mirror of
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Merge remote-tracking branch 'upstream/workstation_dev_YB3' into workstation_dev_YB3
This commit is contained in:
lixinyu1011
@@ -0,0 +1,976 @@
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"""
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纽扣电池组装工作站物料类定义
|
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Button Battery Assembly Station Resource Classes
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"""
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from __future__ import annotations
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from collections import OrderedDict
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from typing import Any, Dict, List, Optional, TypedDict, Union, cast
|
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from pylabrobot.resources.coordinate import Coordinate
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from pylabrobot.resources.container import Container
|
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from pylabrobot.resources.deck import Deck
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||||
from pylabrobot.resources.itemized_resource import ItemizedResource
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from pylabrobot.resources.resource import Resource
|
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from pylabrobot.resources.resource_stack import ResourceStack
|
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from pylabrobot.resources.tip_rack import TipRack, TipSpot
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from pylabrobot.resources.trash import Trash
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from pylabrobot.resources.utils import create_ordered_items_2d
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|
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class ElectrodeSheetState(TypedDict):
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diameter: float # 直径 (mm)
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thickness: float # 厚度 (mm)
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||||
mass: float # 质量 (g)
|
||||
material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等）
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height: float
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||||
electrolyte_name: str
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||||
data_electrolyte_code: str
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||||
open_circuit_voltage: float
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assembly_pressure: float
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electrolyte_volume: float
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info: Optional[str] # 附加信息
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||||
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||||
class ElectrodeSheet(Resource):
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"""极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
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||||
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def __init__(
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self,
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name: str = "极片",
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size_x=10,
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size_y=10,
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size_z=10,
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category: str = "electrode_sheet",
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||||
model: Optional[str] = None,
|
||||
):
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"""初始化极片
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||||
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Args:
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name: 极片名称
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category: 类别
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model: 型号
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"""
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super().__init__(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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category=category,
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model=model,
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)
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self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
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diameter=14,
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thickness=0.1,
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mass=0.5,
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material_type="copper",
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info=None
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)
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# TODO: 这个还要不要？给self._unilabos_state赋值的？
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def load_state(self, state: Dict[str, Any]) -> None:
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"""格式不变"""
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super().load_state(state)
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self._unilabos_state = state
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#序列化
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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"""格式不变"""
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data = super().serialize_state()
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data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
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return data
|
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# TODO: 这个应该只能放一个极片
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class MaterialHoleState(TypedDict):
|
||||
diameter: int
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depth: int
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||||
max_sheets: int
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info: Optional[str] # 附加信息
|
||||
|
||||
class MaterialHole(Resource):
|
||||
"""料板洞位类"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "material_hole",
|
||||
**kwargs
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
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||||
size_x=size_x,
|
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size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
)
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||||
self._unilabos_state: MaterialHoleState = MaterialHoleState(
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diameter=20,
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||||
depth=10,
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||||
max_sheets=1,
