405,18 +405,18 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_6x20ml_DispensingVialCarrier", + model="YB_20ml_fenyepingban", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_fen_ye_20ml_Bottle(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}") return carrier # 配液瓶(小)板 - 4x2布局，8个位置 -def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: +def YB_peiyepingxiaoban(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -455,7 +455,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_6x_SmallSolutionBottleCarrier", + model="YB_peiyepingxiaoban", ) carrier.num_items_x = 4 carrier.num_items_y = 2 @@ -467,7 +467,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: # 配液瓶(大)板 - 2x2布局，4个位置 -def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: +def YB_peiyepingdaban(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -505,7 +505,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_4x_LargeSolutionBottleCarrier", + model="YB_peiyepingdaban", ) carrier.num_items_x = 2 carrier.num_items_y = 2 @@ -516,7 +516,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: return carrier # 加样头(大)板 - 1x1布局，1个位置 -def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: +def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -554,7 +554,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_6x_LargeDispenseHeadCarrier", + model="YB_jia_yang_tou_da_Carrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -563,7 +563,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: return carrier -def YB_AdapterBlock(name: str) -> BottleCarrier: +def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier: """适配器块 - 单个中央位置""" # 载架尺寸 (mm) @@ -591,7 +591,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier: resource_size_y=adapter_diameter, name_prefix=name, ), - model="YB_AdapterBlock", + model="YB_shi_pei_qi_kuai", ) carrier.num_items_x = 1 carrier.num_items_y = 1 @@ -600,7 +600,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier: return carrier -def YB_TipBox(name: str) -> BottleCarrier: +def YB_qiang_tou_he(name: str) -> BottleCarrier: """枪头盒 - 8x12布局，96个位置""" # 载架尺寸 (mm) @@ -639,7 +639,7 @@ def YB_TipBox(name: str) -> BottleCarrier: size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, - model="YB_TipBox", + model="YB_qiang_tou_he", ) carrier.num_items_x = 12 carrier.num_items_y = 8 @@ -648,6 +648,6 @@ def YB_TipBox(name: str) -> BottleCarrier: for i in range(96): row = chr(65 + i // 12) # A-H col = (i % 12) + 1 # 1-12 - carrier[i] = YB_Pipette_Tip(f"{name}_tip_{row}{col}") + carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}") return carrier diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index 83b73e4..c8f1c95 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -15,7 +15,7 @@ def YB_jia_yang_tou_da( height=height, max_volume=max_volume, barcode=barcode, - model="YB_jia_yang_tou_da_1X1_carrier", + model="YB_jia_yang_tou_da", ) """液1x1""" @@ -51,7 +51,7 @@ def YB_ye_100ml_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="YB_1Bottle100mlCarrier", + model="YB_100ml_yeti", ) """高粘液""" @@ -73,7 +73,7 @@ def YB_gao_nian_ye_Bottle( ) """5ml分液瓶""" -def YB_fen_ye_5ml_Bottle( +def YB_5ml_fenyeping( name: str, diameter: float = 20.0, height: float = 50.0, @@ -87,11 +87,11 @@ def YB_fen_ye_5ml_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="YB_fen_ye_5ml_Bottle", + model="YB_5ml_fenyeping", ) """20ml分液瓶""" -def YB_fen_ye_20ml_Bottle( +def YB_20ml_fenyeping( name: str, diameter: float = 30.0, height: float = 65.0, @@ -105,7 +105,7 @@ def YB_fen_ye_20ml_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="YB_fen_ye_20ml_Bottle", + model="YB_20ml_fenyeping", ) """配液瓶(小)""" @@ -145,7 +145,7 @@ def YB_pei_ye_da_Bottle( ) """枪头""" -def YB_Pipette_Tip( +def YB_qiang_tou( name: str, diameter: float = 10.0, height: float = 50.0, @@ -159,5 +159,5 @@ def YB_Pipette_Tip( height=height, max_volume=max_volume, barcode=barcode, - model="YB_Pipette_Tip", + model="YB_qiang_tou", ) From 442b759397c802dee5431cb99097249cc43bab8d Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Sat, 8 Nov 2025 15:56:39 +0800 Subject: [PATCH 086/104] =?UTF-8?q?=E4=BF=AE=E6=94=B9pymodbus=E5=92=8Cwebs?= =?UTF-8?q?ocket=E7=9A=84=E6=8A=A5=E9=80=81=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/app/ws_client.py | 5 ++--- unilabos/ros/nodes/presets/host_node.py | 2 +- unilabos/utils/log.py | 13 +++++++++---- 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 1cf0767..d9f1a58 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -421,8 +421,7 @@ class MessageProcessor: ssl_context = ssl_module.create_default_context() ws_logger = logging.getLogger("websockets.client") - # ws_logger.setLevel(logging.INFO) - ws_logger.setLevel(logging.WARNING) # 只显示警告和错误 + # 日志级别已在 unilabos.utils.log 中统一配置为 WARNING async with websockets.connect( self.websocket_url, @@ -1198,7 +1197,7 @@ class WebSocketClient(BaseCommunicationClient): }, } self.message_processor.send_message(message) - logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}") + logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}") def publish_job_status( self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 7a8806d..53b44c2 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -652,7 +652,7 @@ class HostNode(BaseROS2DeviceNode): if bCreate: self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}") else: - self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}") + self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}") def send_goal( self, diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index b0b1dfb..9bf5ceb 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -194,10 +194,15 @@ def configure_logger(loglevel=None): # 降低第三方库的日志级别，避免过多输出 # pymodbus 库的日志太详细，设置为 WARNING - logging.getLogger('pymodbus').setLevel(TRACE_LEVEL) - logging.getLogger('pymodbus.logging').setLevel(TRACE_LEVEL) - logging.getLogger('pymodbus.logging.base').setLevel(TRACE_LEVEL) - logging.getLogger('pymodbus.logging.decoders').setLevel(TRACE_LEVEL) + logging.getLogger('pymodbus').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING) + + # websockets 库的日志输出较多，设置为 WARNING + logging.getLogger('websockets').setLevel(logging.WARNING) + logging.getLogger('websockets.client').setLevel(logging.WARNING) + logging.getLogger('websockets.server').setLevel(logging.WARNING) # 配置日志系统 From f872d3ef5698be3f01f642f714f1df6eee3b3e40 Mon Sep 17 00:00:00 2001 From: Junhan Chang Date: Sun, 9 Nov 2025 01:00:05 +0800 Subject: [PATCH 087/104] add electrode_sheets definition, and fix magazines --- .../coin_cell_assembly/YB_YH_materials.py | 124 ++------ unilabos/resources/battery/electrode_sheet.py | 179 ++++++++++++ unilabos/resources/battery/magazine.py | 267 +++++++++++------- 3 files changed, 354 insertions(+), 216 deletions(-) create mode 100644 unilabos/resources/battery/electrode_sheet.py diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 8bb0a8d..d5f447c 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -18,70 +18,11 @@ from pylabrobot.resources.tip_rack import TipRack, TipSpot from pylabrobot.resources.trash import Trash from pylabrobot.resources.utils import create_ordered_items_2d -from unilabos.resources.battery.magazine import MagazineHolder_1, MagazineHolder_2, MagazineHolder_4, MagazineHolder_6 +from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - height: float - electrolyte_name: str - data_electrolyte_code: str - open_circuit_voltage: float - assembly_pressure: float - electrolyte_volume: float - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - # TODO: 这个还要不要？给self._unilabos_state赋值的？ - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data # TODO: 这个应该只能放一个极片 class MaterialHoleState(TypedDict): @@ -477,13 +418,13 @@ def TipBox64( size_x: float = 127.8, size_y: float = 85.5, size_z: float = 60.0, - category: str = "tip_box_64", + category: str = "tip_rack", model: Optional[str] = None, ): """64孔枪头盒类""" from pylabrobot.resources.tip import Tip - # 创建8x8=64个枪头位 + # 创建12x8=96个枪头位 def make_tip(): return Tip( has_filter=False, @@ -508,17 +449,19 @@ def TipBox64( ) idx_available = list(range(0, 32)) + list(range(64, 96)) tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available} - return TipRack( + tip_rack = TipRack( name=name, size_x=size_x, size_y=size_y, size_z=size_z, - ordered_items=tip_spots_available, + # ordered_items=tip_spots_available, + ordered_items=tip_spots, category=category, model=model, - with_tips=True, + with_tips=False, ) - + tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32) # 前32和后32个有枪头，中间32个无枪头 + return tip_rack class WasteTipBoxstate(TypedDict): @@ -629,58 +572,23 @@ class CoincellDeck(Deck): def setup(self) -> None: """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" # ====================================== 子弹夹 ============================================ - # 铝箔（1个洞位） - lvbo_zip = MagazineHolder_1("铝箔弹夹", 80, 80, 10) - self.assign_child_resource(lvbo_zip, Coordinate(x=2737.0, y=301.0, z=0)) # 正极片（4个洞位，2x2布局） - zhengji_zip = MagazineHolder_4("正极弹夹", 80, 80, 10) + zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹") self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0)) - # 