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Add post process station and related resources (#195)

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* Add post process station and related resources

- Created JSON configuration for post_process_station and its child post_process_deck.
- Added YAML definitions for post_process_station, bottle carriers, bottles, and deck resources.
- Implemented Python classes for bottle carriers, bottles, decks, and warehouses to manage resources in the post process.
- Established a factory method for creating warehouses with customizable dimensions and layouts.
- Defined the structure and behavior of the post_process_deck and its associated warehouses.

* feat(post_process): add post_process_station and related warehouse functionality

- Introduced post_process_station.json to define the post-processing station structure.
- Implemented post_process_warehouse.py to create warehouse configurations with customizable layouts.
- Added warehouses.py for specific warehouse configurations (4x3x1).
- Updated post_process_station.yaml to reflect new module paths for OpcUaClient.
- Refactored bottle carriers and bottles YAML files to point to the new module paths.
- Adjusted deck.yaml to align with the new organizational structure for post_process_deck.
This commit is contained in:
Roy
2025-12-23 18:40:09 +08:00
committed by GitHub
parent acbaff7bb7
commit 5fec753fb9
16 changed files with 3874 additions and 261 deletions
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871
unilabos/device_comms/opcua_client/client.py
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176
unilabos/device_comms/opcua_client/node/uniopcua.py
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@@ -3,7 +3,7 @@ from enum import Enum
from abc import ABC, abstractmethod
from typing import Tuple, Union, Optional, Any, List
from opcua import Client, Node
from opcua import Client, Node, ua
from opcua.ua import NodeId, NodeClass, VariantType
@@ -47,23 +47,68 @@ class Base(ABC):
def _get_node(self) -> Node:
if self._node is None:
try:
# 检查是否是NumericNodeId(ns=X;i=Y)格式
if "NumericNodeId" in self._node_id:
# 从字符串中提取命名空间和标识符
import re
match = re.search(r'ns=(\d+);i=(\d+)', self._node_id)
if match:
ns = int(match.group(1))
identifier = int(match.group(2))
node_id = NodeId(identifier, ns)
self._node = self._client.get_node(node_id)
# 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出
# 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString',
# 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等
import re
nid = self._node_id
# 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用
try:
from opcua.ua import NodeId as UaNodeId
if isinstance(nid, UaNodeId):
self._node = self._client.get_node(nid)
return self._node
except Exception:
# 若导入或类型判断失败，则继续下一步
pass
# 直接以字符串形式处理
if isinstance(nid, str):
nid = nid.strip()
# 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
# 提取括号内的内容
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
if match_wrapped:
# 提取括号内的实际 node_id 字符串
nid = match_wrapped.group(2).strip()
# 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString'
if re.match(r'^ns=\d+;[is]=', nid):
self._node = self._client.get_node(nid)
else:
raise ValueError(f"无法解析节点ID: {self._node_id}")
# 尝试提取 ns 和 i 或 s
# 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配
m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
if m_num:
ns = int(m_num.group(1))
identifier = int(m_num.group(2))
node_id = NodeId(identifier, ns)
self._node = self._client.get_node(node_id)
elif m_str:
ns = int(m_str.group(1))
identifier = m_str.group(2).strip()
# 对于字符串标识符，直接使用字符串格式
node_id_str = f"ns={ns};s={identifier}"
self._node = self._client.get_node(node_id_str)
else:
# 回退：尝试直接传入字符串（有些实现接受其它格式）
try:
self._node = self._client.get_node(self._node_id)
except Exception as e:
# 输出更详细的错误信息供调试
print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}")
raise
else:
# 直接使用节点ID字符串
# 非字符串，尝试直接使用
self._node = self._client.get_node(self._node_id)
except Exception as e:
print(f"获取节点失败: {self._node_id}, 错误: {e}")
# 添加额外提示，帮助定位 BadNodeIdUnknown 问题
print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \
"以及 CSV/配置中名称与服务器 BrowseName 是否匹配。")
raise
return self._node
@@ -104,7 +149,56 @@ class Variable(Base):
def write(self, value: Any) -> bool:
try:
self._get_node().set_value(value)
# 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入
coerced = value
try:
if self._data_type is not None:
# 基于声明的数据类型做简单类型转换
dt = self._data_type
if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16,
DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64):
# 数值类型 -> int
if isinstance(value, str):
coerced = int(value)
else:
coerced = int(value)
elif dt in (DataType.FLOAT, DataType.DOUBLE):
if isinstance(value, str):
coerced = float(value)
else:
coerced = float(value)
elif dt == DataType.BOOLEAN:
if isinstance(value, str):
v = value.strip().lower()
if v in ("true", "1", "yes", "on"):
coerced = True
elif v in ("false", "0", "no", "off"):
coerced = False
else:
coerced = bool(value)
else:
coerced = bool(value)
elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME:
coerced = str(value)
# 使用 ua.Variant 明确指定 VariantType
try:
variant = ua.Variant(coerced, dt.value)
self._get_node().set_value(variant)
except Exception:
# 回退：有些 set_value 实现接受 (value, variant_type)
try:
self._get_node().set_value(coerced, dt.value)
except Exception:
# 最后回退到直接写入（保持兼容性）
self._get_node().set_value(coerced)
else:
# 未声明数据类型，直接写入
self._get_node().set_value(value)
except Exception:
# 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误
self._get_node().set_value(value)
return False
except Exception as e:
print(f"写入变量 {self._name} 失败: {e}")
@@ -120,20 +214,50 @@ class Method(Base):
def _get_parent_node(self) -> Node:
if self._parent_node is None:
try:
# 检查是否是NumericNodeId(ns=X;i=Y)格式
if "NumericNodeId" in self._parent_node_id:
# 从字符串中提取命名空间和标识符
import re
match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id)
if match:
ns = int(match.group(1))
identifier = int(match.group(2))
node_id = NodeId(identifier, ns)
self._parent_node = self._client.get_node(node_id)
# 处理父节点ID，使用与_get_node相同的解析逻辑
import re
nid = self._parent_node_id
# 如果已经是 NodeId 对象，直接使用
try:
from opcua.ua import NodeId as UaNodeId
if isinstance(nid, UaNodeId):
self._parent_node = self._client.get_node(nid)
return self._parent_node
except Exception:
pass
# 字符串处理
if isinstance(nid, str):
nid = nid.strip()
# 处理包含类名的格式
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
if match_wrapped:
nid = match_wrapped.group(2).strip()
# 常见短格式
if re.match(r'^ns=\d+;[is]=', nid):
self._parent_node = self._client.get_node(nid)
else:
raise ValueError(f"无法解析父节点ID: {self._parent_node_id}")
# 提取 ns 和 i 或 s
m_num = re.search(r'ns=(\d+);i=(\d+)', nid)
m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid)
if m_num:
ns = int(m_num.group(1))
identifier = int(m_num.group(2))
node_id = NodeId(identifier, ns)
self._parent_node = self._client.get_node(node_id)
elif m_str:
ns = int(m_str.group(1))
identifier = m_str.group(2).strip()
node_id_str = f"ns={ns};s={identifier}"
self._parent_node = self._client.get_node(node_id_str)
else:
# 回退
self._parent_node = self._client.get_node(self._parent_node_id)
else:
# 直接使用节点ID字符串
self._parent_node = self._client.get_node(self._parent_node_id)
except Exception as e:
print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}")