|
||||
info=None
|
||||
)
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||||
|
||||
def get_all_sheet_info(self):
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||||
info_list = []
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||||
for sheet in self.children:
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info_list.append(sheet._unilabos_state["info"])
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return info_list
|
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|
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#这个函数函数好像没用，一般不会集中赋值质量
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def set_all_sheet_mass(self):
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for sheet in self.children:
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sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g
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def load_state(self, state: Dict[str, Any]) -> None:
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"""格式不变"""
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super().load_state(state)
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self._unilabos_state = state
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||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
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data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
#移动极片前先取出对象
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||||
def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
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for sheet in self.children:
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if sheet.name == name:
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return sheet
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return None
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def has_electrode_sheet(self) -> bool:
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"""检查洞位是否有极片"""
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return len(self.children) > 0
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def assign_child_resource(
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self,
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resource: ElectrodeSheet,
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location: Optional[Coordinate],
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reassign: bool = True,
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):
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"""放置极片"""
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# TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
|
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#if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
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# raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
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#if len(self.children) >= self._unilabos_state["max_sheets"]:
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# raise ValueError(f"洞位已满，无法放置更多极片")
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super().assign_child_resource(resource, location, reassign)
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# 根据children的编号取物料对象。
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def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
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return self.children[index]
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|
||||
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class MaterialPlateState(TypedDict):
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hole_spacing_x: float
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hole_spacing_y: float
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hole_diameter: float
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||||
info: Optional[str] # 附加信息
|
||||
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||||
class MaterialPlate(ItemizedResource[MaterialHole]):
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||||
"""料板类 - 4x4个洞位，每个洞位放1个极片"""
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||||
|
||||
children: List[MaterialHole]
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||||
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||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
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size_y: float,
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||||
size_z: float,
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||||
ordered_items: Optional[Dict[str, MaterialHole]] = None,
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||||
ordering: Optional[OrderedDict[str, str]] = None,
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category: str = "material_plate",
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model: Optional[str] = None,
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||||
fill: bool = False
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):
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||||
"""初始化料板
|
||||
|
||||
Args:
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||||
name: 料板名称
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||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
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||||
hole_spacing_x: X方向洞位间距 (mm)
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||||
hole_spacing_y: Y方向洞位间距 (mm)
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number: 编号
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category: 类别
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model: 型号
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||||
"""
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self._unilabos_state: MaterialPlateState = MaterialPlateState(
|
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hole_spacing_x=24.0,
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hole_spacing_y=24.0,
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hole_diameter=20.0,
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info="",
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)
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# 创建4x4的洞位
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# TODO: 这里要改，对应不同形状
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holes = create_ordered_items_2d(
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klass=MaterialHole,
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||||
num_items_x=4,
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num_items_y=4,
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dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
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dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
|
||||
dz=size_z,