正极壳（4个洞位，2x2布局） - zhengjike_zip = MagazineHolder_4("正极壳弹夹", 80, 80, 10) + # 正极壳、平垫片（6个洞位，2x2+2布局） + zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹") self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0)) - # 垫片（2个洞位，1x2布局） - danpian_zip = MagazineHolder_2("垫片弹夹", 80, 80, 10) - self.assign_child_resource(danpian_zip, Coordinate(x=2690.0, y=1141.0, z=0)) - - # 负极壳（4个洞位，2x2布局） - fujike_zip = MagazineHolder_4("负极壳弹夹", 80, 80, 10) + # 负极壳、弹垫片（6个洞位，2x2+2布局） + fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹") self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0)) - # 弹片（2个洞位，1x2布局） - tanpian_zip = MagazineHolder_2("弹片弹夹", 80, 80, 10) - self.assign_child_resource(tanpian_zip, Coordinate(x=2492.0, y=1139.0, z=0)) - # 成品弹夹（6个洞位，3x2布局） - chengpindanjia_zip = MagazineHolder_6("成品弹夹", 80, 80, 10) + chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹") self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0)) - # 为子弹夹添加极片 - for i in range(1): # MagazineHolder_1 有1个洞位 - lvbo = ElectrodeSheet(name=f"铝箔_{i}", size_x=12, size_y=12, size_z=0.1) - lvbo_zip.children[i].assign_child_resource(lvbo, location=None) - for i in range(4): # MagazineHolder_4 有4个洞位 - zhengji = ElectrodeSheet(name=f"正极_{i}", size_x=12, size_y=12, size_z=0.1) - zhengji_zip.children[i].assign_child_resource(zhengji, location=None) - for i in range(4): # MagazineHolder_4 有4个洞位 - zhengjike = ElectrodeSheet(name=f"正极壳_{i}", size_x=12, size_y=12, size_z=0.1) - zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None) - for i in range(2): # MagazineHolder_2 有2个洞位 - danpian = ElectrodeSheet(name=f"垫片_{i}", size_x=12, size_y=12, size_z=0.1) - danpian_zip.children[i].assign_child_resource(danpian, location=None) - for i in range(4): # MagazineHolder_4 有4个洞位 - fujike = ElectrodeSheet(name=f"负极壳_{i}", size_x=12, size_y=12, size_z=0.1) - fujike_zip.children[i].assign_child_resource(fujike, location=None) - for i in range(2): # MagazineHolder_2 有2个洞位 - tanpian = ElectrodeSheet(name=f"弹片_{i}", size_x=12, size_y=12, size_z=0.1) - tanpian_zip.children[i].assign_child_resource(tanpian, location=None) - # for i in range(6): # MagazineHolder_6 有6个洞位 - # chengpindanjia = ElectrodeSheet(name=f"成品弹夹_{i}", size_x=12, size_y=12, size_z=0.1) - # chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None) - - # ====================================== 物料板 ============================================ # 创建物料板（料盘carrier）- 4x4布局 # 负极料盘 @@ -699,7 +607,7 @@ class CoincellDeck(Deck): # ====================================== 瓶架、移液枪 ============================================ # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写 + # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板 # bottle_rack_3x4 = BottleRack( # name="bottle_rack_3x4", diff --git a/unilabos/resources/battery/electrode_sheet.py b/unilabos/resources/battery/electrode_sheet.py new file mode 100644 index 0000000..e86af24 --- /dev/null +++ b/unilabos/resources/battery/electrode_sheet.py @@ -0,0 +1,179 @@ +from typing import Any, Dict, Optional, TypedDict + +from pylabrobot.resources import Resource as ResourcePLR +from pylabrobot.resources import Container + + +electrode_colors = { + "PositiveCan": "#ff0000", + "PositiveElectrode": "#cc3333", + "NegativeCan": "#000000", + "NegativeElectrode": "#666666", + "SpringWasher": "#8b7355", + "FlatWasher": "a9a9a9", + "AluminumFoil": "#ffcccc", + "Battery": "#00ff00", +} + +class ElectrodeSheetState(TypedDict): + mass: float # 质量 (g) + material_type: str # 材料类型（铜、铝、不锈钢、弹簧钢等） + color: str # 材料类型对应的颜色 + + +class ElectrodeSheet(ResourcePLR): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +def PositiveCan(name: str) -> ElectrodeSheet: + """创建正极壳""" + sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan") + sheet.load_state({"material_type": "aluminum", "color": electrode_colors["PositiveCan"]}) + return sheet + + +def PositiveElectrode(name: str) -> ElectrodeSheet: + """创建正极片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode") + sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]}) + return sheet + + +def NegativeCan(name: str) -> ElectrodeSheet: + """创建负极壳""" + sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan") + sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]}) + return sheet + + +def NegativeElectrode(name: str) -> ElectrodeSheet: + """创建负极片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode") + sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]}) + return sheet + + +def SpringWasher(name: str) -> ElectrodeSheet: + """创建弹片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher") + sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]}) + return sheet + + +def FlatWasher(name: str) -> ElectrodeSheet: + """创建垫片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher") + sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]}) + return sheet + + +def AluminumFoil(name: str) -> ElectrodeSheet: + """创建铝箔""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil") + sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]}) + return sheet + + +class BatteryState(TypedDict): + color: str # 材料类型对应的颜色 + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + + +class Battery(Container): + """电池类 - 包含组装好的电池""" + + def __init__( + self, + name: str = "电池", + size_x=12, + size_y=12, + size_z=6, + category: str = "battery", + model: Optional[str] = None, + ): + """初始化电池 + + Args: + name: 电池名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: BatteryState = BatteryState( + color=electrode_colors["Battery"], + electrolyte_name="无", + data_electrolyte_code="", + open_circuit_voltage=0.0, + assembly_pressure=0.0, + electrolyte_volume=0.0, + info=None + ) + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data \ No newline at end of file diff --git a/unilabos/resources/battery/magazine.py b/unilabos/resources/battery/magazine.py index a5a15cc..f8d2444 100644 --- a/unilabos/resources/battery/magazine.py +++ b/unilabos/resources/battery/magazine.py @@ -1,10 +1,18 @@ -from typing import Dict, List, Optional, OrderedDict, Union +from typing import Dict, List, Optional, OrderedDict, Union, Callable import math from pylabrobot.resources.coordinate import Coordinate from pylabrobot.resources import Resource, ResourceStack, ItemizedResource from pylabrobot.resources.carrier import create_homogeneous_resources +from unilabos.resources.battery.electrode_sheet import ( + PositiveCan, PositiveElectrode, + NegativeCan, NegativeElectrode, + SpringWasher, FlatWasher, + AluminumFoil, + Battery +) + class Magazine(ResourceStack): """子弹夹洞位类""" @@ -32,6 +40,18 @@ class Magazine(ResourceStack): ) self.max_sheets = max_sheets + @property + def size_x(self) -> float: + return self.get_size_x() + + @property + def size_y(self) -> float: + return self.get_size_y() + + @property + def size_z(self) -> float: + return self.get_size_z() + class MagazineHolder(ItemizedResource): """子弹夹类 - 有多个洞位，每个洞位放多个极片""" @@ -98,6 +118,7 @@ def magazine_factory( size_y: float, size_z: float, locations: List[Coordinate], + klasses: Optional[List[Callable[[str], str]]] = None, hole_diameter: float = 14.0, hole_depth: float = 10.0, max_sheets_per_hole: int = 100, @@ -112,12 +133,17 @@ def magazine_factory( size_y: 宽度 (mm) size_z: 高度 (mm) locations: 洞位坐标列表 + klasses: 每个洞位中极片的类列表 hole_diameter: 洞直径 (mm) hole_depth: 洞深度 (mm) max_sheets_per_hole: 每个洞位最大极片数量 category: 类别 model: 型号 """ + for loc in locations: + loc.x -= hole_diameter / 2 + loc.y -= hole_diameter / 2 + # 创建洞位 _sites = create_homogeneous_resources( klass=Magazine, @@ -132,7 +158,7 @@ def magazine_factory( keys = [f"A{i+1}" for i in range(len(locations))] sites = dict(zip(keys, _sites.values())) - return MagazineHolder( + holder = MagazineHolder( name=name, size_x=size_x, size_y=size_y, @@ -145,18 +171,143 @@ def magazine_factory( model=model, ) + if klasses is not None: + for i, klass in enumerate(klasses): + hole_key = keys[i] + hole = holder.children[i] + for j in reversed(range(max_sheets_per_hole)): + item_name = f"{hole_key}_sheet{j+1}" + item = klass(name=item_name) + hole.assign_child_resource(item) + return holder -def MagazineHolder_4( + +def MagazineHolder_6_Cathode( name: str, size_x: float = 80.0, size_y: float = 80.0, - size_z: float = 10.0, + size_z: float = 40.0, hole_diameter: float = 14.0, hole_depth: float = 10.0, - hole_spacing: float = 25.0, + hole_spacing: float = 20.0, max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan], + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_6_Cathode", + ) + + +def MagazineHolder_6_Anode( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 40.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 20.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan], + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_6_Anode", + ) + + +def MagazineHolder_6_Battery( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 40.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 20.