0
unilabos/devices/workstation/post_process/__init__.py Normal file
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93
unilabos/devices/workstation/post_process/bottle_carriers.py Normal file
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@@ -0,0 +1,93 @@
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
from unilabos.resources.itemized_carrier import BottleCarrier
from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
# ============================================================================
# 聚合站（PolymerStation）载体定义（统一入口）
# ============================================================================
def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier:
"""聚合站-单试剂瓶载架
参数:
- name: 载架名称前缀
"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 20.0
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
beaker_diameter = 60.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="POST_PROCESS_Raw_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
# 统一后缀采用 "flask_1" 命名（可按需调整）
carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
return carrier
def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier:
"""聚合站-单试剂瓶载架
参数:
- name: 载架名称前缀
"""
# 载架尺寸 (mm)
carrier_size_x = 127.8
carrier_size_y = 85.5
carrier_size_z = 20.0
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
beaker_diameter = 60.0
# 计算中央位置
center_x = (carrier_size_x - beaker_diameter) / 2
center_y = (carrier_size_y - beaker_diameter) / 2
center_z = 5.0
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=create_homogeneous_resources(
klass=ResourceHolder,
locations=[Coordinate(center_x, center_y, center_z)],
resource_size_x=beaker_diameter,
resource_size_y=beaker_diameter,
name_prefix=name,
),
model="POST_PROCESS_Reaction_1BottleCarrier",
)
carrier.num_items_x = 1
carrier.num_items_y = 1
carrier.num_items_z = 1
# 统一后缀采用 "flask_1" 命名（可按需调整）
carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
return carrier

20
unilabos/devices/workstation/post_process/bottles.py Normal file
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@@ -0,0 +1,20 @@
from unilabos.resources.itemized_carrier import Bottle
def POST_PROCESS_PolymerStation_Reagent_Bottle(
name: str,
diameter: float = 70.0,
height: float = 120.0,
max_volume: float = 500000.0, # 500mL
barcode: str = None,
) -> Bottle:
"""创建试剂瓶"""
return Bottle(
name=name,
diameter=diameter,
height=height,
max_volume=max_volume,
barcode=barcode,
model="POST_PROCESS_PolymerStation_Reagent_Bottle",
)

46
unilabos/devices/workstation/post_process/decks.py Normal file
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@@ -0,0 +1,46 @@
from os import name
from pylabrobot.resources import Deck, Coordinate, Rotation
from unilabos.devices.workstation.post_process.warehouses import (
post_process_warehouse_4x3x1,
post_process_warehouse_4x3x1_2,
)
class post_process_deck(Deck):
def __init__(
self,
name: str = "post_process_deck",
size_x: float = 2000.0,
size_y: float = 1000.0,
size_z: float = 2670.0,
category: str = "deck",
setup: bool = True,
) -> None:
super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0)
if setup:
self.setup()
def setup(self) -> None:
# 添加仓库
self.warehouses = {
"原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"),
"反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"),
}
# warehouse 的位置
self.warehouse_locations = {
"原料罐堆栈": Coordinate(350.0, 55.0, 0.0),
"反应罐堆栈": Coordinate(1000.0, 55.0, 0.0),
}
for warehouse_name, warehouse in self.warehouses.items():
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])

