mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
modify workstation_architecture docs
This commit is contained in:
Junhan Chang
@@ -24,6 +24,7 @@ extensions = [
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"sphinx.ext.autodoc",
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"sphinx.ext.autodoc",
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"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
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"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
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"sphinx_rtd_theme",
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"sphinx_rtd_theme",
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"sphinxcontrib.mermaid"
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]
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]
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source_suffix = {
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source_suffix = {
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@@ -42,6 +43,8 @@ myst_enable_extensions = [
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"substitution",
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"substitution",
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]
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]
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myst_fence_as_directive = ["mermaid"]
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templates_path = ["_templates"]
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templates_path = ["_templates"]
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exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
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exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
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@@ -203,3 +206,5 @@ def generate_action_includes(app):
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def setup(app):
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def setup(app):
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app.connect("builder-inited", generate_action_includes)
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app.connect("builder-inited", generate_action_includes)
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app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
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app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")
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@@ -1,88 +1,26 @@
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## 简单单变量动作函数
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## 简单单变量动作函数
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### `SendCmd`
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### `SendCmd`
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```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
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```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
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:language: yaml
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:language: yaml
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```
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```
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---
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----
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### `StrSingleInput`
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```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
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:language: yaml
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```
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---
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### `IntSingleInput`
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```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
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:language: yaml
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```
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---
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### `FloatSingleInput`
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```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
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:language: yaml
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```
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---
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### `Point3DSeparateInput`
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```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
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:language: yaml
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```
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---
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### `Wait`
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```{literalinclude} ../../unilabos_msgs/action/Wait.action
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:language: yaml
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```
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---
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||||||
## 常量有机化学操作
|
## 常量有机化学操作
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||||||
|
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||||||
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
|
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
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### `Clean`
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### `Clean`
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```{literalinclude} ../../unilabos_msgs/action/Clean.action
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```{literalinclude} ../../unilabos_msgs/action/Clean.action
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:language: yaml
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:language: yaml
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```
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```
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---
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----
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### `EvacuateAndRefill`
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```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
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:language: yaml
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```
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---
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### `Evaporate`
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```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
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:language: yaml
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```
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---
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### `HeatChill`
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```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
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:language: yaml
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```
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---
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### `HeatChillStart`
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### `HeatChillStart`
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@@ -90,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
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:language: yaml
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:language: yaml
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||||||
```
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```
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---
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----
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### `HeatChillStop`
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### `HeatChillStop`
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@@ -98,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
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:language: yaml
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:language: yaml
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```
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```
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---
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----
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### `PumpTransfer`
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### `PumpTransfer`
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@@ -106,195 +44,12 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
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:language: yaml
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:language: yaml
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```
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```
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---
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----
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### `Separate`
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```{literalinclude} ../../unilabos_msgs/action/Separate.action
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:language: yaml
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```
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---
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### `Stir`
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```{literalinclude} ../../unilabos_msgs/action/Stir.action
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:language: yaml
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```
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---
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### `Add`
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```{literalinclude} ../../unilabos_msgs/action/Add.action
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:language: yaml
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```
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---
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### `AddSolid`
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```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
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:language: yaml
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```
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---
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### `AdjustPH`
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```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
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:language: yaml
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```
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---
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### `Centrifuge`
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```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
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:language: yaml
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```