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=None, # 初始化时，不放入装好的电池 + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_6_Battery", + ) + + +def MagazineHolder_4_Cathode( + name: str, ) -> MagazineHolder: """创建4孔子弹夹 - 正方形四角排布""" + size_x: float = 80.0 + size_y: float = 80.0 + size_z: float = 10.0 + hole_diameter: float = 14.0 + hole_depth: float = 10.0 + hole_spacing: float = 25.0 + max_sheets_per_hole: int = 100 + # 计算4个洞位的坐标（正方形四角排布） center_x = size_x / 2 center_y = size_y / 2 @@ -175,110 +326,10 @@ def MagazineHolder_4( size_y=size_y, size_z=size_z, locations=locations, + klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode], hole_diameter=hole_diameter, hole_depth=hole_depth, max_sheets_per_hole=max_sheets_per_hole, - category="clip_magazine_four", + category="magazine_holder", + model="MagazineHolder_4_Cathode", ) - - -def MagazineHolder_2( - name: str, - size_x: float = 80.0, - size_y: float = 80.0, - size_z: float = 10.0, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, -) -> MagazineHolder: - """创建2孔子弹夹 - 竖向排布""" - # 计算2个洞位的坐标（竖向排布） - center_x = size_x / 2 - center_y = size_y / 2 - offset = hole_spacing / 2 - - locations = [ - Coordinate(center_x, center_y - offset, size_z - hole_depth), # 下方 - Coordinate(center_x, center_y + offset, size_z - hole_depth), # 上方 - ] - - return magazine_factory( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - locations=locations, - hole_diameter=hole_diameter, - hole_depth=hole_depth, - max_sheets_per_hole=max_sheets_per_hole, - category="clip_magazine_two", - ) - - -def MagazineHolder_1( - name: str, - size_x: float = 80.0, - size_y: float = 80.0, - size_z: float = 10.0, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - max_sheets_per_hole: int = 100, -) -> MagazineHolder: - """创建1孔子弹夹 - 中心单孔""" - # 计算1个洞位的坐标（中心位置） - center_x = size_x / 2 - center_y = size_y / 2 - - locations = [ - Coordinate(center_x, center_y, size_z - hole_depth), # 中心 - ] - - return magazine_factory( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - locations=locations, - hole_diameter=hole_diameter, - hole_depth=hole_depth, - max_sheets_per_hole=max_sheets_per_hole, - category="clip_magazine_one", - ) - - -def MagazineHolder_6( - name: str, - size_x: float = 80.0, - size_y: float = 80.0, - size_z: float = 40.0, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 20.0, - max_sheets_per_hole: int = 100, -) -> MagazineHolder: - """创建6孔子弹夹 - 六边形排布""" - # 计算6个洞位的坐标（六边形排布：中心1个，周围5个） - center_x = size_x / 2 - center_y = size_y / 2 - - locations = [] - - # 周围6个孔，按六边形排布 - for i in range(6): - angle = i * 60 * math.pi / 180 # 每60度一个孔 - x = center_x + hole_spacing * math.cos(angle) - y = center_y + hole_spacing * math.sin(angle) - locations.append(Coordinate(x, y, size_z - hole_depth)) - - return magazine_factory( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - locations=locations, - hole_diameter=hole_diameter, - hole_depth=hole_depth, - max_sheets_per_hole=max_sheets_per_hole, - category="clip_magazine_six", - ) \ No newline at end of file From 5399c6c1cf36e446ad1789aa41482c38bbb12898 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sun, 9 Nov 2025 15:13:20 +0800 Subject: [PATCH 088/104] =?UTF-8?q?Fix=20warehouse=20mapping:=20use=20actu?= =?UTF-8?q?al=20parent=20warehouse=20name=20instead=20of=20hardcoded=20'?= =?UTF-8?q?=E6=89=8B=E5=8A=A8=E5=A0=86=E6=A0=88'?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 31 +++++++++++++++---- .../workstation/bioyond_studio/config.py | 4 +-- 2 files changed, 27 insertions(+), 8 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 4b27572..48780a5 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -1075,7 +1075,12 @@ class BioyondCellWorkstation(BioyondWorkstation): if bottle_moudle == moudle_name: bottle_type = key break - self.create_sample(plr_resource.name, board_type,bottle_type,site) + + # 从 parent_resource 获取仓库名称 + warehouse_name = parent_resource.name if parent_resource else "手动堆栈" + logger.info(f"拖拽上料: {plr_resource.name} -> {warehouse_name} / {site}") + + self.create_sample(plr_resource.name, board_type, bottle_type, site, warehouse_name) return self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}") @@ -1084,17 +1089,31 @@ class BioyondCellWorkstation(BioyondWorkstation): name: str, board_type: str, bottle_type: str, - location_code: str + location_code: str, + warehouse_name: str = "手动堆栈" ) -> Dict[str, Any]: """创建配液板物料并自动入库。 Args: - material_name: 物料名称，支持 "5ml分液瓶板"/"5ml分液瓶"、"配液瓶(小)板"/"配液瓶(小)"。 - quantity: 主物料与明细的数量，默认 1。 - location_code: 库位编号，例如 "A01"，将自动映射为 "手动堆栈" 下的 UUID。 + name: 物料名称 + board_type: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板" + bottle_type: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)" + location_code: 库位编号，例如 "A01" + warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等 """ carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1] bottle_type_id = MATERIAL_TYPE_MAPPINGS[bottle_type][1] - location_id = WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"][location_code] + + # 从指定仓库获取库位UUID + if warehouse_name not in WAREHOUSE_MAPPING: + logger.error(f"未找到仓库: {warehouse_name}，回退到手动堆栈") + warehouse_name = "手动堆栈" + + if location_code not in WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]: + logger.error(f"仓库 {warehouse_name} 中未找到库位 {location_code}") + raise ValueError(f"库位 {location_code} 在仓库 {warehouse_name} 中不存在") + + location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code] + logger.info(f"创建样品入库: {name} -> {warehouse_name}/{location_code} (UUID: {location_id})") # 新建小瓶 details = [] diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index c416ab8..9606c78 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -8,8 +8,8 @@ import os # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机 + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机 + # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机 "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), From 538891fcbea5e02335ab3a9753e673170c3b24e4 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sun, 9 Nov 2025 17:04:52 +0800 Subject: [PATCH 089/104] Update YB resources: add YB_ prefix to models and update deck configurations --- .../bioyond_cell/2025092701.xlsx | Bin 18162 -> 17833 bytes .../bioyond_cell/bioyond_cell_workstation.py | 3 +- .../workstation/bioyond_studio/config.py | 2 +- .../coin_cell_assembly/coin_cell_assembly.py | 2 +- .../registry/resources/bioyond/YB_bottle.yaml | 26 ++++++++ .../resources/bioyond/YB_bottle_carriers.yaml | 58 +++++++++--------- .../resources/bioyond/YB_bottle_carriers.py | 4 +- unilabos/resources/bioyond/YB_bottles.py | 2 +- unilabos/resources/bioyond/decks.py | 12 ++-- 9 files changed, 66 insertions(+), 43 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx index 9d0696191d2c76ff1788e485ed89d498ebf0f503..5db039c6203fca0056bb6dfb2af945f2ad81d930 100644 GIT binary patch delta 135 zcmey=%eblRTHF>-0OGcy33)P}n84Wl8(Pm^~G@ATR z*Jkp29sbFldJ2;_>3aj^|LL2Hav^k2ws#FR)60|-knFfdGZbdZ?5UG*iS@#ckUQLI4fk2WLI*?7>y@e>*)y<<(DfI*(w<;+1Vt67>>r1gSC~ljg=HiY?X>jih$x}b}j)%21cd^ zmPY0V21YjeWp+0D$x!vq#*-InD+3KHR2QCnLt9h0G{+y&Hw-a diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index 5ca2bb0..fbedd26 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -595,7 +595,8 @@ class BioyondCellWorkstation(BioyondWorkstation): print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料") orders.append(order_data) - + print("================================================") + print("orders:", orders) print(f"[create_orders] 即将提交订单数量: {len(orders)}") response = self._post_lims("/api/lims/order/orders", orders) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index 9606c78..b2aed01 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -237,7 +237,7 @@ MATERIAL_TYPE_MAPPINGS = { "100ml液体": ("YB_100ml_yeti", "d37166b3-ecaa-481e-bd84-3032b795ba07"), "液": ("YB_ye", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), "高粘液": ("YB_gaonianye", "abe8df30-563d-43d2-85e0-cabec59ddc16"), - "加样头(大)": ("YB_jia_yang_tou_da", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)": ("YB_jia_yang_tou_da_Carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), # "加样头(大)板": ("YB_jia_yang_tou_da", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), "5ml分液瓶板": ("YB_5ml_fenyepingban", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), "5ml分液瓶": ("YB_5ml_fenyeping", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 8c2cf5f..bd30de0 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -112,7 +112,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def __init__(self, config: dict = None, deck=None, - address: str = "172.21.33.176", + address: str = "172.16.28.102", port: str = "502", debug_mode: bool = False, *args, diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml index 7cafab4..87a335b 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -63,3 +63,29 @@ YB_pei_ye_xiao_Bottle: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_jia_yang_tou_da: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + type: pylabrobot + description: YB_jia_yang_tou_da + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_ye_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + type: pylabrobot + description: YB_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 \ No newline at end of file diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index a387ca6..2c0c6f0 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -11,19 +11,19 @@ YB_100ml_yeti: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_1BottleCarrier: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier - type: pylabrobot - description: YB_1BottleCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 +# YB_1BottleCarrier: +# category: +# - yb3 +# - YB_bottle_carriers +# class: +# module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier +# type: pylabrobot +# description: YB_1BottleCarrier +# handles: [] +# icon: '' +# init_param_schema: {} +# registry_type: resource +# version: 1.0.0 YB_gaonianye: category: - yb3 @@ -154,19 +154,19 @@ YB_gao_nian_ye_Bottle: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_jia_yang_tou_da: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da - type: pylabrobot - description: YB_jia_yang_tou_da - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 +# YB_jia_yang_tou_da: +# category: +# - yb3 +# - YB_bottle_carriers +# class: +# module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da +# type: pylabrobot +# description: YB_jia_yang_tou_da +# handles: [] +# icon: '' +# init_param_schema: {} +# registry_type: resource +# version: 1.0.0 YB_jia_yang_tou_da_Carrier: category: - yb3 @@ -193,14 +193,14 @@ YB_ye_100ml_Bottle: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_ye_Bottle: +YB_ye: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye type: pylabrobot - description: YB_ye_Bottle + description: YB_ye_Bottle_Carrier handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index 28c8fcc..29a5324 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -206,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier: return carrier # 1瓶载架 - 单个中央位置 -def YB_1BottleCarrier(name: str) -> BottleCarrier: +def YB_ye(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier: resource_size_y=beaker_diameter, name_prefix=name, ), - model="YB_1BottleCarrier", + model="YB_ye", ) carrier.num_items_x = 1 carrier.num_items_y = 1 diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index c8f1c95..acbbf35 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -33,7 +33,7 @@ def YB_ye_Bottle( height=height, max_volume=max_volume, barcode=barcode, - model="Liquid_Bottle", + model="YB_ye_Bottle", ) """100ml液体""" diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index e9d7593..98970a1 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -89,11 +89,9 @@ class BIOYOND_YB_Deck(Deck): "自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), "手动堆栈-左": bioyond_warehouse_3x5x1("手动堆栈-左"), "手动堆栈-右": bioyond_warehouse_3x5x1("手动堆栈-右"), - "粉末加样头堆栈-左": bioyond_warehouse_10x1x1("粉末加样头堆栈-左"), - "粉末加样头堆栈-右": bioyond_warehouse_10x1x1("粉末加样头堆栈-右"), + "粉末加样头堆栈": bioyond_warehouse_20x1x1("粉末加样头堆栈"), "配液站内试剂仓库": bioyond_warehouse_3x3x1("配液站内试剂仓库"), - "试剂替换仓库-左": bioyond_warehouse_5x1x1("试剂替换仓库-左"), - "试剂替换仓库-右": bioyond_warehouse_5x1x1("试剂替换仓库-右"), + "试剂替换仓库": bioyond_warehouse_10x1x1("试剂替换仓库"), } # warehouse 的位置 self.warehouse_locations = { @@ -101,11 +99,9 @@ class BIOYOND_YB_Deck(Deck): "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0), "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0), "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0), - "粉末加样头堆栈-左": Coordinate(415.0, 1301.0, 0.0), - "粉末加样头堆栈-右": Coordinate(2200.0, 1304.0, 0.0), + "粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0), "配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0), - "试剂替换仓库-左": Coordinate(1173.0, 702.0, 0.0), - "试剂替换仓库-右": Coordinate(2721.0, 739.0, 0.0), + "试剂替换仓库": Coordinate(1173.0, 702.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): From beb90f20d20f64ede05beb37bccb9c1422c1be63 Mon Sep 17 00:00:00 2001 From: calvincao Date: Sun, 9 Nov 2025 20:56:12 +0800 Subject: [PATCH 090/104] Update coin cell assembly configuration: change CSV file reference and modify resource names; enhance workstation initialization and packing functions. --- .../coin_cell_assembly/coin_cell_assembly.py | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index bd30de0..cf775cd 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -139,7 +139,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): time.sleep(2) if not modbus_client.client.is_socket_open(): raise ValueError('modbus tcp connection failed') - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv')) self.client = modbus_client.register_node_list(self.nodes) else: print("测试模式，跳过连接") @@ -791,7 +791,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): logger.debug(f"data_electrolyte_code: {data_electrolyte_code}") logger.debug(f"data_coin_cell_code: {data_coin_cell_code}") #接收完信息后，读取完毕标志位置True - liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") + liaopan3 = self.deck.get_resource("chengpindanjia") #把物料解绑后放到另一盘上 battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) battery._unilabos_state = { @@ -1206,7 +1206,13 @@ class CoinCellAssemblyWorkstation(WorkstationBase): if __name__ == "__main__": # 简单测试 - workstation = CoinCellAssemblyWorkstation() - workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False) - print(f"工作站创建成功: {workstation.deck.name}") - print(f"料盘数量: {len(workstation.deck.children)}") + workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck")) + # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False) + # print(f"工作站创建成功: {workstation.deck.name}") + # print(f"料盘数量: {len(workstation.deck.children)}") + workstation.func_pack_device_init() + workstation.func_pack_device_auto() + workstation.func_pack_device_start() + workstation.func_pack_send_bottle_num(16) + workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm") + \ No newline at end of file From 017eaefb8df0747032e32a487b8a7d5b6aa0abb1 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sun, 9 Nov 2025 21:43:32 +0800 Subject: [PATCH 091/104] Update coin cell assembly and YB_YH materials configuration --- .../devices/workstation/coin_cell_assembly/YB_YH_materials.py | 2 +- .../workstation/coin_cell_assembly/coin_cell_assembly.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index 1e929c8..d2e49b5 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -20,7 +20,7 @@ from pylabrobot.resources.utils import create_ordered_items_2d from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier - +from unilabos.resources.battery.electrodesheet import ElectrodeSheet diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index cf775cd..96f3232 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -791,7 +791,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): logger.debug(f"data_electrolyte_code: {data_electrolyte_code}") logger.debug(f"data_coin_cell_code: {data_coin_cell_code}") #接收完信息后，读取完毕标志位置True - liaopan3 = self.deck.get_resource("chengpindanjia") + liaopan3 = self.deck.get_resource("成品弹夹") #把物料解绑后放到另一盘上 battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) battery._unilabos_state = { From e32dc55db0065d1d2c4af1e0471a3fc15d334869 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Sun, 9 Nov 2025 22:02:17 +0800 Subject: [PATCH 092/104] Fix import: change electrodesheet to electrode_sheet --- .../devices/workstation/coin_cell_assembly/YB_YH_materials.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index d2e49b5..a39b817 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -20,7 +20,7 @@ from pylabrobot.resources.utils import create_ordered_items_2d from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery 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=?UTF-8?q?=E9=87=8A=E6=8F=90=E7=A4=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 28 +++++++++++-------- 1 file changed, 17 insertions(+), 11 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index fbedd26..f49eae9 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -256,7 +256,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", + xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -323,6 +323,7 @@ class BioyondCellWorkstation(BioyondWorkstation): "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialName": str(row[5]).strip(), "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "temperature": 0, }) # 四号手套箱原液瓶面 for _, row in df.iloc[14:23, 2:9].iterrows(): @@ -334,6 +335,7 @@ class BioyondCellWorkstation(BioyondWorkstation): "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + "temperature": 0, }) # 三号手套箱人工堆栈 for _, row in df.iloc[25:40, 2:7].iterrows(): @@ -343,11 +345,12 @@ class BioyondCellWorkstation(BioyondWorkstation): "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", - "quantity": 1 + "quantity": 1, + "temperature": 0, }) else: logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。") - + # TODO: 温度下面手动模式没改，上面的改了 # ---------- 模式 2: 手动填写 ---------- if not items: params = locals() @@ -473,7 +476,7 @@ class BioyondCellWorkstation(BioyondWorkstation): - totalMass 自动计算为所有物料质量之和 - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） """ - default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") + default_path = Path("/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") path = Path(xlsx_path) if xlsx_path else default_path print(f"[create_orders] 使用 Excel 路径: {path}") if path != default_path: @@ -1160,20 +1163,23 @@ if __name__ == "__main__": lab_registry.setup() deck = BIOYOND_YB_Deck(setup=True) ws = BioyondCellWorkstation(deck=deck) - # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") - # logger.info(ws.scheduler_stop()) + # ws.update_push_ip() #直接修改奔耀端的报送ip地址 + # ws.create_sample(name="配液瓶", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="E01") + # ws.create_sample(name="分液瓶", board_type="5ml分液瓶板", bottle_type="5ml分液瓶", location_code="D01") + + # # logger.info(ws.scheduler_stop()) # logger.info(ws.scheduler_start()) - # 继续后续流程 # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 - # # # 使用正斜杠或 Path 对象来指定文件路径 - # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + # 使用正斜杠或 Path 对象来指定文件路径 + # excel_path = Path("/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") # logger.info(ws.create_orders(excel_path)) # logger.info(ws.transfer_3_to_2_to_1()) - # logger.info(ws.transfer_1_to_2()) - # logger.info(ws.scheduler_start()) + # 1. location code + # 2. 