157
unilabos/devices/workstation/post_process/opcua_huairou.json Normal file
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@@ -0,0 +1,157 @@
{
"register_node_list_from_csv_path": {
"path": "opcua_nodes_huairou.csv"
},
"create_flow": [
{
"name": "trigger_grab_action",
"description": "触发反应罐及原料罐抓取动作",
"parameters": ["reaction_tank_number", "raw_tank_number"],
"action": [
{
"init_function": {
"func_name": "init_grab_params",
"write_nodes": ["reaction_tank_number", "raw_tank_number"]
},
"start_function": {
"func_name": "start_grab",
"write_nodes": {"grab_trigger": true},
"condition_nodes": ["grab_complete"],
"stop_condition_expression": "grab_complete == True",
"timeout_seconds": 999999.0
},
"stop_function": {
"func_name": "stop_grab",
"write_nodes": {"grab_trigger": false}
}
}
]
},
{
"name": "trigger_post_processing",
"description": "触发后处理动作",
"parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
"injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
"second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
"first_powder_wash_count","second_powder_wash_count","initial_water_amount",
"pre_filtration_mixing_time","atomization_pressure_kpa"],
"action": [
{
"init_function": {
"func_name": "init_post_processing_params",
"write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed",
"injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount",
"second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time",
"first_powder_wash_count","second_powder_wash_count","initial_water_amount",
"pre_filtration_mixing_time","atomization_pressure_kpa"]
},
"start_function": {
"func_name": "start_post_processing",
"write_nodes": {"post_process_trigger": true},
"condition_nodes": ["post_process_complete"],
"stop_condition_expression": "post_process_complete == True",
"timeout_seconds": 999999.0
},
"stop_function": {
"func_name": "stop_post_processing",
"write_nodes": {"post_process_trigger": false}
}
}
]
},
{
"name": "trigger_cleaning_action",
"description": "触发清洗及管路吹气动作",
"parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
"nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
"nmp_pump_cleaning_suction_count",
"nmp_inner_wall_cleaning_waste_time",
"nmp_stirrer_cleaning_injection",
"nmp_stirrer_cleaning_count",
"nmp_stirrer_cleaning_wait_time",
"nmp_stirrer_cleaning_waste_time",
"water_outer_wall_cleaning_injection",
"water_outer_wall_cleaning_count",
"water_outer_wall_cleaning_wait_time",
"water_outer_wall_cleaning_waste_time",
"water_inner_wall_cleaning_injection",
"water_inner_wall_cleaning_count",
"water_pump_cleaning_suction_count",
"water_inner_wall_cleaning_waste_time",
"water_stirrer_cleaning_injection",
"water_stirrer_cleaning_count",
"water_stirrer_cleaning_wait_time",
"water_stirrer_cleaning_waste_time",
"acetone_outer_wall_cleaning_injection",
"acetone_outer_wall_cleaning_count",
"acetone_outer_wall_cleaning_wait_time",
"acetone_outer_wall_cleaning_waste_time",
"acetone_inner_wall_cleaning_injection",
"acetone_inner_wall_cleaning_count",
"acetone_pump_cleaning_suction_count",
"acetone_inner_wall_cleaning_waste_time",
"acetone_stirrer_cleaning_injection",
"acetone_stirrer_cleaning_count",
"acetone_stirrer_cleaning_wait_time",
"acetone_stirrer_cleaning_waste_time",
"pipe_blowing_time",
"injection_pump_forward_empty_suction_count",
"injection_pump_reverse_empty_suction_count",
"filtration_liquid_selection"],
"action": [
{
"init_function": {
"func_name": "init_cleaning_params",
"write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time",
"nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count",
"nmp_pump_cleaning_suction_count",
"nmp_inner_wall_cleaning_waste_time",
"nmp_stirrer_cleaning_injection",
"nmp_stirrer_cleaning_count",
"nmp_stirrer_cleaning_wait_time",
"nmp_stirrer_cleaning_waste_time",
"water_outer_wall_cleaning_injection",
"water_outer_wall_cleaning_count",
"water_outer_wall_cleaning_wait_time",
"water_outer_wall_cleaning_waste_time",
"water_inner_wall_cleaning_injection",
"water_inner_wall_cleaning_count",
"water_pump_cleaning_suction_count",
"water_inner_wall_cleaning_waste_time",
"water_stirrer_cleaning_injection",
"water_stirrer_cleaning_count",
"water_stirrer_cleaning_wait_time",
"water_stirrer_cleaning_waste_time",
"acetone_outer_wall_cleaning_injection",
"acetone_outer_wall_cleaning_count",
"acetone_outer_wall_cleaning_wait_time",
"acetone_outer_wall_cleaning_waste_time",
"acetone_inner_wall_cleaning_injection",
"acetone_inner_wall_cleaning_count",
"acetone_pump_cleaning_suction_count",
"acetone_inner_wall_cleaning_waste_time",
"acetone_stirrer_cleaning_injection",
"acetone_stirrer_cleaning_count",
"acetone_stirrer_cleaning_wait_time",
"acetone_stirrer_cleaning_waste_time",
"pipe_blowing_time",
"injection_pump_forward_empty_suction_count",
"injection_pump_reverse_empty_suction_count",
"filtration_liquid_selection"]
},
"start_function": {
"func_name": "start_cleaning",
"write_nodes": {"cleaning_and_pipe_blowing_trigger": true},
"condition_nodes": ["cleaning_complete"],
"stop_condition_expression": "cleaning_complete == True",
"timeout_seconds": 999999.0
},
"stop_function": {
"func_name": "stop_cleaning",
"write_nodes": {"cleaning_and_pipe_blowing_trigger": false}
}
}
]
}
]
}