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item_dx=self._unilabos_state["hole_spacing_x"],
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||||
item_dy=self._unilabos_state["hole_spacing_y"],
|
||||
size_x = 16,
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size_y = 16,
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||||
size_z = 16,
|
||||
)
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||||
if fill:
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||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
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||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=holes,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
else:
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=ordered_items,
|
||||
ordering=ordering,
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||||
category=category,
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||||
model=model,
|
||||
)
|
||||
|
||||
def update_locations(self):
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||||
# TODO:调多次相加
|
||||
holes = create_ordered_items_2d(
|
||||
klass=MaterialHole,
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||||
num_items_x=4,
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||||
num_items_y=4,
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||||
dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
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||||
dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
|
||||
dz=self._size_z,
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||||
item_dx=self._unilabos_state["hole_spacing_x"],
|
||||
item_dy=self._unilabos_state["hole_spacing_y"],
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||||
size_x = 1,
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||||
size_y = 1,
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||||
size_z = 1,
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||||
)
|
||||
for item, original_item in zip(holes.items(), self.children):
|
||||
original_item.location = item[1].location
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||||
|
||||
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||||
class PlateSlot(ResourceStack):
|
||||
"""板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
max_plates: int = 8,
|
||||
category: str = "plate_slot",
|
||||
model: Optional[str] = None
|
||||
):
|
||||
"""初始化板槽位
|
||||
|
||||
Args:
|
||||
name: 槽位名称
|
||||
max_plates: 最大板数量
|
||||
category: 类别
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
direction="z", # Z方向堆叠
|
||||
resources=[],
|
||||
)
|
||||
self.max_plates = max_plates
|
||||
self.category = category
|
||||
|
||||
def can_add_plate(self) -> bool:
|
||||
"""检查是否可以添加板"""
|
||||
return len(self.children) < self.max_plates
|
||||
|
||||
def add_plate(self, plate: MaterialPlate) -> None:
|
||||
"""添加料板"""
|
||||
if not self.can_add_plate():
|
||||
raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
|
||||
self.assign_child_resource(plate)
|
||||
|
||||
def get_top_plate(self) -> MaterialPlate:
|
||||
"""获取最上方的板"""
|
||||
if len(self.children) == 0:
|
||||
raise ValueError(f"槽位 {self.name} 为空")
|
||||
return cast(MaterialPlate, self.get_top_item())
|
||||
|
||||
def take_top_plate(self) -> MaterialPlate:
|
||||
"""取出最上方的板"""
|
||||
top_plate = self.get_top_plate()
|
||||
self.unassign_child_resource(top_plate)
|
||||
return top_plate
|
||||
|
||||
def can_access_for_picking(self) -> bool:
|
||||
"""检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"max_plates": self.max_plates,
|
||||
}
|
||||
|
||||
|
||||
class ClipMagazineHole(Container):
|
||||
"""子弹夹洞位类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
diameter: float,
|
||||
depth: float,
|
||||
max_sheets: int = 100,
|
||||
category: str = "clip_magazine_hole",
|
||||
):
|
||||
"""初始化子弹夹洞位
|
||||
|
||||
Args:
|
||||
name: 洞位名称
|
||||
diameter: 洞直径 (mm)
|
||||
depth: 洞深度 (mm)
|
||||
max_sheets: 最大极片数量
|
||||
category: 类别
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter,
|
||||
size_y=diameter,
|
||||
size_z=depth,
|
||||
category=category,
|
||||
)
|
||||
self.diameter = diameter
|
||||
self.depth = depth
|
||||
self.max_sheets = max_sheets
|
||||
self._sheets: List[ElectrodeSheet] = []
|
||||
|
||||
def can_add_sheet(self, sheet: ElectrodeSheet) -> bool:
|
||||
"""检查是否可以添加极片"""
|
||||
return (len(self._sheets) < self.max_sheets and
|
||||
sheet.diameter <= self.diameter)
|
||||
|
||||
def add_sheet(self, sheet: ElectrodeSheet) -> None:
|
||||
"""添加极片"""
|
||||
if not self.can_add_sheet(sheet):
|
||||
raise ValueError(f"无法向洞位 {self.name} 添加极片")
|
||||
self._sheets.append(sheet)
|
||||
|
||||
def take_sheet(self) -> ElectrodeSheet:
|
||||
"""取出极片"""
|
||||
if len(self._sheets) == 0:
|
||||
raise ValueError(f"洞位 {self.name} 没有极片")
|
||||
return self._sheets.pop()
|
||||
|
||||
def get_sheet_count(self) -> int:
|
||||
"""获取极片数量"""
|
||||
return len(self._sheets)
|
||||
|
||||
def serialize_state(self) -> Dict[str, Any]:
|
||||
return {
|
||||
"sheet_count": len(self._sheets),
|
||||
"sheets": [sheet.serialize() for sheet in self._sheets],
|
||||
}
|
||||
|
||||
# TODO: 这个要改
|
||||
class ClipMagazine(Resource):
|
||||
"""子弹夹类 - 有6个洞位，每个洞位放多个极片"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
hole_diameter: float = 20.0,
|
||||
hole_depth: float = 50.0,
|
||||
hole_spacing: float = 25.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
category: str = "clip_magazine",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
hole_spacing: 洞位间距 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
# 创建6个洞位，排成2x3布局
|
||||
holes = create_ordered_items_2d(
|
||||
klass=ClipMagazineHole,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=(size_x - 2 * hole_spacing) / 2, # 居中
|
||||
dy=(size_y - hole_spacing) / 2, # 居中
|
||||
dz=size_z - 0,
|
||||
item_dx=hole_spacing,
|
||||
item_dy=hole_spacing,
|
||||
diameter=hole_diameter,
|
||||
depth=hole_depth,
|
||||
)
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=holes,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
self.hole_diameter = hole_diameter
|
||||
self.hole_depth = hole_depth
|
||||
self.max_sheets_per_hole = max_sheets_per_hole
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"hole_diameter": self.hole_diameter,
|
||||
"hole_depth": self.hole_depth,
|
||||
"max_sheets_per_hole": self.max_sheets_per_hole,
|
||||
}
|
||||
#是一种类型注解，不用self
|
||||
class BatteryState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float
|
||||
height: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
electrolyte_name: str
|
||||
|
||||
class Battery(Resource):
|
||||
"""电池类 - 可容纳极片"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category: str = "battery",
|
||||
):
|
||||
"""初始化电池
|
||||
|
||||
Args:
|
||||
name: 电池名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大容量 (μL)
|
||||
barcode: 二维码编号