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---
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### `CleanVessel`
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```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
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:language: yaml
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```
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---
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### `Crystallize`
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```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
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:language: yaml
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```
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---
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### `Dissolve`
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```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
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:language: yaml
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```
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---
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### `Dry`
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```{literalinclude} ../../unilabos_msgs/action/Dry.action
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:language: yaml
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```
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---
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### `Filter`
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```{literalinclude} ../../unilabos_msgs/action/Filter.action
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:language: yaml
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```
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---
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### `FilterThrough`
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||||||
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```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
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:language: yaml
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```
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---
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### `Hydrogenate`
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```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
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:language: yaml
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```
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---
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### `Purge`
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||||||
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```{literalinclude} ../../unilabos_msgs/action/Purge.action
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:language: yaml
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||||||
```
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---
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### `Recrystallize`
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```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
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:language: yaml
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||||||
```
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||||||
---
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||||||
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### `RunColumn`
|
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||||||
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```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
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:language: yaml
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||||||
```
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||||||
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---
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### `StartPurge`
|
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||||||
|
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```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
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:language: yaml
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|
||||||
```
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||||||
|
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||||||
---
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||||||
|
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### `StartStir`
|
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||||||
|
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||||||
```{literalinclude} ../../unilabos_msgs/action/StartStir.action
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||||||
:language: yaml
|
|
||||||
```
|
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||||||
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||||||
---
|
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||||||
|
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||||||
### `StopPurge`
|
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||||||
|
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||||||
```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
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:language: yaml
|
|
||||||
```
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||||||
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---
|
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||||||
|
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### `StopStir`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/StopStir.action
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|
||||||
:language: yaml
|
|
||||||
```
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||||||
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|
||||||
---
|
|
||||||
|
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||||||
### `Transfer`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/Transfer.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `WashSolid`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 移液工作站及相关生物自动化设备操作
|
## 移液工作站及相关生物自动化设备操作
|
||||||
|
|
||||||
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
|
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
|
||||||
|
|
||||||
### `LiquidHandlerAspirate`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerDiscardTips`
|
### `LiquidHandlerDiscardTips`
|
||||||
|
|
||||||
@@ -302,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerDispense`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerDropTips`
|
### `LiquidHandlerDropTips`
|
||||||
|
|
||||||
@@ -318,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerDropTips96`
|
### `LiquidHandlerDropTips96`
|
||||||
|
|
||||||
@@ -326,7 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerMoveLid`
|
### `LiquidHandlerMoveLid`
|
||||||
|
|
||||||
@@ -334,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerMovePlate`
|
### `LiquidHandlerMovePlate`
|
||||||
|
|
||||||
@@ -342,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerMoveResource`
|
### `LiquidHandlerMoveResource`
|
||||||
|
|
||||||
@@ -350,7 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerPickUpTips`
|
### `LiquidHandlerPickUpTips`
|
||||||
|
|
||||||
@@ -358,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerPickUpTips96`
|
### `LiquidHandlerPickUpTips96`
|
||||||
|
|
||||||
@@ -366,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerReturnTips`
|
### `LiquidHandlerReturnTips`
|
||||||
|
|
||||||
@@ -374,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerReturnTips96`
|
### `LiquidHandlerReturnTips96`
|
||||||
|
|
||||||
@@ -382,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerStamp`
|
### `LiquidHandlerStamp`
|
||||||
|
|
||||||
@@ -390,129 +137,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `LiquidHandlerTransfer`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerAdd`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerIncubateBiomek`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerMix`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerMoveBiomek`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerMoveTo`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerOscillateBiomek`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerProtocolCreation`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerRemove`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerSetGroup`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerSetLiquid`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerSetTipRack`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerTransferBiomek`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `LiquidHandlerTransferGroup`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 多工作站及小车运行、物料转移
|
## 多工作站及小车运行、物料转移
|
||||||
|
|
||||||
|
|
||||||
### `AGVTransfer`
|
### `AGVTransfer`
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
|
```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
|
||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `WorkStationRun`
|
### `WorkStationRun`
|
||||||
|
|
||||||
@@ -520,64 +155,12 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
|||||||
:language: yaml
|
:language: yaml
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `ResetHandling`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `ResourceCreateFromOuter`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `ResourceCreateFromOuterEasy`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### `SetPumpPosition`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 固体分配与处理设备操作
|
|
||||||
|
|
||||||
### `SolidDispenseAddPowderTube`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 其他设备操作
|
|
||||||
|
|
||||||
### `EmptyIn`
|
|
||||||
|
|
||||||
```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
|
|
||||||
:language: yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 机械臂、夹爪等机器人设备
|
## 机械臂、夹爪等机器人设备
|
||||||
|
|
||||||
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
|
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
|
||||||
|
|
||||||
|
|
||||||
### `FollowJointTrajectory`
|
### `FollowJointTrajectory`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -645,8 +228,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
|
|||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `GripperCommand`
|
### `GripperCommand`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -664,19 +246,42 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
|
|||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `JointTrajectory`
|
### `JointTrajectory`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
trajectory_msgs/JointTrajectory trajectory
|
trajectory_msgs/JointTrajectory trajectory
|
||||||
---
|
---
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
### `ParallelGripperCommand`
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
|
||||||
|
sensor_msgs/JointState command
|
||||||
|
# name: the name(s) of the joint this command is requesting
|
||||||
|
# position: desired position of each gripper joint (radians or meters)
|
||||||
|
# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
|
||||||
|
# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
|
||||||
|
---
|
||||||
|
sensor_msgs/JointState state # The current gripper state.
