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扣电驱动中增加多个组装参数，更新驱动与注册表 (#120)
扣电驱动中增加多个组装参数，elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200，更新驱动与注册表
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@@ -656,16 +656,25 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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# self.success = True
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# return self.success
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def func_pack_send_msg_cmd(self, elec_use_num) -> bool:
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def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool:
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"""UNILAB写参数"""
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while (self.request_rec_msg_status) == False:
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print("wait for request_rec_msg_status to True")
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time.sleep(1)
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self.success = False
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#self._unilab_send_msg_electrolyte_num(elec_num)
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time.sleep(1)
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#设置平行样数目
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self._unilab_send_msg_electrolyte_use_num(elec_use_num)
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time.sleep(1)
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#发送电解液加注量
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self._unilab_send_msg_electrolyte_vol(elec_vol)
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time.sleep(1)
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#发送电解液组装类型
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self._unilab_send_msg_assembly_type(assembly_type)
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time.sleep(1)
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#发送电池压制力
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self._unilab_send_msg_assembly_pressure(assembly_pressure)
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time.sleep(1)
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self._unilab_send_msg_succ_cmd(True)
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time.sleep(1)
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while (self.request_rec_msg_status) == True:
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@@ -775,8 +784,8 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool:
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elec_num, elec_use_num = int(elec_num), int(elec_use_num)
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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:
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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)
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summary_csv_file = os.path.join(file_path, "duandian.csv")
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# 如果断点文件存在，先读取之前的进度
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if os.path.exists(summary_csv_file):
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@@ -826,7 +835,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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print(f"开始第{last_i+i+1}瓶电解液的组装")
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#第一个循环从上次断点继续，后续循环从0开始
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j_start = last_j if i == last_i else 0
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self.func_pack_send_msg_cmd(elec_use_num-j_start)
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self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure)
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for j in range(j_start, elec_use_num):
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print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装")
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@@ -883,20 +892,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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def fun_wuliao_test(self) -> bool:
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#找到data_init中构建的2个物料盘
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liaopan1 = self.station_resource.get_resource("liaopan1")
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liaopan2 = self.station_resource.get_resource("liaopan2")
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for i in range(16):
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#找到liaopan1上每一个jipian
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jipian_linshi = liaopan1.children[i].children[0]
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#把物料解绑后放到另一盘上
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print("极片:", jipian_linshi)
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jipian_linshi.parent.unassign_child_resource(jipian_linshi)
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liaopan2.children[i].assign_child_resource(jipian_linshi, location=None)
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ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
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"resources": [self.station_resource]
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})
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time.sleep(4)
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"""
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liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8")
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for i in range(16):
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battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2)
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@@ -907,13 +902,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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"electrolyte_volume": 20.0,
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"electrolyte_name": f"DP{i}"
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}
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liaopan3.children[i].assign_child_resource(battery, location=None)
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liaopan3.children[i].assign_child_resource(battery, location=None)
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ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
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"resources": [self.station_resource]
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})
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time.sleep(4)
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"""
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# 数据读取与输出
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def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
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# 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
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@@ -71,8 +71,11 @@ bettery_station_registry:
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feedback: {}
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goal: {}
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goal_default:
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assembly_pressure: 4200
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assembly_type: 7
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elec_num: null
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elec_use_num: null
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elec_vol: 50
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file_path: D:\coin_cell_data
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handles: {}
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result: {}
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@@ -82,10 +85,19 @@ bettery_station_registry:
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feedback: {}
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goal:
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properties:
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assembly_pressure:
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default: 4200
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type: integer
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assembly_type:
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default: 7
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type: integer
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elec_num:
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type: string
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elec_use_num:
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type: string
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elec_vol:
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default: 50
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type: integer
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file_path:
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default: D:\coin_cell_data
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type: string
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@@ -271,7 +283,10 @@ bettery_station_registry:
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feedback: {}
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goal: {}
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goal_default:
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assembly_pressure: null
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assembly_type: null
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elec_use_num: null
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elec_vol: null
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handles: {}
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result: {}
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schema:
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@@ -280,10 +295,19 @@ bettery_station_registry:
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feedback: {}
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goal:
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properties:
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assembly_pressure:
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type: string
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assembly_type:
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type: string
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elec_use_num:
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type: string
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elec_vol:
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type: string
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required:
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- elec_use_num
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- elec_vol
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- assembly_type
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- assembly_pressure
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type: object
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result: {}
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required:
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