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryState = BatteryState(
|
||||
diameter = 1.0,
|
||||
height = 1.0,
|
||||
assembly_pressure = 1.0,
|
||||
electrolyte_volume = 1.0,
|
||||
electrolyte_name = "DP001"
|
||||
)
|
||||
|
||||
def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
|
||||
to_add_name = bottle._unilabos_state["electrolyte_name"]
|
||||
if bottle.aspirate_electrolyte(10):
|
||||
if self.add_electrolyte(to_add_name, 10):
|
||||
pass
|
||||
else:
|
||||
bottle._unilabos_state["electrolyte_volume"] += 10
|
||||
|
||||
def set_electrolyte(self, name: str, volume: float) -> None:
|
||||
"""设置电解液信息"""
|
||||
self._unilabos_state["electrolyte_name"] = name
|
||||
self._unilabos_state["electrolyte_volume"] = volume
|
||||
#这个应该没用，不会有加了后再加的事情
|
||||
def add_electrolyte(self, name: str, volume: float) -> bool:
|
||||
"""添加电解液信息"""
|
||||
if name != self._unilabos_state["electrolyte_name"]:
|
||||
return False
|
||||
self._unilabos_state["electrolyte_volume"] += volume
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# 电解液作为属性放进去
|
||||
|
||||
class BatteryPressSlotState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float =20.0
|
||||
depth: float = 4.0
|
||||
|
||||
class BatteryPressSlot(Resource):
|
||||
"""电池压制槽类 - 设备，可容纳一个电池"""
|
||||
children: List[Battery] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "BatteryPressSlot",
|
||||
category: str = "battery_press_slot",
|
||||
):
|
||||
"""初始化电池压制槽
|
||||
|
||||
Args:
|
||||
name: 压制槽名称
|
||||
diameter: 直径 (mm)
|
||||
depth: 深度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=10,
|
||||
size_y=12,
|
||||
size_z=13,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
|
||||
|
||||
def has_battery(self) -> bool:
|
||||
"""检查是否有电池"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: Battery,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 让高京看下槽位只有一个电池时是否这么写。
|
||||
if self.has_battery():
|
||||
raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_battery_info(self, index: int) -> Battery:
|
||||
return self.children[0]
|
||||
|
||||
# TODO:这个移液枪架子看一下从哪继承
|
||||
class TipBox64State(TypedDict):
|
||||
"""电池状态字典"""
|
||||
tip_diameter: float = 5.0
|
||||
tip_length: float = 50.0
|
||||
with_tips: bool = True
|
||||
|
||||
class TipBox64(TipRack):
|
||||
"""64孔枪头盒类"""
|
||||
|
||||
children: List[TipSpot] = []
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_box_64",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化64孔枪头盒
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
tip_diameter: 枪头直径 (mm)
|
||||
tip_length: 枪头长度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
with_tips: 是否带枪头
|
||||
"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
# 创建8x8=64个枪头位
|
||||
def make_tip():
|
||||
return Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=20.0,
|
||||
maximal_volume=1000, # 1mL
|
||||
fitting_depth=8.0,
|
||||
)
|
||||
|
||||
tip_spots = create_ordered_items_2d(
|
||||
klass=TipSpot,
|
||||
num_items_x=8,
|
||||
num_items_y=8,
|
||||
dx=8.0,
|
||||
dy=8.0,
|
||||
dz=0.0,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=10,
|
||||
size_y=10,
|
||||
size_z=0.0,
|
||||
make_tip=make_tip,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=tip_spots,
|
||||
category=category,
|
||||
model=model,
|
||||
with_tips=True,
|
||||
)
|
||||
|
||||
|
||||
|
||||
class WasteTipBoxstate(TypedDict):
|
||||
""""废枪头盒状态字典"""
|
||||
max_tips: int = 100
|
||||
tip_count: int = 0
|
||||
|
||||
#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
|
||||
class WasteTipBox(Trash):
|
||||
"""废枪头盒类 - 100个枪头容量"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "waste_tip_box",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化废枪头盒
|
||||
|
||||
Args:
|
||||
name: 废枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
max_tips: 最大枪头容量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
|
||||
def add_tip(self) -> None:
|
||||
"""添加废枪头"""
|
||||
if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
|
||||
raise ValueError(f"废枪头盒 {self.name} 已满")
|
||||
self._unilabos_state["tip_count"] += 1
|
||||
|
||||
def get_tip_count(self) -> int:
|
||||
"""获取枪头数量"""
|
||||
return self._unilabos_state["tip_count"]
|
||||
|
||||
def empty(self) -> None:
|
||||
"""清空废枪头盒"""
|
||||
self._unilabos_state["tip_count"] = 0
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
class BottleRackState(TypedDict):
|
||||
""" bottle_diameter: 瓶子直径 (mm)
|
||||
bottle_height: 瓶子高度 (mm)
|
||||
position_spacing: 位置间距 (mm)"""
|
||||
bottle_diameter: float
|
||||
bottle_height: float
|
||||
name_to_index: dict
|
||||
|
||||
|
||||
|
||||
class BottleRack(Resource):
|
||||
"""瓶架类 - 12个待配位置+12个已配位置"""
|
||||
children: List[Bottle] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "bottle_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化瓶架
|
||||
|
||||
Args:
|
||||
name: 瓶架名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
# TODO: 添加瓶位坐标映射
|
||||
self.index_to_pos = {
|
||||
0: Coordinate.zero(),
|
||||
1: Coordinate(x=1, y=2, z=3) # 添加
|
||||
}
|
||||
self.name_to_index = {}
|
||||
self.name_to_pos = {}
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# TODO: 这里有些问题要重新写一下
|
||||
def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True):
|
||||
assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子"
|
||||
index = len(self.children)
|
||||
location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0)
|
||||
self.name_to_pos[resource.name] = location
|
||||
self.name_to_index[resource.name] = index
|
||||
return super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
def assign_child_resource_by_index(self, resource: Bottle, index: int):
|
||||
assert 0 <= index < 12, "无效的瓶子索引"
|
||||
self.name_to_index[resource.name] = index
|
||||
location = self.index_to_pos[index]
|
||||
return super().assign_child_resource(resource, location)
|
||||
|
||||
def unassign_child_resource(self, resource: Bottle):
|
||||
super().unassign_child_resource(resource)
|
||||
self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None)
|
||||
|
||||
# def serialize(self):
|
||||
# self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0))
|
||||
# return super().serialize()
|
||||
|
||||
|
||||
class BottleState(TypedDict):
|
||||
diameter: float
|
||||
height: float
|
||||
electrolyte_name: str
|
||||
electrolyte_volume: float
|
||||
max_volume: float
|
||||
|
||||
class Bottle(Resource):
|
||||
"""瓶子类 - 容纳电解液"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
category: str = "bottle",
|
||||
):
|
||||
"""初始化瓶子
|
||||
|
||||
Args:
|
||||
name: 瓶子名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大体积 (μL)
|
||||
barcode: 二维码
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BottleState = BottleState()
|
||||
|
||||
def aspirate_electrolyte(self, volume: float) -> bool:
|
||||
current_volume = self._unilabos_state["electrolyte_volume"]
|
||||
assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available."