实验文件 + # 3. material template file while True: time.sleep(1) From af411ddfe62b1564fb8c992edc79869002e3e8e2 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Mon, 10 Nov 2025 13:34:49 +0800 Subject: [PATCH 095/104] Fix import: change electrodesheet to electrode_sheet MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 修改路径 --- .../workstation/coin_cell_assembly/coin_cell_assembly.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 96f3232..4df87c2 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -139,7 +139,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): time.sleep(2) if not modbus_client.client.is_socket_open(): raise ValueError('modbus tcp connection failed') - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv')) + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) self.client = modbus_client.register_node_list(self.nodes) else: print("测试模式，跳过连接") @@ -1008,7 +1008,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # time.sleep(1) # time.sleep(40) # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + def func_read_data_and_output(self, file_path: str="/Users/sml/work"): # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 if self.csv_export_running: return False, "读取已在运行中" From 0d64563fb692c4a77a401901e0768e93c47d4dbf Mon Sep 17 00:00:00 2001 From: Junhan Chang Date: Mon, 10 Nov 2025 15:40:29 +0800 Subject: [PATCH 096/104] fix serialize for magazine --- unilabos/resources/battery/__init__.py | 0 unilabos/resources/battery/magazine.py | 9 +++++++++ 2 files changed, 9 insertions(+) create mode 100644 unilabos/resources/battery/__init__.py diff --git a/unilabos/resources/battery/__init__.py b/unilabos/resources/battery/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/resources/battery/magazine.py b/unilabos/resources/battery/magazine.py index f8d2444..d3ffcd8 100644 --- a/unilabos/resources/battery/magazine.py +++ b/unilabos/resources/battery/magazine.py @@ -52,6 +52,15 @@ class Magazine(ResourceStack): def size_z(self) -> float: return self.get_size_z() + def serialize(self) -> dict: + return { + **super().serialize(), + "size_x": self.size_x, + "size_y": self.size_y, + "size_z": self.size_z, + "max_sheets": self.max_sheets, + } + class MagazineHolder(ItemizedResource): """子弹夹类 - 有多个洞位，每个洞位放多个极片""" From 39a799cabd36ab5eb07aaaa91423ebca57db887b Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 10 Nov 2025 18:28:38 +0800 Subject: [PATCH 097/104] =?UTF-8?q?feat(device):=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E8=AE=BE=E5=A4=87=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6=E8=B7=AF?= =?UTF-8?q?=E5=BE=84=E5=92=8C=E5=9B=BE=E6=A0=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改 bioyond_cell.yaml 中的 xlsx 文件路径为用户目录路径- 在 bioyond_cell.yaml 中新增 warehouse_name 字段并设置默认值- 为 bioyond_cell.yaml 添加 resource_tree_transfer 参数结构定义 - 更新 bioyond_cell.yaml 中的状态类型和设备 ID 配置 - 将 coin_cell_workstation.yaml 的图标从 coin_cell_assembly_picture.webp 更改为 koudian.webp - 移除 bioyond_cell.yaml 中冗余的 display_name 配置项 --- unilabos/registry/devices/bioyond_cell.yaml | 54 ++++++++++++++++--- .../devices/coin_cell_workstation.yaml | 2 +- 2 files changed, 48 insertions(+), 8 deletions(-) diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index c6ad669..81d78b9 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -4,7 +4,6 @@ bioyond_cell: class: action_value_mappings: auto-auto_batch_outbound_from_xlsx: - display_name: 批量导入上料 feedback: {} goal: {} goal_default: @@ -138,7 +137,7 @@ bioyond_cell: WH4_x5_y1_z1_5_quantity: 0.0 WH4_x5_y2_z1_10_materialName: '' WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx handles: {} placeholder_keys: {} result: {} @@ -464,7 +463,7 @@ bioyond_cell: default: 0.0 type: number xlsx_path: - default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + default: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx type: string required: [] type: object @@ -600,6 +599,7 @@ bioyond_cell: bottle_type: null location_code: null name: null + warehouse_name: 手动堆栈 handles: {} placeholder_keys: {} result: {} @@ -617,6 +617,9 @@ bioyond_cell: type: string name: type: string + warehouse_name: + default: 手动堆栈 + type: string required: - name - board_type @@ -785,6 +788,39 @@ bioyond_cell: title: report_material_change参数 type: object type: UniLabJsonCommand + auto-resource_tree_transfer: + feedback: {} + goal: {} + goal_default: + old_parent: null + parent_resource: null + plr_resource: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + old_parent: + type: object + parent_resource: + type: object + plr_resource: + type: object + required: + - old_parent + - plr_resource + - parent_resource + type: object + result: {} + required: + - goal + title: resource_tree_transfer参数 + type: object + type: UniLabJsonCommand auto-scheduler_continue: feedback: {} goal: {} @@ -1072,12 +1108,13 @@ bioyond_cell: type: object type: UniLabJsonCommand module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation - status_types: {} + status_types: + device_id: String type: python config_info: [] description: '' handles: [] - icon: '' + icon: benyao2.webp init_param_schema: config: properties: @@ -1090,8 +1127,11 @@ bioyond_cell: required: [] type: object data: - properties: {} - required: [] + properties: + device_id: + type: string + required: + - device_id type: object registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index be2bcaa..eabebad 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -502,7 +502,7 @@ coincellassemblyworkstation_device: config_info: [] description: '' handles: [] - icon: coin_cell_assembly_picture.webp + icon: koudian.webp init_param_schema: config: properties: From 0c9f26e8fcab1960f7a9396cdc0364a505d3709c Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Mon, 10 Nov 2025 18:35:21 +0800 Subject: [PATCH 098/104] Update Excel files: modified bioyond_cell and material_template with new data --- .../bioyond_cell/2025092701.xlsx | Bin 18230 -> 9782 bytes .../bioyond_cell/material_template.xlsx | Bin 10381 -> 10375 bytes 2 files changed, 0 insertions(+), 0 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx index a3b130f62b8a05e3b4bc0d5f37e2535f51bde074..2a45f93792e954b6891993f8d5205786d271caea 100644 GIT binary patch literal 9782 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Date: Mon, 10 Nov 2025 18:35:37 +0800 Subject: [PATCH 099/104] Update bioyond_cell and YAML configurations: modified default Excel paths and added new bottle carrier resources. Removed unused fields and updated descriptions for clarity. --- .../bioyond_cell/bioyond_cell_workstation.py | 32 +-- unilabos/registry/devices/bioyond_cell.yaml | 52 +++- .../devices/coin_cell_workstation.yaml | 14 +- unilabos/registry/devices/liquid_handler.yaml | 50 ++++ unilabos/registry/devices/virtual_device.yaml | 250 ++++++++++++++++++ .../registry/resources/bioyond/YB_bottle.yaml | 35 +-- .../resources/bioyond/YB_bottle_carriers.yaml | 174 ++++++------ 7 files changed, 459 insertions(+), 148 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index f49eae9..4160815 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -256,7 +256,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", + xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, @@ -323,7 +323,6 @@ class BioyondCellWorkstation(BioyondWorkstation): "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialName": str(row[5]).strip(), "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, - "temperature": 0, }) # 四号手套箱原液瓶面 for _, row in df.iloc[14:23, 2:9].iterrows(): @@ -335,7 +334,6 @@ class BioyondCellWorkstation(BioyondWorkstation): "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", - "temperature": 0, }) # 三号手套箱人工堆栈 for _, row in df.iloc[25:40, 2:7].iterrows(): @@ -345,12 +343,11 @@ class BioyondCellWorkstation(BioyondWorkstation): "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", - "quantity": 1, - "temperature": 0, + "quantity": 1 }) else: logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。") - # TODO: 温度下面手动模式没改，上面的改了 + # ---------- 模式 2: 手动填写 ---------- if not items: params = locals() @@ -476,7 +473,7 @@ class BioyondCellWorkstation(BioyondWorkstation): - totalMass 自动计算为所有物料质量之和 - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） """ - default_path = Path("/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") + default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") path = Path(xlsx_path) if xlsx_path else default_path print(f"[create_orders] 使用 Excel 路径: {path}") if path != default_path: @@ -1163,23 +1160,20 @@ if __name__ == "__main__": lab_registry.setup() deck = BIOYOND_YB_Deck(setup=True) ws = BioyondCellWorkstation(deck=deck) - # ws.update_push_ip() #直接修改奔耀端的报送ip地址 - # ws.create_sample(name="配液瓶", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="E01") - # ws.create_sample(name="分液瓶", board_type="5ml分液瓶板", bottle_type="5ml分液瓶", location_code="D01") - - # # logger.info(ws.scheduler_stop()) + # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") + # logger.info(ws.scheduler_stop()) # logger.info(ws.scheduler_start()) - # logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 - # 使用正斜杠或 Path 对象来指定文件路径 - # excel_path = Path("/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx") + # 继续后续流程 + logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + # # # 使用正斜杠或 Path 对象来指定文件路径 + # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") # logger.info(ws.create_orders(excel_path)) # logger.info(ws.transfer_3_to_2_to_1()) - # logger.info(ws.transfer_1_to_2()) - # 1. location code - # 2. 实验文件 - # 3. material template file + # logger.info(ws.transfer_1_to_2()) + # logger.info(ws.scheduler_start()) + while True: time.sleep(1) diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index c6ad669..bcfdfff 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -4,7 +4,6 @@ bioyond_cell: class: action_value_mappings: auto-auto_batch_outbound_from_xlsx: - display_name: 批量导入上料 feedback: {} goal: {} goal_default: @@ -138,7 +137,7 @@ bioyond_cell: WH4_x5_y1_z1_5_quantity: 0.0 WH4_x5_y2_z1_10_materialName: '' WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx handles: {} placeholder_keys: {} result: {} @@ -464,7 +463,7 @@ bioyond_cell: default: 0.0 type: number xlsx_path: - default: C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + default: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx type: string required: [] type: object @@ -600,6 +599,7 @@ bioyond_cell: bottle_type: null location_code: null name: null + warehouse_name: 手动堆栈 handles: {} placeholder_keys: {} result: {} @@ -617,6 +617,9 @@ bioyond_cell: type: string name: type: string + warehouse_name: + default: 手动堆栈 + type: string required: - name - board_type @@ -785,6 +788,39 @@ bioyond_cell: title: report_material_change参数 type: object type: UniLabJsonCommand + auto-resource_tree_transfer: + feedback: {} + goal: {} + goal_default: + old_parent: null + parent_resource: null + plr_resource: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + old_parent: + type: object + parent_resource: + type: object + plr_resource: + type: object + required: + - old_parent + - plr_resource + - parent_resource + type: object + result: {} + required: + - goal + title: resource_tree_transfer参数 + type: object + type: UniLabJsonCommand auto-scheduler_continue: feedback: {} goal: {} @@ -1072,7 +1108,8 @@ bioyond_cell: type: object type: UniLabJsonCommand module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation - status_types: {} + status_types: + device_id: String type: python config_info: [] description: '' @@ -1090,8 +1127,11 @@ bioyond_cell: required: [] type: object data: - properties: {} - required: [] + properties: + device_id: + type: string + required: + - device_id type: object registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index be2bcaa..4a39afa 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -79,7 +79,7 @@ coincellassemblyworkstation_device: elec_num: null elec_use_num: null elec_vol: 50 - file_path: C:\Users\67484\Desktop + file_path: /Users/sml/work handles: {} placeholder_keys: {} result: {} @@ -103,7 +103,7 @@ coincellassemblyworkstation_device: default: 50 type: integer file_path: - default: C:\Users\67484\Desktop + default: /Users/sml/work type: string required: - elec_num @@ -332,7 +332,7 @@ coincellassemblyworkstation_device: feedback: {} goal: {} goal_default: - file_path: D:\coin_cell_data + file_path: /Users/sml/work handles: {} placeholder_keys: {} result: {} @@ -343,7 +343,7 @@ coincellassemblyworkstation_device: goal: properties: file_path: - default: D:\coin_cell_data + default: /Users/sml/work type: string required: [] type: object @@ -507,13 +507,15 @@ coincellassemblyworkstation_device: config: properties: address: - default: 172.21.32.111 + default: 172.16.28.102 type: string + config: + type: object debug_mode: default: false type: boolean deck: - type: object + type: string port: default: '502' type: string diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 99c9233..bfe98e8 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -654,6 +654,31 @@ liquid_handler: title: iter_tips参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: string + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-set_group: feedback: {} goal: {} @@ -6170,6 +6195,31 @@ liquid_handler.prcxi: title: move_to参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-run_protocol: feedback: {} goal: {} diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 1857582..77ac533 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -45,6 +45,31 @@ virtual_centrifuge: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand centrifuge: feedback: current_speed: current_speed @@ -335,6 +360,31 @@ virtual_column: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand run_column: feedback: current_status: current_status @@ -732,6 +782,31 @@ virtual_filter: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand filter: feedback: current_status: current_status @@ -1358,6 +1433,31 @@ virtual_heatchill: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand heat_chill: feedback: status: status @@ -2358,6 +2458,31 @@ virtual_rotavap: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand evaporate: feedback: current_device: current_device @@ -2690,6 +2815,31 @@ virtual_separator: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand separate: feedback: current_status: status @@ -3600,6 +3750,31 @@ virtual_solenoid_valve: title: is_closed参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-reset: feedback: {} goal: {} @@ -4177,6 +4352,31 @@ virtual_solid_dispenser: title: parse_mol_string参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser status_types: current_reagent: str @@ -4278,6 +4478,31 @@ virtual_stirrer: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand start_stir: feedback: status: status @@ -4995,6 +5220,31 @@ virtual_transfer_pump: title: is_full参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-pull_plunger: feedback: {} goal: {} diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml index 87a335b..f8e1726 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -1,16 +1,3 @@ -YB_qiang_tou: - category: - - yb3 - - YB_bottle - class: - module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou - type: pylabrobot - description: YB_qiang_tou - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 YB_20ml_fenyeping: category: - yb3 @@ -37,6 +24,19 @@ YB_5ml_fenyeping: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_jia_yang_tou_da: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + type: pylabrobot + description: YB_jia_yang_tou_da + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 YB_pei_ye_da_Bottle: category: - yb3 @@ -63,14 +63,14 @@ YB_pei_ye_xiao_Bottle: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_jia_yang_tou_da: +YB_qiang_tou: category: - yb3 - YB_bottle class: - module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou type: pylabrobot - description: YB_jia_yang_tou_da + description: YB_qiang_tou handles: [] icon: '' init_param_schema: {} @@ -80,6 +80,7 @@ YB_ye_Bottle: category: - yb3 - YB_bottle_carriers + - YB_bottle class: module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle type: pylabrobot @@ -88,4 +89,4 @@ YB_ye_Bottle: icon: '' init_param_schema: {} registry_type: resource - version: 1.0.0 \ No newline at end of file + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index 2c0c6f0..4698a26 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -11,71 +11,6 @@ YB_100ml_yeti: init_param_schema: {} registry_type: resource version: 1.0.0 -# YB_1BottleCarrier: -# category: -# - yb3 -# - YB_bottle_carriers -# class: -# module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier -# type: pylabrobot -# description: YB_1BottleCarrier -# handles: [] -# icon: '' -# init_param_schema: {} -# registry_type: resource -# version: 1.0.0 -YB_gaonianye: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye - type: pylabrobot - description: YB_gaonianye - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -YB_peiyepingdaban: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban - type: pylabrobot - description: YB_peiyepingdaban - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -YB_6StockCarrier: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier - type: pylabrobot - description: YB_6StockCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -YB_6VialCarrier: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier - type: pylabrobot - description: YB_6VialCarrier - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 YB_20ml_fenyepingban: category: - yb3 @@ -102,40 +37,27 @@ YB_5ml_fenyepingban: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_peiyepingxiaoban: +YB_6StockCarrier: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier type: pylabrobot - description: YB_peiyepingxiaoban + description: YB_6StockCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 -YB_shi_pei_qi_kuai: +YB_6VialCarrier: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier type: pylabrobot - description: YB_shi_pei_qi_kuai - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -YB_qiang_tou_he: - category: - - yb3 - - YB_bottle_carriers - class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he - type: pylabrobot - description: YB_qiang_tou_he + description: YB_6VialCarrier handles: [] icon: '' init_param_schema: {} @@ -154,19 +76,19 @@ YB_gao_nian_ye_Bottle: init_param_schema: {} registry_type: resource version: 1.0.0 -# YB_jia_yang_tou_da: -# category: -# - yb3 -# - YB_bottle_carriers -# class: -# module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da -# type: pylabrobot -# description: YB_jia_yang_tou_da -# handles: [] -# icon: '' -# init_param_schema: {} -# registry_type: resource -# version: 1.0.0 +YB_gaonianye: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye + type: pylabrobot + description: YB_gaonianye + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 YB_jia_yang_tou_da_Carrier: category: - yb3 @@ -180,14 +102,53 @@ YB_jia_yang_tou_da_Carrier: init_param_schema: {} registry_type: resource version: 1.0.0 -YB_ye_100ml_Bottle: +YB_peiyepingdaban: category: - yb3 - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban type: pylabrobot - description: YB_ye_100ml_Bottle + description: YB_peiyepingdaban + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_peiyepingxiaoban: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban + type: pylabrobot + description: YB_peiyepingxiaoban + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_qiang_tou_he: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he + type: pylabrobot + description: YB_qiang_tou_he + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_shi_pei_qi_kuai: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai + type: pylabrobot + description: YB_shi_pei_qi_kuai handles: [] icon: '' init_param_schema: {} @@ -206,3 +167,16 @@ YB_ye: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_ye_100ml_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + type: pylabrobot + description: YB_ye_100ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 From 19dffcb5db76718f7d9486e6a3be1eab989b2502 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Mon, 10 Nov 2025 18:57:10 +0800 Subject: [PATCH 100/104] =?UTF-8?q?=E6=9B=B4=E6=96=B0YB=5FDeck=E5=A0=86?= =?UTF-8?q?=E6=A0=88=E5=9D=90=E6=A0=87=E4=BD=8D=E7=BD=AE=EF=BC=8C=E6=A0=B9?= =?UTF-8?q?=E6=8D=AE=E5=9B=BE=E7=89=87=E5=83=8F=E7=B4=A0=E5=9D=90=E6=A0=87?= =?UTF-8?q?=E6=98=A0=E5=B0=84=E5=88=B0=E5=AE=9E=E9=99=85=E5=B0=BA=E5=AF=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/resources/bioyond/decks.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index 98970a1..bfed3d7 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -95,13 +95,13 @@ class BIOYOND_YB_Deck(Deck): } # warehouse 的位置 self.warehouse_locations = { - "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0), - "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0), - "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0), - "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0), + "自动堆栈-左": Coordinate(-100.3, 171.5, 0.0), + "自动堆栈-右": Coordinate(3960.1, 155.9, 0.0), + "手动堆栈-左": Coordinate(-213.3, 804.4, 0.0), + "手动堆栈-右": Coordinate(3960.1, 807.6, 0.0), "粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0), - "配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0), - "试剂替换仓库": Coordinate(1173.0, 702.0, 0.0), + "配液站内试剂仓库": Coordinate(2162.0, 437.0, 0.0), + "试剂替换仓库": Coordinate(1173.0, 802.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): From 04b578a68be1bf8a63fbbab2d49384f5eb993e19 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Mon, 10 Nov 2025 18:57:10 +0800 Subject: [PATCH 101/104] =?UTF-8?q?=E6=9B=B4=E6=96=B0YB=5FDeck=E5=A0=86?= =?UTF-8?q?=E6=A0=88=E5=9D=90=E6=A0=87=E4=BD=8D=E7=BD=AE=EF=BC=8C=E6=A0=B9?= =?UTF-8?q?=E6=8D=AE=E5=9B=BE=E7=89=87=E5=83=8F=E7=B4=A0=E5=9D=90=E6=A0=87?= =?UTF-8?q?=E6=98=A0=E5=B0=84=E5=88=B0=E5=AE=9E=E9=99=85=E5=B0=BA=E5=AF=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/resources/bioyond/decks.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index 98970a1..bfed3d7 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -95,13 +95,13 @@ class BIOYOND_YB_Deck(Deck): } # warehouse 的位置 self.warehouse_locations = { - "自动堆栈-左": Coordinate(-300.0, 158.0, 0.0), - "自动堆栈-右": Coordinate(4160.0, 158.0, 0.0), - "手动堆栈-左": Coordinate(-400.0, 877.0, 0.0), - "手动堆栈-右": Coordinate(4160.0, 877.0, 0.0), + "自动堆栈-左": Coordinate(-100.3, 171.5, 0.0), + "自动堆栈-右": Coordinate(3960.1, 155.9, 0.0), + "手动堆栈-左": Coordinate(-213.3, 804.4, 0.0), + "手动堆栈-右": Coordinate(3960.1, 807.6, 0.0), "粉末加样头堆栈": Coordinate(415.0, 1301.0, 0.0), - "配液站内试剂仓库": Coordinate(2162.0, 337.0, 0.0), - "试剂替换仓库": Coordinate(1173.0, 702.0, 0.0), + "配液站内试剂仓库": Coordinate(2162.0, 437.0, 0.0), + "试剂替换仓库": Coordinate(1173.0, 802.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): From b97be6a5d4861e9a0e3e66adaa12c3c12921de08 Mon Sep 17 00:00:00 2001 From: calvincao Date: Mon, 10 Nov 2025 21:40:02 +0800 Subject: [PATCH 102/104] =?UTF-8?q?feat(battery):=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E7=94=B5=E6=B1=A0=E5=B7=A5=E4=BD=9C=E7=AB=99=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E4=B8=8E=E7=89=A9=E6=96=99=E5=B8=83=E5=B1=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改弹夹尺寸默认值，确保非空时使用实际值 - 调整new_cellconfig3c.json中设备位置和尺寸配置 - 更新CoinCellDeck的尺寸和原点坐标 -重新分配所有物料和弹夹的位置坐标 - 调整电解液缓存位和回收位坐标 - 更新物料板和tip box的布局位置 --- new_cellconfig3c.json | 23 ++++++------ .../coin_cell_assembly/YB_YH_materials.py | 35 +++++++++---------- unilabos/resources/battery/magazine.py | 6 ++-- 3 files changed, 32 insertions(+), 32 deletions(-) diff --git a/new_cellconfig3c.json b/new_cellconfig3c.json index 2a5d6eb..d963f63 100644 --- a/new_cellconfig3c.json +++ b/new_cellconfig3c.json @@ -1,3 +1,4 @@ + { "nodes": [ { @@ -53,11 +54,6 @@ ], "type": "device", "class":"coincellassemblyworkstation_device", - "position": { - "x": -600, - "y": -400, - "z": 0 - }, "config": { "deck": { "data": { @@ -66,6 +62,14 @@ } }, "protocol_type": [] + }, + "position": { + "size": {"height": 1450, "width": 1450, "depth": 2100}, + "position": { + "x": -1500, + "y": 0, + "z": 0 + } } }, { @@ -75,11 +79,6 @@ "parent": "BatteryStation", "type": "deck", "class": "CoincellDeck", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, "config": { "type": "CoincellDeck", "setup": true, @@ -94,4 +93,6 @@ } ], "links": [] -} \ No newline at end of file +} + + \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py index a39b817..bc8dc4f 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -540,10 +540,10 @@ class CoincellDeck(Deck): def __init__( self, name: str = "coin_cell_deck", - size_x: float = 3650.0, # 1m - size_y: float = 1550.0, # 1m - size_z: float = 2100.0, # 0.9m - origin: Coordinate = Coordinate(-4000, 2000, 0), + size_x: float = 1450.0, # 1m + size_y: float = 1450.0, # 1m + size_z: float = 100.0, # 0.9m + origin: Coordinate = Coordinate(-2200, 0, 0), category: str = "coin_cell_deck", setup: bool = False, # 是否自动执行 setup ): @@ -560,11 +560,10 @@ class CoincellDeck(Deck): """ super().