|
||||||
|
# position of each joint (radians or meters)
|
||||||
|
# optional: velocity of each joint (radians or meters / second)
|
||||||
|
# optional: effort of each joint (Newtons or Newton-meters)
|
||||||
|
bool stalled # True if the gripper is exerting max effort and not moving
|
||||||
|
bool reached_goal # True if the gripper position has reached the commanded setpoint
|
||||||
|
---
|
||||||
|
sensor_msgs/JointState state # The current gripper state.
|
||||||
|
# position of each joint (radians or meters)
|
||||||
|
# optional: velocity of each joint (radians or meters / second)
|
||||||
|
# optional: effort of each joint (Newtons or Newton-meters)
|
||||||
|
|
||||||
|
```
|
||||||
|
|
||||||
|
----
|
||||||
### `PointHead`
|
### `PointHead`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -686,13 +291,12 @@ string pointing_frame
|
|||||||
builtin_interfaces/Duration min_duration
|
builtin_interfaces/Duration min_duration
|
||||||
float64 max_velocity
|
float64 max_velocity
|
||||||
---
|
---
|
||||||
|
|
||||||
---
|
---
|
||||||
float64 pointing_angle_error
|
float64 pointing_angle_error
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `SingleJointPosition`
|
### `SingleJointPosition`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -700,16 +304,15 @@ float64 position
|
|||||||
builtin_interfaces/Duration min_duration
|
builtin_interfaces/Duration min_duration
|
||||||
float64 max_velocity
|
float64 max_velocity
|
||||||
---
|
---
|
||||||
|
|
||||||
---
|
---
|
||||||
std_msgs/Header header
|
std_msgs/Header header
|
||||||
float64 position
|
float64 position
|
||||||
float64 velocity
|
float64 velocity
|
||||||
float64 error
|
float64 error
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `AssistedTeleop`
|
### `AssistedTeleop`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -721,10 +324,10 @@ builtin_interfaces/Duration total_elapsed_time
|
|||||||
---
|
---
|
||||||
#feedback
|
#feedback
|
||||||
builtin_interfaces/Duration current_teleop_duration
|
builtin_interfaces/Duration current_teleop_duration
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `BackUp`
|
### `BackUp`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -738,10 +341,10 @@ builtin_interfaces/Duration total_elapsed_time
|
|||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
float32 distance_traveled
|
float32 distance_traveled
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `ComputePathThroughPoses`
|
### `ComputePathThroughPoses`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -756,10 +359,10 @@ nav_msgs/Path path
|
|||||||
builtin_interfaces/Duration planning_time
|
builtin_interfaces/Duration planning_time
|
||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `ComputePathToPose`
|
### `ComputePathToPose`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -774,10 +377,10 @@ nav_msgs/Path path
|
|||||||
builtin_interfaces/Duration planning_time
|
builtin_interfaces/Duration planning_time
|
||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `DriveOnHeading`
|
### `DriveOnHeading`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -791,10 +394,10 @@ builtin_interfaces/Duration total_elapsed_time
|
|||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
float32 distance_traveled
|
float32 distance_traveled
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `DummyBehavior`
|
### `DummyBehavior`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -805,10 +408,10 @@ std_msgs/String command
|
|||||||
builtin_interfaces/Duration total_elapsed_time
|
builtin_interfaces/Duration total_elapsed_time
|
||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `FollowPath`
|