|
||||
self._unilabos_state["electrolyte_volume"] -= volume
|
||||
return True
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
class CoincellDeck(Deck):
|
||||
"""纽扣电池组装工作站台面类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "coin_cell_deck",
|
||||
size_x: float = 1000.0, # 1m
|
||||
size_y: float = 1000.0, # 1m
|
||||
size_z: float = 900.0, # 0.9m
|
||||
origin: Coordinate = Coordinate(0, 0, 0),
|
||||
category: str = "coin_cell_deck",
|
||||
setup: bool = False, # 是否自动执行 setup
|
||||
):
|
||||
"""初始化纽扣电池组装工作站台面
|
||||
|
||||
Args:
|
||||
name: 台面名称
|
||||
size_x: 长度 (mm) - 1m
|
||||
size_y: 宽度 (mm) - 1m
|
||||
size_z: 高度 (mm) - 0.9m
|
||||
origin: 原点坐标
|
||||
category: 类别
|
||||
setup: 是否自动执行 setup 配置标准布局
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
origin=origin,
|
||||
category=category,
|
||||
)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
"""设置工作站的标准布局 - 包含3个料盘"""
|
||||
# 步骤 1: 创建所有料盘
|
||||
self.plates = {
|
||||
"liaopan1": MaterialPlate(
|
||||
name="liaopan1",
|
||||
size_x=120.8,
|
||||
size_y=120.5,
|
||||
size_z=10.0,
|
||||
fill=True
|
||||
),
|
||||
"liaopan2": MaterialPlate(
|
||||
name="liaopan2",
|
||||
size_x=120.8,
|
||||
size_y=120.5,
|
||||
size_z=10.0,
|
||||
fill=True
|
||||
),
|
||||
"电池料盘": MaterialPlate(
|
||||
name="电池料盘",
|
||||
size_x=120.8,
|
||||
size_y=160.5,
|
||||
size_z=10.0,
|
||||
fill=True
|
||||
),
|
||||
}
|
||||
|
||||
# 步骤 2: 定义料盘在 deck 上的位置
|
||||
# Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm
|
||||
self.plate_locations = {
|
||||
"liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距
|
||||
"liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧
|
||||
"电池料盘": Coordinate(x=450, y=50, z=0), # 右侧
|
||||
}
|
||||
|
||||
# 步骤 3: 将料盘分配到 deck 上
|
||||
for plate_name, plate in self.plates.items():
|
||||
self.assign_child_resource(
|
||||
plate,
|
||||
location=self.plate_locations[plate_name]
|
||||
)
|
||||
|
||||
# 步骤 4: 为 liaopan1 添加初始极片
|
||||
for i in range(16):
|
||||
jipian = ElectrodeSheet(
|
||||
name=f"jipian1_{i}",
|
||||
size_x=12,
|
||||
size_y=12,
|
||||
size_z=0.1
|
||||
)
|
||||
self.plates["liaopan1"].children[i].assign_child_resource(
|
||||
jipian,
|
||||
location=None
|
||||
)
|
||||
|
||||
|
||||
def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck:
|
||||
"""创建并配置标准的纽扣电池组装工作站台面
|
||||
|
||||
Args:
|
||||
name: 台面名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
|
||||
Returns:
|
||||
已配置好的 CoincellDeck 对象
|
||||
"""
|
||||
deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
deck.setup()
|
||||
return deck
|
||||
@@ -1,33 +1,133 @@
|
||||
|
||||
import csv
|
||||
import inspect
|
||||
import json
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import types
|
||||
from datetime import datetime
|
||||
from typing import Any, Dict, Optional
|
||||
from pylabrobot.resources import Resource as PLRResource
|
||||
from functools import wraps
|
||||
from pylabrobot.resources import Deck, Resource as PLRResource
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
|
||||
from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
|
||||
from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import *
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
|
||||
from unilabos.resources.graphio import convert_resources_to_type
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
|
||||
def _ensure_modbus_slave_kw_alias(modbus_client):
|
||||
if modbus_client is None:
|
||||
return
|
||||
|
||||
method_names = [
|
||||
"read_coils",
|
||||
"write_coils",
|
||||
"write_coil",
|
||||
"read_discrete_inputs",
|
||||
"read_holding_registers",
|
||||
"write_register",
|
||||
"write_registers",
|
||||
]
|
||||
|
||||
def _wrap(func):
|
||||
signature = inspect.signature(func)
|
||||
has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values())
|
||||
accepts_unit = has_var_kwargs or "unit" in signature.parameters
|
||||
accepts_slave = has_var_kwargs or "slave" in signature.parameters
|
||||
|
||||
@wraps(func)
|
||||
def _wrapped(self, *args, **kwargs):
|
||||
if "slave" in kwargs and not accepts_slave:
|
||||
slave_value = kwargs.pop("slave")
|
||||
if accepts_unit and "unit" not in kwargs:
|
||||
kwargs["unit"] = slave_value
|
||||
if "unit" in kwargs and not accepts_unit:
|
||||
unit_value = kwargs.pop("unit")
|
||||
if accepts_slave and "slave" not in kwargs:
|
||||
kwargs["slave"] = unit_value
|
||||
return func(self, *args, **kwargs)
|
||||
|
||||
_wrapped._has_slave_alias = True
|
||||
return _wrapped
|
||||
|
||||
for name in method_names:
|
||||
if not hasattr(modbus_client, name):
|
||||
continue
|
||||
bound_method = getattr(modbus_client, name)
|
||||
func = getattr(bound_method, "__func__", None)
|
||||
if func is None:
|
||||
continue
|
||||
if getattr(func, "_has_slave_alias", False):
|
||||
continue
|
||||
wrapped = _wrap(func)
|
||||
setattr(modbus_client, name, types.MethodType(wrapped, modbus_client))
|
||||
|
||||
|
||||
def _coerce_deck_input(deck: Any) -> Optional[Deck]:
|
||||
if deck is None:
|
||||
return None
|
||||
|
||||
if isinstance(deck, Deck):
|
||||
return deck
|
||||
|
||||
if isinstance(deck, PLRResource):
|
||||
return deck if isinstance(deck, Deck) else None