__init__( name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, + size_x=1450.0, + size_y=1450.0, + size_z=100.0, origin=origin, - category=category, ) if setup: self.setup() @@ -575,32 +574,32 @@ class CoincellDeck(Deck): # 正极片（4个洞位，2x2布局） zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹") - self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0)) + self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0)) # 正极壳、平垫片（6个洞位，2x2+2布局） zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹") - self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0)) + self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0)) # 负极壳、弹垫片（6个洞位，2x2+2布局） fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹") - self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0)) + self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0)) # 成品弹夹（6个洞位，3x2布局） chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹") - self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0)) + self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0)) # ====================================== 物料板 ============================================ # 创建物料板（料盘carrier）- 4x4布局 # 负极料盘 fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(fujiliaopan, Coordinate(x=2107.0, y=304.0, z=0)) + self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0)) # for i in range(16): # fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) # fujiliaopan.children[i].assign_child_resource(fujipian, location=None) # 隔膜料盘 gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True) - self.assign_child_resource(gemoliaopan, Coordinate(x=2107.0, y=146.0, z=0)) + self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0)) # for i in range(16): # gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) # gemoliaopan.children[i].assign_child_resource(gemopian, location=None) @@ -623,16 +622,16 @@ class CoincellDeck(Deck): # 电解液缓存位 - 6x2布局 bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2") - self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) + self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0)) # 电解液回收位6x2 bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2") - self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=1765.0, y=869.0, z=0)) + self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0)) tip_box = TipBox64(name="tip_box_64") - self.assign_child_resource(tip_box, Coordinate(x=1938.0, y=743.0, z=0)) + self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0)) waste_tip_box = WasteTipBox(name="waste_tip_box") - self.assign_child_resource(waste_tip_box, Coordinate(x=1960.0, y=639.0, z=0)) + self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0)) if __name__ == "__main__": diff --git a/unilabos/resources/battery/magazine.py b/unilabos/resources/battery/magazine.py index d3ffcd8..04328a4 100644 --- a/unilabos/resources/battery/magazine.py +++ b/unilabos/resources/battery/magazine.py @@ -55,9 +55,9 @@ class Magazine(ResourceStack): def serialize(self) -> dict: return { **super().serialize(), - "size_x": self.size_x, - "size_y": self.size_y, - "size_z": self.size_z, + "size_x": self.size_x or 10.0, + "size_y": self.size_y or 10.0, + "size_z": self.size_z or 10.0, "max_sheets": self.max_sheets, } From c03abb341a8502cceaf5b97c4661ec158667e19f Mon Sep 17 00:00:00 2001 From: lixinyu1011 <674842481@qq.com> Date: Sun, 16 Nov 2025 16:24:59 +0800 Subject: [PATCH 103/104] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E5=A5=94=E8=80=80?= =?UTF-8?q?=E8=BE=93=E5=85=A5=E9=85=8D=E6=96=B9=E7=9A=84=EF=BC=8C=E7=94=B5?= =?UTF-8?q?=E8=A7=A3=E6=B6=B2=E4=BD=93=E7=A7=AF=E4=B8=BA=E5=B0=8F=E6=95=B0?= =?UTF-8?q?=E7=9A=84=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../bioyond_cell/bioyond_cell_workstation.py | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index f49eae9..18479dc 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -11,6 +11,7 @@ from datetime import datetime, timedelta import re import threading import json +from copy import deepcopy from urllib3 import response from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer from unilabos.devices.workstation.bioyond_studio.config import ( @@ -547,6 +548,14 @@ class BioyondCellWorkstation(BioyondWorkstation): except Exception: return default + def _as_float(val, default=0.0) -> float: + try: + if pd.isna(val): + return default + return float(val) + except Exception: + return default + def _as_str(val, default="") -> str: if val is None or (isinstance(val, float) and pd.isna(val)): return default @@ -580,9 +589,9 @@ class BioyondCellWorkstation(BioyondWorkstation): "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, - "loadSheddingInfo": _as_int(row[col_load]) if col_load else 0, - "pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0, - "conductivityInfo": _as_int(row[col_cond]) if col_cond else 0, + "loadSheddingInfo": _as_float(row[col_load]) if col_load else 0.0, + "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0, "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, "materialInfos": mats, "totalMass": round(total_mass, 4) # 自动汇总 From 096875e9109dab4c0f3bf8615536c9757e481234 Mon Sep 17 00:00:00 2001 From: dijkstra402 Date: Thu, 27 Nov 2025 18:22:46 +0800 Subject: [PATCH 104/104] =?UTF-8?q?=E9=BB=98=E8=AE=A4=E4=BB=BF=E7=9C=9F?= =?UTF-8?q?=E6=9C=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../workstation/bioyond_studio/config.py | 6 +- .../coin_cell_assembly/coin_cell_assembly.py | 2 +- unilabos/registry/devices/bioyond_cell.yaml | 105 ------------------ 3 files changed, 4 insertions(+), 109 deletions(-) diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index b2aed01..736ca66 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -8,8 +8,8 @@ import os # BioyondCellWorkstation 默认配置（包含所有必需参数） API_CONFIG = { # API 连接配置 - "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机 - # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机 + # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机 + "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.11.219:44388"),# 仿真机 "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), @@ -17,7 +17,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.11.2"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 4df87c2..ef942e2 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -139,7 +139,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): time.sleep(2) if not modbus_client.client.is_socket_open(): raise ValueError('modbus tcp connection failed') - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv')) self.client = modbus_client.register_node_list(self.nodes) else: print("测试模式，跳过连接") diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index 81d78b9..c379e27 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -32,111 +32,6 @@ bioyond_cell: feedback: {} goal: {} goal_default: - WH3_x1_y1_z3_1_materialId: '' - WH3_x1_y1_z3_1_materialType: '' - WH3_x1_y1_z3_1_quantity: 0 - WH3_x1_y2_z3_4_materialId: '' - WH3_x1_y2_z3_4_materialType: '' - WH3_x1_y2_z3_4_quantity: 0 - WH3_x1_y3_z3_7_materialId: '' - WH3_x1_y3_z3_7_materialType: '' - WH3_x1_y3_z3_7_quantity: 0 - WH3_x1_y4_z3_10_materialId: '' - WH3_x1_y4_z3_10_materialType: '' - WH3_x1_y4_z3_10_quantity: 0 - WH3_x1_y5_z3_13_materialId: '' - WH3_x1_y5_z3_13_materialType: '' - WH3_x1_y5_z3_13_quantity: 0 - WH3_x2_y1_z3_2_materialId: '' - WH3_x2_y1_z3_2_materialType: '' - WH3_x2_y1_z3_2_quantity: 0 - WH3_x2_y2_z3_5_materialId: '' - WH3_x2_y2_z3_5_materialType: '' - WH3_x2_y2_z3_5_quantity: 0 - WH3_x2_y3_z3_8_materialId: '' - WH3_x2_y3_z3_8_materialType: '' - WH3_x2_y3_z3_8_quantity: 0 - WH3_x2_y4_z3_11_materialId: '' - WH3_x2_y4_z3_11_materialType: '' - WH3_x2_y4_z3_11_quantity: 0 - WH3_x2_y5_z3_14_materialId: '' - WH3_x2_y5_z3_14_materialType: '' - WH3_x2_y5_z3_14_quantity: 0 - WH3_x3_y1_z3_3_materialId: '' - WH3_x3_y1_z3_3_materialType: '' - WH3_x3_y1_z3_3_quantity: 0 - WH3_x3_y2_z3_6_materialId: '' - WH3_x3_y2_z3_6_materialType: '' - WH3_x3_y2_z3_6_quantity: 0 - WH3_x3_y3_z3_9_materialId: '' - WH3_x3_y3_z3_9_materialType: '' - WH3_x3_y3_z3_9_quantity: 0 - WH3_x3_y4_z3_12_materialId: '' - WH3_x3_y4_z3_12_materialType: '' - WH3_x3_y4_z3_12_quantity: 0 - WH3_x3_y5_z3_15_materialId: '' - WH3_x3_y5_z3_15_materialType: '' - WH3_x3_y5_z3_15_quantity: 0 - WH4_x1_y1_z1_1_materialName: '' - WH4_x1_y1_z1_1_quantity: 0.0 - WH4_x1_y1_z2_1_materialName: '' - WH4_x1_y1_z2_1_materialType: '' - WH4_x1_y1_z2_1_quantity: 0.0 - WH4_x1_y1_z2_1_targetWH: '' - WH4_x1_y2_z1_6_materialName: '' - WH4_x1_y2_z1_6_quantity: 0.0 - WH4_x1_y2_z2_4_materialName: '' - WH4_x1_y2_z2_4_materialType: '' - WH4_x1_y2_z2_4_quantity: 0.0 - WH4_x1_y2_z2_4_targetWH: '' - WH4_x1_y3_z1_11_materialName: '' - WH4_x1_y3_z1_11_quantity: 0.0 - WH4_x1_y3_z2_7_materialName: '' - WH4_x1_y3_z2_7_materialType: '' - WH4_x1_y3_z2_7_quantity: 0.0 - WH4_x1_y3_z2_7_targetWH: '' - WH4_x2_y1_z1_2_materialName: '' - WH4_x2_y1_z1_2_quantity: 0.0 - WH4_x2_y1_z2_2_materialName: '' - WH4_x2_y1_z2_2_materialType: '' - WH4_x2_y1_z2_2_quantity: 0.0 - WH4_x2_y1_z2_2_targetWH: '' - WH4_x2_y2_z1_7_materialName: '' - WH4_x2_y2_z1_7_quantity: 0.0 - WH4_x2_y2_z2_5_materialName: '' - WH4_x2_y2_z2_5_materialType: '' - WH4_x2_y2_z2_5_quantity: 0.0 - WH4_x2_y2_z2_5_targetWH: '' - WH4_x2_y3_z1_12_materialName: '' - WH4_x2_y3_z1_12_quantity: 0.0 - WH4_x2_y3_z2_8_materialName: '' - WH4_x2_y3_z2_8_materialType: '' - WH4_x2_y3_z2_8_quantity: 0.0 - WH4_x2_y3_z2_8_targetWH: '' - WH4_x3_y1_z1_3_materialName: '' - WH4_x3_y1_z1_3_quantity: 0.0 - WH4_x3_y1_z2_3_materialName: '' - WH4_x3_y1_z2_3_materialType: '' - WH4_x3_y1_z2_3_quantity: 0.0 - WH4_x3_y1_z2_3_targetWH: '' - WH4_x3_y2_z1_8_materialName: '' - WH4_x3_y2_z1_8_quantity: 0.0 - WH4_x3_y2_z2_6_materialName: '' - WH4_x3_y2_z2_6_materialType: '' - WH4_x3_y2_z2_6_quantity: 0.0 - WH4_x3_y2_z2_6_targetWH: '' - WH4_x3_y3_z2_9_materialName: '' - WH4_x3_y3_z2_9_materialType: '' - WH4_x3_y3_z2_9_quantity: 0.0 - WH4_x3_y3_z2_9_targetWH: '' - WH4_x4_y1_z1_4_materialName: '' - WH4_x4_y1_z1_4_quantity: 0.0 - WH4_x4_y2_z1_9_materialName: '' - WH4_x4_y2_z1_9_quantity: 0.0 - WH4_x5_y1_z1_5_materialName: '' - WH4_x5_y1_z1_5_quantity: 0.0 - WH4_x5_y2_z1_10_materialName: '' - WH4_x5_y2_z1_10_quantity: 0.0 xlsx_path: /Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx handles: {} placeholder_keys: {}