70
unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv Normal file
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@@ -0,0 +1,70 @@
Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId
原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码
反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码
反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发
后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发
搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速
搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速
注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度
注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度
抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数
第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量
第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量
第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间
第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间
第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数
第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数
最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量
抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间
雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa
清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发
废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警
清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警
NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警
丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警
门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警
反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC
清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC
设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC
NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注
NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数
NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间
NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间
NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注
NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数
NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数
NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间
NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注
NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数
NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间
NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间
清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注
清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数
清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间
清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间
清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注
清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数
清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数
清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间
清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注
清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数
清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间
清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间
丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注
丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数
丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间
丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间
丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注
丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数
丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数
丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间
丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注
丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数
丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间
丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间
注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数
注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数
抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮
1 Name EnglishName NodeType DataType NodeLanguage NodeId
2 原料罐号码 raw_tank_number VARIABLE INT16 Chinese ns=4;s=OPC|原料罐号码
3 反应罐号码 reaction_tank_number VARIABLE INT16 Chinese ns=4;s=OPC|反应罐号码
4 反应罐及原料罐抓取触发 grab_trigger VARIABLE BOOLEAN Chinese ns=4;s=OPC|反应罐及原料罐抓取触发
5 后处理动作触发 post_process_trigger VARIABLE BOOLEAN Chinese ns=4;s=OPC|后处理动作触发
6 搅拌桨雾化快速 atomization_fast_speed VARIABLE FLOAT Chinese ns=4;s=OPC|搅拌桨雾化快速
7 搅拌桨洗涤慢速 wash_slow_speed VARIABLE FLOAT Chinese ns=4;s=OPC|搅拌桨洗涤慢速
8 注射泵抽液速度 injection_pump_suction_speed VARIABLE INT16 Chinese ns=4;s=OPC|注射泵抽液速度
9 注射泵推液速度 injection_pump_push_speed VARIABLE INT16 Chinese ns=4;s=OPC|注射泵推液速度
10 抽原液次数 raw_liquid_suction_count VARIABLE INT16 Chinese ns=4;s=OPC|抽原液次数
11 第1次洗涤加水量 first_wash_water_amount VARIABLE FLOAT Chinese ns=4;s=OPC|第1次洗涤加水量
12 第2次洗涤加水量 second_wash_water_amount VARIABLE FLOAT Chinese ns=4;s=OPC|第2次洗涤加水量
13 第1次粉末搅拌时间 first_powder_mixing_time VARIABLE INT32 Chinese ns=4;s=OPC|第1次粉末搅拌时间
14 第2次粉末搅拌时间 second_powder_mixing_time VARIABLE INT32 Chinese ns=4;s=OPC|第2次粉末搅拌时间
15 第1次粉末洗涤次数 first_powder_wash_count VARIABLE INT16 Chinese ns=4;s=OPC|第1次粉末洗涤次数
16 第2次粉末洗涤次数 second_powder_wash_count VARIABLE INT16 Chinese ns=4;s=OPC|第2次粉末洗涤次数
17 最开始加水量 initial_water_amount VARIABLE FLOAT Chinese ns=4;s=OPC|最开始加水量
18 抽滤前搅拌时间 pre_filtration_mixing_time VARIABLE INT32 Chinese ns=4;s=OPC|抽滤前搅拌时间
19 雾化压力Kpa atomization_pressure_kpa VARIABLE INT16 Chinese ns=4;s=OPC|雾化压力Kpa
20 清洗及管路吹气触发 cleaning_and_pipe_blowing_trigger VARIABLE BOOLEAN Chinese ns=4;s=OPC|清洗及管路吹气触发
21 废液桶满报警 waste_tank_full_alarm VARIABLE BOOLEAN Chinese ns=4;s=OPC|废液桶满报警
22 清水桶空报警 water_tank_empty_alarm VARIABLE BOOLEAN Chinese ns=4;s=OPC|清水桶空报警
23 NMP桶空报警 nmp_tank_empty_alarm VARIABLE BOOLEAN Chinese ns=4;s=OPC|NMP桶空报警
24 丙酮桶空报警 acetone_tank_empty_alarm VARIABLE BOOLEAN Chinese ns=4;s=OPC|丙酮桶空报警
25 门开报警 door_open_alarm VARIABLE BOOLEAN Chinese ns=4;s=OPC|门开报警
26 反应罐及原料罐抓取完成PLCtoPC grab_complete VARIABLE BOOLEAN Chinese ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC
27 后处理动作完成PLCtoPC post_process_complete VARIABLE BOOLEAN Chinese ns=4;s=OPC|后处理动作完成PLCtoPC
28 清洗及管路吹气完成PLCtoPC cleaning_complete VARIABLE BOOLEAN Chinese ns=4;s=OPC|清洗及管路吹气完成PLCtoPC
29 远程模式PLCtoPC remote_mode VARIABLE BOOLEAN Chinese ns=4;s=OPC|远程模式PLCtoPC
30 设备准备就绪PLCtoPC device_ready VARIABLE BOOLEAN Chinese ns=4;s=OPC|设备准备就绪PLCtoPC
31 NMP外壁清洗加注 nmp_outer_wall_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|NMP外壁清洗加注
32 NMP外壁清洗次数 nmp_outer_wall_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|NMP外壁清洗次数
33 NMP外壁清洗等待时间 nmp_outer_wall_cleaning_wait_time VARIABLE INT32 Chinese ns=4;s=OPC|NMP外壁清洗等待时间
34 NMP外壁清洗抽废时间 nmp_outer_wall_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|NMP外壁清洗抽废时间
35 NMP内壁清洗加注 nmp_inner_wall_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|NMP内壁清洗加注
36 NMP内壁清洗次数 nmp_inner_wall_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|NMP内壁清洗次数
37 NMP泵清洗抽次数 nmp_pump_cleaning_suction_count VARIABLE INT16 Chinese ns=4;s=OPC|NMP泵清洗抽次数
38 NMP内壁清洗抽废时间 nmp_inner_wall_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|NMP内壁清洗抽废时间
39 NMP搅拌桨清洗加注 nmp_stirrer_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|NMP搅拌桨清洗加注
40 NMP搅拌桨清洗次数 nmp_stirrer_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|NMP搅拌桨清洗次数
41 NMP搅拌桨清洗等待时间 nmp_stirrer_cleaning_wait_time VARIABLE INT32 Chinese ns=4;s=OPC|NMP搅拌桨清洗等待时间
42 NMP搅拌桨清洗抽废时间 nmp_stirrer_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|NMP搅拌桨清洗抽废时间
43 清水外壁清洗加注 water_outer_wall_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|清水外壁清洗加注
44 清水外壁清洗次数 water_outer_wall_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|清水外壁清洗次数
45 清水外壁清洗等待时间 water_outer_wall_cleaning_wait_time VARIABLE INT32 Chinese ns=4;s=OPC|清水外壁清洗等待时间
46 清水外壁清洗抽废时间 water_outer_wall_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|清水外壁清洗抽废时间
47 清水内壁清洗加注 water_inner_wall_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|清水内壁清洗加注
48 清水内壁清洗次数 water_inner_wall_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|清水内壁清洗次数
49 清水泵清洗抽次数 water_pump_cleaning_suction_count VARIABLE INT16 Chinese ns=4;s=OPC|清水泵清洗抽次数
50 清水内壁清洗抽废时间 water_inner_wall_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|清水内壁清洗抽废时间
51 清水搅拌桨清洗加注 water_stirrer_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|清水搅拌桨清洗加注
52 清水搅拌桨清洗次数 water_stirrer_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|清水搅拌桨清洗次数
53 清水搅拌桨清洗等待时间 water_stirrer_cleaning_wait_time VARIABLE INT32 Chinese ns=4;s=OPC|清水搅拌桨清洗等待时间
54 清水搅拌桨清洗抽废时间 water_stirrer_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|清水搅拌桨清洗抽废时间
55 丙酮外壁清洗加注 acetone_outer_wall_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|丙酮外壁清洗加注
56 丙酮外壁清洗次数 acetone_outer_wall_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|丙酮外壁清洗次数
57 丙酮外壁清洗等待时间 acetone_outer_wall_cleaning_wait_time VARIABLE INT32 Chinese ns=4;s=OPC|丙酮外壁清洗等待时间
58 丙酮外壁清洗抽废时间 acetone_outer_wall_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|丙酮外壁清洗抽废时间
59 丙酮内壁清洗加注 acetone_inner_wall_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|丙酮内壁清洗加注
60 丙酮内壁清洗次数 acetone_inner_wall_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|丙酮内壁清洗次数
61 丙酮泵清洗抽次数 acetone_pump_cleaning_suction_count VARIABLE INT16 Chinese ns=4;s=OPC|丙酮泵清洗抽次数
62 丙酮内壁清洗抽废时间 acetone_inner_wall_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|丙酮内壁清洗抽废时间
63 丙酮搅拌桨清洗加注 acetone_stirrer_cleaning_injection VARIABLE FLOAT Chinese ns=4;s=OPC|丙酮搅拌桨清洗加注
64 丙酮搅拌桨清洗次数 acetone_stirrer_cleaning_count VARIABLE INT16 Chinese ns=4;s=OPC|丙酮搅拌桨清洗次数
65 丙酮搅拌桨清洗等待时间 acetone_stirrer_cleaning_wait_time VARIABLE INT32 Chinese ns=4;s=OPC|丙酮搅拌桨清洗等待时间
66 丙酮搅拌桨清洗抽废时间 acetone_stirrer_cleaning_waste_time VARIABLE INT32 Chinese ns=4;s=OPC|丙酮搅拌桨清洗抽废时间
67 管道吹气时间 pipe_blowing_time VARIABLE INT32 Chinese ns=4;s=OPC|管道吹气时间
68 注射泵正向空抽次数 injection_pump_forward_empty_suction_count VARIABLE INT16 Chinese ns=4;s=OPC|注射泵正向空抽次数
69 注射泵反向空抽次数 injection_pump_reverse_empty_suction_count VARIABLE INT16 Chinese ns=4;s=OPC|注射泵反向空抽次数
70 抽滤液选择0水1丙酮 filtration_liquid_selection VARIABLE INT16 Chinese ns=4;s=OPC|抽滤液选择0水1丙酮