|
||||
|
||||
candidates = None
|
||||
if isinstance(deck, dict):
|
||||
if "nodes" in deck and isinstance(deck["nodes"], list):
|
||||
candidates = deck["nodes"]
|
||||
else:
|
||||
candidates = [deck]
|
||||
elif isinstance(deck, list):
|
||||
candidates = deck
|
||||
|
||||
if candidates is None:
|
||||
return None
|
||||
|
||||
try:
|
||||
converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck)
|
||||
if isinstance(converted, Deck):
|
||||
return converted
|
||||
if isinstance(converted, list):
|
||||
for item in converted:
|
||||
if isinstance(item, Deck):
|
||||
return item
|
||||
except Exception as exc:
|
||||
logger.warning(f"deck 转换 Deck 失败: {exc}")
|
||||
return None
|
||||
|
||||
|
||||
#构建物料系统
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
def __init__(
|
||||
self,
|
||||
deck: CoincellDeck,
|
||||
address: str = "192.168.1.20",
|
||||
deck: Deck=None,
|
||||
address: str = "172.21.32.111",
|
||||
port: str = "502",
|
||||
debug_mode: bool = True,
|
||||
debug_mode: bool = False,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
if deck is None and "deck" in kwargs:
|
||||
deck = kwargs.pop("deck")
|
||||
else:
|
||||
kwargs.pop("deck", None)
|
||||
|
||||
normalized_deck = _coerce_deck_input(deck)
|
||||
|
||||
if deck is None and isinstance(normalized_deck, Deck):
|
||||
deck = normalized_deck
|
||||
|
||||
super().__init__(
|
||||
#桌子
|
||||
deck=deck,
|
||||
@@ -35,10 +135,22 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
**kwargs,
|
||||
)
|
||||
self.debug_mode = debug_mode
|
||||
self.deck = deck
|
||||
|
||||
# 如果没有传入 deck，则创建标准配置的 deck
|
||||
if self.deck is None:
|
||||
self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, setup=True)
|
||||
else:
|
||||
# 如果传入了 deck 但还没有 setup，可以选择是否 setup
|
||||
if self.deck is not None and len(self.deck.children) == 0:
|
||||
# deck 为空，执行 setup
|
||||
self.deck.setup()
|
||||
# 否则使用传入的 deck（可能已经配置好了）
|
||||
self.deck = self.deck
|
||||
|
||||
""" 连接初始化 """
|
||||
modbus_client = TCPClient(addr=address, port=port)
|
||||
print("modbus_client", modbus_client)
|
||||
_ensure_modbus_slave_kw_alias(modbus_client.client)
|
||||
if not debug_mode:
|
||||
modbus_client.client.connect()
|
||||
count = 100
|
||||
@@ -62,8 +174,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
self.csv_export_file = None
|
||||
self.coin_num_N = 0 #已组装电池数量
|
||||
#创建一个物料台面，包含两个极片板
|
||||
#self.deck = create_a_coin_cell_deck()
|
||||
|
||||
#self._ros_node.update_resource(self.deck)
|
||||
|
||||
#ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
@@ -708,7 +818,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
print("data_electrolyte_code", data_electrolyte_code)
|
||||
print("data_coin_cell_code", data_coin_cell_code)
|
||||
#接收完信息后，读取完毕标志位置True
|
||||
liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
#把物料解绑后放到另一盘上
|
||||
battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2)
|
||||
battery._unilabos_state = {
|
||||
@@ -721,7 +831,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None)
|
||||
#print(jipian2.parent)
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.station_resource]
|
||||
"resources": [self.deck]
|
||||
})
|
||||
|
||||
|
||||
@@ -782,7 +892,19 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
self.success = True
|
||||
return self.success
|
||||
|
||||
|
||||
def qiming_coin_cell_code(self, fujipian_panshu:int, fujipian_juzhendianwei:int=0, gemopanshu:int=0, gemo_juzhendianwei:int=0, lvbodian:bool=True, battery_pressure_mode:bool=True, battery_pressure:int=4000, battery_clean_ignore:bool=False) -> bool:
|
||||
self.success = False
|
||||
self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu)
|
||||
self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei)
|
||||
self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu)
|
||||
self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei)
|
||||
self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
|
||||
self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode)
|
||||
# self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure)
|
||||
self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore)
|
||||
self.success = True
|
||||
|
||||
return self.success
|
||||
|
||||
def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool:
|
||||
elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure)
|
||||
@@ -892,7 +1014,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
def fun_wuliao_test(self) -> bool:
|
||||
#找到data_init中构建的2个物料盘
|
||||
liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
for i in range(16):
|
||||
battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2)
|
||||
battery._unilabos_state = {
|
||||
@@ -905,9 +1027,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
liaopan3.children[i].assign_child_resource(battery, location=None)
|
||||
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.station_resource]
|
||||
"resources": [self.deck]
|
||||
})
|
||||
time.sleep(4)
|
||||
# for i in range(40):
|
||||
# print(f"fun_wuliao_test 运行结束{i}")
|
||||
# time.sleep(1)
|
||||
# time.sleep(40)
|
||||
# 数据读取与输出
|
||||
def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
|
||||