### `FollowPath`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -823,10 +426,10 @@ std_msgs/Empty result
|
|||||||
#feedback definition
|
#feedback definition
|
||||||
float32 distance_to_goal
|
float32 distance_to_goal
|
||||||
float32 speed
|
float32 speed
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `FollowWaypoints`
|
### `FollowWaypoints`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -838,10 +441,10 @@ int32[] missed_waypoints
|
|||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
uint32 current_waypoint
|
uint32 current_waypoint
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `NavigateThroughPoses`
|
### `NavigateThroughPoses`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -859,10 +462,10 @@ builtin_interfaces/Duration estimated_time_remaining
|
|||||||
int16 number_of_recoveries
|
int16 number_of_recoveries
|
||||||
float32 distance_remaining
|
float32 distance_remaining
|
||||||
int16 number_of_poses_remaining
|
int16 number_of_poses_remaining
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `NavigateToPose`
|
### `NavigateToPose`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -879,10 +482,10 @@ builtin_interfaces/Duration navigation_time
|
|||||||
builtin_interfaces/Duration estimated_time_remaining
|
builtin_interfaces/Duration estimated_time_remaining
|
||||||
int16 number_of_recoveries
|
int16 number_of_recoveries
|
||||||
float32 distance_remaining
|
float32 distance_remaining
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `SmoothPath`
|
### `SmoothPath`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -898,10 +501,10 @@ builtin_interfaces/Duration smoothing_duration
|
|||||||
bool was_completed
|
bool was_completed
|
||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `Spin`
|
### `Spin`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -914,10 +517,10 @@ builtin_interfaces/Duration total_elapsed_time
|
|||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
float32 angular_distance_traveled
|
float32 angular_distance_traveled
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|
||||||
### `Wait`
|
### `Wait`
|
||||||
|
|
||||||
```yaml
|
```yaml
|
||||||
@@ -929,6 +532,7 @@ builtin_interfaces/Duration total_elapsed_time
|
|||||||
---
|
---
|
||||||
#feedback definition
|
#feedback definition
|
||||||
builtin_interfaces/Duration time_left
|
builtin_interfaces/Duration time_left
|
||||||
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
----
|
||||||
|
|||||||
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|
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|
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|
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|
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Load Diff
@@ -32,9 +32,8 @@ developer_guide/device_driver
|
|||||||
developer_guide/add_device
|
developer_guide/add_device
|
||||||
developer_guide/add_action
|
developer_guide/add_action
|
||||||
developer_guide/actions
|
developer_guide/actions
|
||||||
|
developer_guide/workstation_architecture
|
||||||
developer_guide/add_protocol
|
developer_guide/add_protocol
|
||||||
developer_guide/add_batteryPLC
|
|
||||||
developer_guide/materials_tutorial.md
|
|
||||||
```
|
```
|
||||||
|
|
||||||
## 接口文档
|
## 接口文档
|
||||||
|
|||||||
@@ -2,6 +2,7 @@
|
|||||||
sphinx>=7.0.0
|
sphinx>=7.0.0
|
||||||
sphinx-rtd-theme>=2.0.0
|
sphinx-rtd-theme>=2.0.0
|
||||||
myst-parser>=2.0.0
|
myst-parser>=2.0.0
|
||||||
|
sphinxcontrib-mermaid
|
||||||
|
|
||||||
# 用于支持Jupyter notebook文档
|
# 用于支持Jupyter notebook文档
|
||||||
myst-nb>=1.0.0
|
myst-nb>=1.0.0
|
||||||
|
|||||||
@@ -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)
|
|
||||||
Reference in New Issue
Block a user