1781
unilabos/devices/workstation/post_process/post_process.py Normal file
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45
unilabos/devices/workstation/post_process/post_process_station.json Normal file
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@@ -0,0 +1,45 @@
{
"nodes": [
{
"id": "post_process_station",
"name": "post_process_station",
"children": [
"post_process_deck"
],
"parent": null,
"type": "device",
"class": "post_process_station",
"config": {
"url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer",
"config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json",
"deck": {
"data": {
"_resource_child_name": "post_process_deck",
"_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck"
}
}
},
"data": {
}
},
{
"id": "post_process_deck",
"name": "post_process_deck",
"sample_id": null,
"children": [],
"parent": "post_process_station",
"type": "deck",
"class": "post_process_deck",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"type": "post_process_deck",
"setup": true
},
"data": {}
}
]
}

160
unilabos/devices/workstation/post_process/post_process_warehouse.py Normal file
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@@ -0,0 +1,160 @@
from typing import Dict, Optional, List, Union
from pylabrobot.resources import Coordinate
from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
def warehouse_factory(
name: str,
num_items_x: int = 1,
num_items_y: int = 4,
num_items_z: int = 4,
dx: float = 137.0,
dy: float = 96.0,
dz: float = 120.0,
item_dx: float = 10.0,
item_dy: float = 10.0,
item_dz: float = 10.0,
resource_size_x: float = 127.0,
resource_size_y: float = 86.0,
resource_size_z: float = 25.0,
removed_positions: Optional[List[int]] = None,
empty: bool = False,
category: str = "warehouse",
model: Optional[str] = None,
col_offset: int = 0, # 列起始偏移量，用于生成5-8等命名
layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
):
# 创建位置坐标
locations = []
for layer in range(num_items_z): # 层
for row in range(num_items_y): # 行
for col in range(num_items_x): # 列
# 计算位置
x = dx + col * item_dx
# 根据 layout 决定 y 坐标计算
if layout == "row-major":
# 行优先：row=0(第1行) 应该显示在上方，y 值最小
y = dy + row * item_dy
else:
# 列优先：保持原逻辑
y = dy + (num_items_y - row - 1) * item_dy
z = dz + (num_items_z - layer - 1) * item_dz
locations.append(Coordinate(x, y, z))
if removed_positions:
locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
_sites = create_homogeneous_resources(
klass=ResourceHolder,
locations=locations,
resource_size_x=resource_size_x,
resource_size_y=resource_size_y,
resource_size_z=resource_size_z,
name_prefix=name,
)
len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
# 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9
# 命名顺序必须与坐标生成顺序一致：层 → 行 → 列
keys = []
for layer in range(num_items_z): # 遍历每一层
for row in range(num_items_y): # 遍历每一行
for col in range(num_items_x): # 遍历每一列
# 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321）
# row=1 应该对应 global_row=1（第2行：8765）
# row=2 应该对应 global_row=2（第3行：12,11,10,9）
# 但前端显示时 row=2 在最上面，所以需要反转
reversed_row = (num_items_y - 1 - row) # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0
global_row = layer * num_items_y + reversed_row
# 每行的最大数字 = (global_row + 1) * num_items_x + col_offset
base_num = (global_row + 1) * num_items_x + col_offset
# 从右到左递减：4,3,2,1
key = str(base_num - col)
keys.append(key)
sites = {i: site for i, site in zip(keys, _sites.values())}
return WareHouse(
name=name,
size_x=dx + item_dx * num_items_x,
size_y=dy + item_dy * num_items_y,
size_z=dz + item_dz * num_items_z,
num_items_x = num_items_x,
num_items_y = num_items_y,
num_items_z = num_items_z,
ordering_layout=layout, # 传递排序方式到 ordering_layout
sites=sites,
category=category,
model=model,
)
class WareHouse(ItemizedCarrier):
"""堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）"""
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
num_items_x: int,
num_items_y: int,
num_items_z: int,
layout: str = "x-y",
sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
category: str = "warehouse",
model: Optional[str] = None,
ordering_layout: str = "col-major",
**kwargs
):
super().__init__(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
# ordered_items=ordered_items,
# ordering=ordering,
num_items_x=num_items_x,
num_items_y=num_items_y,
num_items_z=num_items_z,
layout=layout,
sites=sites,
category=category,
model=model,
)
# 保存排序方式，供graphio.py的坐标映射使用
# 使用独立属性避免与父类的layout冲突
self.ordering_layout = ordering_layout
def serialize(self) -> dict:
"""序列化时保存 ordering_layout 属性"""
data = super().serialize()
data['ordering_layout'] = self.ordering_layout
return data
def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
site_index = layer * 4 + row * 1 + col
return self.sites[site_index]
def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None:
site = self.get_site_by_layer_position(row, col, layer)
site.assign_child_resource(rack)
def get_rack_at_position(self, row: int, col: int, layer: int):
site = self.get_site_by_layer_position(row, col, layer)
return site.resource