# 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
|
||||
@@ -1104,69 +1229,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
'''
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from pylabrobot.resources import Resource
|
||||
Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True)
|
||||
#Coin_Cell.func_pack_device_init()
|
||||
#Coin_Cell.func_pack_device_auto()
|
||||
#Coin_Cell.func_pack_device_start()
|
||||
#Coin_Cell.func_pack_send_bottle_num(2)
|
||||
#Coin_Cell.func_pack_send_msg_cmd(2)
|
||||
#Coin_Cell.func_pack_get_msg_cmd()
|
||||
#Coin_Cell.func_pack_get_msg_cmd()
|
||||
#Coin_Cell.func_pack_send_finished_cmd()
|
||||
#
|
||||
#Coin_Cell.func_allpack_cmd(3, 2)
|
||||
#print(Coin_Cell.data_stack_vision_code)
|
||||
#print("success")
|
||||
#创建一个物料台面
|
||||
|
||||
deck = create_a_coin_cell_deck()
|
||||
#deck = create_a_full_coin_cell_deck()
|
||||
|
||||
|
||||
##在台面上找到料盘和极片
|
||||
#liaopan1 = deck.get_resource("liaopan1")
|
||||
#liaopan2 = deck.get_resource("liaopan2")
|
||||
#jipian1 = liaopan1.children[1].children[0]
|
||||
##
|
||||
#print(jipian1)
|
||||
##把物料解绑后放到另一盘上
|
||||
#jipian1.parent.unassign_child_resource(jipian1)
|
||||
#liaopan2.children[1].assign_child_resource(jipian1, location=None)
|
||||
##print(jipian2.parent)
|
||||
|
||||
liaopan1 = deck.get_resource("liaopan1")
|
||||
liaopan2 = deck.get_resource("liaopan2")
|
||||
for i in range(16):
|
||||
#找到liaopan1上每一个jipian
|
||||
jipian_linshi = liaopan1.children[i].children[0]
|
||||
#把物料解绑后放到另一盘上
|
||||
print("极片:", jipian_linshi)
|
||||
jipian_linshi.parent.unassign_child_resource(jipian_linshi)
|
||||
liaopan2.children[i].assign_child_resource(jipian_linshi, location=None)
|
||||
|
||||
|
||||
from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
|
||||
#with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f:
|
||||
# bioyond_resources_unilab = json.load(f)
|
||||
#print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
|
||||
#ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
|
||||
#print(f"转换结果类型: {type(ulab_resources)}")
|
||||
#print(ulab_resources)
|
||||
|
||||
|
||||
|
||||
from unilabos.resources.graphio import convert_resources_from_type
|
||||
from unilabos.config.config import BasicConfig
|
||||
BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55"
|
||||
BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561"
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
resources = convert_resources_from_type([deck], [Resource])
|
||||
json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2)
|
||||
|
||||
#print(resources)
|
||||
http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
|
||||
http_client.resource_add(resources)
|
||||
# 简单测试
|
||||
workstation = CoinCellAssemblyWorkstation()
|
||||
workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
|
||||
print(f"工作站创建成功: {workstation.deck.name}")
|
||||
print(f"料盘数量: {len(workstation.deck.children)}")
|
||||
|
||||
@@ -43,21 +43,22 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
|
||||
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
|
||||
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
|
||||
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
|
||||
COIL_ALUMINUM_FOIL,BOOL,,ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,,coil,8340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ,,hold_register,440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,<EFBFBD><EFBFBD>Ĥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ,,hold_register,450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,<EFBFBD><EFBFBD>Һǹͷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ,,hold_register,480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,,hold_register,443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,<EFBFBD><EFBFBD>Ĥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,,hold_register,453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,ѹ<EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>false:ѹ<><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD>True:<3A><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD>,,coil,8360,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>ģʽ
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式
|
||||
,,,,,,,
|
||||
,BOOL,,<EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>false:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8300,<EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD>λ
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD>죨false:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8310,<EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><EFBFBD><EFBFBD>֣<EFBFBD>false:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8320,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD>Ҳ֣<EFBFBD>false:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8420,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD>
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD>֪<EFBFBD><EFBFBD>false:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8350,<EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD>֪
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>false:<3A><><EFBFBD>ε<EFBFBD>Һ<EFBFBD><D2BA>true:<3A><><EFBFBD>ε<EFBFBD>Һ<EFBFBD><D2BA>,,coil,8370,<EFBFBD><EFBFBD>Һģʽ