38
unilabos/devices/workstation/post_process/warehouses.py Normal file
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from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory
# =================== Other ===================
def post_process_warehouse_4x3x1(name: str) -> WareHouse:
"""创建post_process 4x3x1仓库"""
return warehouse_factory(
name=name,
num_items_x=4,
num_items_y=3,
num_items_z=1,
dx=10.0,
dy=10.0,
dz=10.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
)
def post_process_warehouse_4x3x1_2(name: str) -> WareHouse:
"""已弃用：创建post_process 4x3x1仓库"""
return warehouse_factory(
name=name,
num_items_x=4,
num_items_y=3,
num_items_z=1,
dx=12.0,
dy=12.0,
dz=12.0,
item_dx=137.0,
item_dy=96.0,
item_dz=120.0,
category="warehouse",
)

630
unilabos/registry/devices/post_process_station.yaml Normal file
View File

@@ -0,0 +1,630 @@
post_process_station:
category:
- post_process_station
class:
action_value_mappings:
disconnect:
feedback: {}
goal:
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
read_node:
feedback:
result: result
goal:
command: node_name
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
trigger_cleaning_action:
feedback: {}
goal:
acetone_inner_wall_cleaning_count: acetone_inner_wall_cleaning_count
acetone_inner_wall_cleaning_injection: acetone_inner_wall_cleaning_injection
acetone_inner_wall_cleaning_waste_time: acetone_inner_wall_cleaning_waste_time
acetone_outer_wall_cleaning_count: acetone_outer_wall_cleaning_count
acetone_outer_wall_cleaning_injection: acetone_outer_wall_cleaning_injection
acetone_outer_wall_cleaning_wait_time: acetone_outer_wall_cleaning_wait_time
acetone_outer_wall_cleaning_waste_time: acetone_outer_wall_cleaning_waste_time
acetone_pump_cleaning_suction_count: acetone_pump_cleaning_suction_count
acetone_stirrer_cleaning_count: acetone_stirrer_cleaning_count
acetone_stirrer_cleaning_injection: acetone_stirrer_cleaning_injection
acetone_stirrer_cleaning_wait_time: acetone_stirrer_cleaning_wait_time
acetone_stirrer_cleaning_waste_time: acetone_stirrer_cleaning_waste_time
filtration_liquid_selection: filtration_liquid_selection
injection_pump_forward_empty_suction_count: injection_pump_forward_empty_suction_count
injection_pump_reverse_empty_suction_count: injection_pump_reverse_empty_suction_count
nmp_inner_wall_cleaning_count: nmp_inner_wall_cleaning_count
nmp_inner_wall_cleaning_injection: nmp_inner_wall_cleaning_injection
nmp_inner_wall_cleaning_waste_time: nmp_inner_wall_cleaning_waste_time
nmp_outer_wall_cleaning_count: nmp_outer_wall_cleaning_count
nmp_outer_wall_cleaning_injection: nmp_outer_wall_cleaning_injection
nmp_outer_wall_cleaning_wait_time: nmp_outer_wall_cleaning_wait_time
nmp_outer_wall_cleaning_waste_time: nmp_outer_wall_cleaning_waste_time
nmp_pump_cleaning_suction_count: nmp_pump_cleaning_suction_count
nmp_stirrer_cleaning_count: nmp_stirrer_cleaning_count
nmp_stirrer_cleaning_injection: nmp_stirrer_cleaning_injection
nmp_stirrer_cleaning_wait_time: nmp_stirrer_cleaning_wait_time
nmp_stirrer_cleaning_waste_time: nmp_stirrer_cleaning_waste_time
pipe_blowing_time: pipe_blowing_time
water_inner_wall_cleaning_count: water_inner_wall_cleaning_count
water_inner_wall_cleaning_injection: water_inner_wall_cleaning_injection
water_inner_wall_cleaning_waste_time: water_inner_wall_cleaning_waste_time
water_outer_wall_cleaning_count: water_outer_wall_cleaning_count
water_outer_wall_cleaning_injection: water_outer_wall_cleaning_injection
water_outer_wall_cleaning_wait_time: water_outer_wall_cleaning_wait_time
water_outer_wall_cleaning_waste_time: water_outer_wall_cleaning_waste_time
water_pump_cleaning_suction_count: water_pump_cleaning_suction_count
water_stirrer_cleaning_count: water_stirrer_cleaning_count
water_stirrer_cleaning_injection: water_stirrer_cleaning_injection
water_stirrer_cleaning_wait_time: water_stirrer_cleaning_wait_time
water_stirrer_cleaning_waste_time: water_stirrer_cleaning_waste_time
goal_default:
acetone_inner_wall_cleaning_count: 0
acetone_inner_wall_cleaning_injection: 0.0
acetone_inner_wall_cleaning_waste_time: 0
acetone_outer_wall_cleaning_count: 0
acetone_outer_wall_cleaning_injection: 0.0
acetone_outer_wall_cleaning_wait_time: 0
acetone_outer_wall_cleaning_waste_time: 0
acetone_pump_cleaning_suction_count: 0
acetone_stirrer_cleaning_count: 0
acetone_stirrer_cleaning_injection: 0.0
acetone_stirrer_cleaning_wait_time: 0
acetone_stirrer_cleaning_waste_time: 0
filtration_liquid_selection: 0
injection_pump_forward_empty_suction_count: 0
injection_pump_reverse_empty_suction_count: 0
nmp_inner_wall_cleaning_count: 0
nmp_inner_wall_cleaning_injection: 0.0
nmp_inner_wall_cleaning_waste_time: 0
nmp_outer_wall_cleaning_count: 0
nmp_outer_wall_cleaning_injection: 0.0
nmp_outer_wall_cleaning_wait_time: 0
nmp_outer_wall_cleaning_waste_time: 0
nmp_pump_cleaning_suction_count: 0
nmp_stirrer_cleaning_count: 0
nmp_stirrer_cleaning_injection: 0.0
nmp_stirrer_cleaning_wait_time: 0
nmp_stirrer_cleaning_waste_time: 0
pipe_blowing_time: 0
water_inner_wall_cleaning_count: 0
water_inner_wall_cleaning_injection: 0.0
water_inner_wall_cleaning_waste_time: 0
water_outer_wall_cleaning_count: 0
water_outer_wall_cleaning_injection: 0.0
water_outer_wall_cleaning_wait_time: 0
water_outer_wall_cleaning_waste_time: 0
water_pump_cleaning_suction_count: 0
water_stirrer_cleaning_count: 0
water_stirrer_cleaning_injection: 0.0
water_stirrer_cleaning_wait_time: 0
water_stirrer_cleaning_waste_time: 0
handles: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: PostProcessTriggerClean_Feedback
type: object
goal:
properties:
acetone_inner_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_inner_wall_cleaning_injection:
type: number
acetone_inner_wall_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_outer_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_outer_wall_cleaning_injection:
type: number
acetone_outer_wall_cleaning_wait_time:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_outer_wall_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_pump_cleaning_suction_count:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_stirrer_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_stirrer_cleaning_injection:
type: number
acetone_stirrer_cleaning_wait_time:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_stirrer_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
filtration_liquid_selection:
maximum: 2147483647
minimum: -2147483648
type: integer
injection_pump_forward_empty_suction_count:
maximum: 2147483647
minimum: -2147483648
type: integer
injection_pump_reverse_empty_suction_count:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_inner_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_inner_wall_cleaning_injection:
type: number
nmp_inner_wall_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_outer_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_outer_wall_cleaning_injection:
type: number
nmp_outer_wall_cleaning_wait_time:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_outer_wall_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_pump_cleaning_suction_count:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_stirrer_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_stirrer_cleaning_injection:
type: number
nmp_stirrer_cleaning_wait_time:
maximum: 2147483647
minimum: -2147483648
type: integer
nmp_stirrer_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
pipe_blowing_time:
maximum: 2147483647
minimum: -2147483648
type: integer
water_inner_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
water_inner_wall_cleaning_injection:
type: number
water_inner_wall_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
water_outer_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
water_outer_wall_cleaning_injection:
type: number
water_outer_wall_cleaning_wait_time:
maximum: 2147483647
minimum: -2147483648
type: integer
water_outer_wall_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
water_pump_cleaning_suction_count:
maximum: 2147483647
minimum: -2147483648
type: integer
water_stirrer_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
water_stirrer_cleaning_injection:
type: number
water_stirrer_cleaning_wait_time:
maximum: 2147483647
minimum: -2147483648
type: integer
water_stirrer_cleaning_waste_time:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- nmp_outer_wall_cleaning_injection
- nmp_outer_wall_cleaning_count
- nmp_outer_wall_cleaning_wait_time
- nmp_outer_wall_cleaning_waste_time
- nmp_inner_wall_cleaning_injection
- nmp_inner_wall_cleaning_count
- nmp_pump_cleaning_suction_count
- nmp_inner_wall_cleaning_waste_time
- nmp_stirrer_cleaning_injection
- nmp_stirrer_cleaning_count
- nmp_stirrer_cleaning_wait_time
- nmp_stirrer_cleaning_waste_time
- water_outer_wall_cleaning_injection
- water_outer_wall_cleaning_count
- water_outer_wall_cleaning_wait_time
- water_outer_wall_cleaning_waste_time
- water_inner_wall_cleaning_injection
- water_inner_wall_cleaning_count
- water_pump_cleaning_suction_count
- water_inner_wall_cleaning_waste_time
- water_stirrer_cleaning_injection
- water_stirrer_cleaning_count
- water_stirrer_cleaning_wait_time
- water_stirrer_cleaning_waste_time
- acetone_outer_wall_cleaning_injection
- acetone_outer_wall_cleaning_count
- acetone_outer_wall_cleaning_wait_time
- acetone_outer_wall_cleaning_waste_time
- acetone_inner_wall_cleaning_injection
- acetone_inner_wall_cleaning_count
- acetone_pump_cleaning_suction_count
- acetone_inner_wall_cleaning_waste_time
- acetone_stirrer_cleaning_injection
- acetone_stirrer_cleaning_count
- acetone_stirrer_cleaning_wait_time
- acetone_stirrer_cleaning_waste_time
- pipe_blowing_time
- injection_pump_forward_empty_suction_count
- injection_pump_reverse_empty_suction_count
- filtration_liquid_selection
title: PostProcessTriggerClean_Goal
type: object
result:
properties:
return_info:
type: string
required:
- return_info
title: PostProcessTriggerClean_Result
type: object
required:
- goal
title: PostProcessTriggerClean
type: object
type: PostProcessTriggerClean
trigger_grab_action:
feedback: {}
goal:
raw_tank_number: raw_tank_number
reaction_tank_number: reaction_tank_number
goal_default:
raw_tank_number: 0
reaction_tank_number: 0
handles: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: PostProcessGrab_Feedback
type: object
goal:
properties:
raw_tank_number:
maximum: 2147483647
minimum: -2147483648
type: integer
reaction_tank_number:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- reaction_tank_number
- raw_tank_number
title: PostProcessGrab_Goal
type: object
result:
properties:
return_info:
type: string
required:
- return_info
title: PostProcessGrab_Result
type: object
required:
- goal
title: PostProcessGrab
type: object
type: PostProcessGrab
trigger_post_processing:
feedback: {}
goal:
atomization_fast_speed: atomization_fast_speed
atomization_pressure_kpa: atomization_pressure_kpa
first_powder_mixing_tim: first_powder_mixing_tim
first_powder_wash_count: first_powder_wash_count
first_wash_water_amount: first_wash_water_amount
initial_water_amount: initial_water_amount
injection_pump_push_speed: injection_pump_push_speed
injection_pump_suction_speed: injection_pump_suction_speed
pre_filtration_mixing_time: pre_filtration_mixing_time
raw_liquid_suction_count: raw_liquid_suction_count
second_powder_mixing_time: second_powder_mixing_time
second_powder_wash_count: second_powder_wash_count
second_wash_water_amount: second_wash_water_amount
wash_slow_speed: wash_slow_speed
goal_default:
atomization_fast_speed: 0.0
atomization_pressure_kpa: 0
first_powder_mixing_tim: 0
first_powder_wash_count: 0
first_wash_water_amount: 0.0
initial_water_amount: 0.0
injection_pump_push_speed: 0
injection_pump_suction_speed: 0
pre_filtration_mixing_time: 0
raw_liquid_suction_count: 0
second_powder_mixing_time: 0
second_powder_wash_count: 0
second_wash_water_amount: 0.0
wash_slow_speed: 0.0
handles: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: PostProcessTriggerPostPro_Feedback
type: object
goal:
properties:
atomization_fast_speed:
type: number
atomization_pressure_kpa:
maximum: 2147483647
minimum: -2147483648
type: integer
first_powder_mixing_tim:
maximum: 2147483647
minimum: -2147483648
type: integer
first_powder_wash_count:
maximum: 2147483647
minimum: -2147483648
type: integer
first_wash_water_amount:
type: number
initial_water_amount:
type: number
injection_pump_push_speed:
maximum: 2147483647
minimum: -2147483648
type: integer
injection_pump_suction_speed:
maximum: 2147483647
minimum: -2147483648
type: integer
pre_filtration_mixing_time:
maximum: 2147483647
minimum: -2147483648
type: integer
raw_liquid_suction_count:
maximum: 2147483647
minimum: -2147483648
type: integer
second_powder_mixing_time:
maximum: 2147483647
minimum: -2147483648
type: integer
second_powder_wash_count:
maximum: 2147483647
minimum: -2147483648
type: integer
second_wash_water_amount:
type: number
wash_slow_speed:
type: number
required:
- atomization_fast_speed
- wash_slow_speed
- injection_pump_suction_speed
- injection_pump_push_speed
- raw_liquid_suction_count
- first_wash_water_amount
- second_wash_water_amount
- first_powder_mixing_tim
- second_powder_mixing_time
- first_powder_wash_count
- second_powder_wash_count
- initial_water_amount
- pre_filtration_mixing_time
- atomization_pressure_kpa
title: PostProcessTriggerPostPro_Goal
type: object
result:
properties:
return_info:
type: string
required:
- return_info
title: PostProcessTriggerPostPro_Result
type: object
required:
- goal
title: PostProcessTriggerPostPro
type: object
type: PostProcessTriggerPostPro
write_node:
feedback:
result: result
goal:
command: json_input
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.workstation.post_process.post_process:OpcUaClient
status_types:
acetone_tank_empty_alarm: Bool
atomization_fast_speed: Float64
atomization_pressure_kpa: Int32
cleaning_complete: Bool
device_ready: Bool
door_open_alarm: Bool
grab_complete: Bool
grab_trigger: Bool
injection_pump_push_speed: Int32
injection_pump_suction_speed: Int32
nmp_tank_empty_alarm: Bool
post_process_complete: Bool
post_process_trigger: Bool
raw_tank_number: Int32
reaction_tank_number: Int32
remote_mode: Bool
wash_slow_speed: Float64
waste_tank_full_alarm: Bool
water_tank_empty_alarm: Bool
type: python
config_info: []
description: 后处理站
handles: []
icon: post_process_station.webp
init_param_schema: {}
version: 1.0.0

25
unilabos/registry/resources/post_process/bottle_carriers.yaml Normal file
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@@ -0,0 +1,25 @@
POST_PROCESS_Raw_1BottleCarrier:
category:
- bottle_carriers
class:
module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Raw_1BottleCarrier
type: pylabrobot
description: POST_PROCESS_Raw_1BottleCarrier
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
POST_PROCESS_Reaction_1BottleCarrier:
category:
- bottle_carriers
class:
module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Reaction_1BottleCarrier
type: pylabrobot
description: POST_PROCESS_Reaction_1BottleCarrier
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

11
unilabos/registry/resources/post_process/bottles.yaml Normal file
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@@ -0,0 +1,11 @@
POST_PROCESS_PolymerStation_Reagent_Bottle:
category:
- bottles
class:
module: unilabos.devices.workstation.post_process.bottles:POST_PROCESS_PolymerStation_Reagent_Bottle
type: pylabrobot
handles: []
icon: ''
init_param_schema: {}
version: 1.0.0

12
unilabos/registry/resources/post_process/deck.yaml Normal file
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@@ -0,0 +1,12 @@
post_process_deck:
category:
- post_process_deck
class:
module: unilabos.devices.workstation.post_process.decks:post_process_deck
type: pylabrobot
description: post_process_deck
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0