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD>false:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8380,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD>ʽ<EFBFBD><EFBFBD>false:<3A><>װ<EFBFBD><D7B0>true:<3A><>װ<EFBFBD><D7B0>,,coil,8390,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ
|
||||
,BOOL,,ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣨfalse:ʹ<EFBFBD>ã<EFBFBD>true:<EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>,,coil,8400,ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̰<EFBFBD><EFBFBD>̷<EFBFBD>ʽ<EFBFBD><EFBFBD>false:ˮƽ<CBAE><C6BD><EFBFBD>̣<EFBFBD>true:<3A>ѵ<EFBFBD><D1B5><EFBFBD><EFBFBD>̣<EFBFBD>,,coil,8410,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD>̷<EFBFBD>ʽ
|
||||
,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位
|
||||
,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检
|
||||
,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓
|
||||
,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓
|
||||
,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知
|
||||
,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式
|
||||
,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重
|
||||
,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装
|
||||
,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁
|
||||
,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,8460,
|
||||
|
@@ -1,6 +1,20 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"name": "配液分液工站",
|
||||
"children": [
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "bioyond_cell",
|
||||
"config": {
|
||||
"protocol_type": [],
|
||||
"station_resource": {}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电工作站",
|
||||
"children": [
|
||||
@@ -8,7 +22,7 @@
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "bettery_station_registry",
|
||||
"class": "coincellassemblyworkstation_device",
|
||||
"position": {
|
||||
"x": 600,
|
||||
"y": 400,
|
||||
@@ -16,674 +30,7 @@
|
||||
},
|
||||
"config": {
|
||||
"debug_mode": false,
|
||||
"_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定",
|
||||
"protocol_type": [],
|
||||
"station_resource": {
|
||||
"data": {
|
||||
"_resource_child_name": "coin_cell_deck",
|
||||
"_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck"
|
||||
}
|
||||
},
|
||||
|
||||
"address": "192.168.1.20",
|
||||
"port": 502
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "coin_cell_deck",
|
||||
"name": "coin_cell_deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"\u7535\u6c60\u6599\u76d8"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "CoincellDeck",
|
||||
"size_x": 1000,
|
||||
"size_y": 1000,
|
||||
"size_z": 900,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "coin_cell_deck",
|
||||
"barcode": null
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8",
|
||||
"name": "\u7535\u6c60\u6599\u76d8",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_0_0",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_0_1",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_0_2",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_0_3",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_1_0",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_1_1",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_1_2",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_1_3",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_2_0",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_2_1",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_2_2",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_2_3",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_3_0",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_3_1",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_3_2",
|
||||
"\u7535\u6c60\u6599\u76d8_materialhole_3_3"
|
||||
],
|
||||
"parent": "coin_cell_deck",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "MaterialPlate",
|
||||
"size_x": 120.8,
|
||||
"size_y": 160.5,
|
||||
"size_z": 10.0,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "material_plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {
|
||||
"A1": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
|
||||
"B1": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
|
||||
"C1": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
|
||||
"D1": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
|
||||
"A2": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
|
||||
"B2": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
|
||||
"C2": "\u7535\u6c60\u6599\u76d8_materialhole_1_2",
|
||||
"D2": "\u7535\u6c60\u6599\u76d8_materialhole_1_3",
|
||||
"A3": "\u7535\u6c60\u6599\u76d8_materialhole_2_0",
|
||||
"B3": "\u7535\u6c60\u6599\u76d8_materialhole_2_1",
|
||||
"C3": "\u7535\u6c60\u6599\u76d8_materialhole_2_2",
|
||||
"D3": "\u7535\u6c60\u6599\u76d8_materialhole_2_3",
|
||||
"A4": "\u7535\u6c60\u6599\u76d8_materialhole_3_0",
|
||||
"B4": "\u7535\u6c60\u6599\u76d8_materialhole_3_1",
|
||||
"C4": "\u7535\u6c60\u6599\u76d8_materialhole_3_2",
|
||||
"D4": "\u7535\u6c60\u6599\u76d8_materialhole_3_3"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
|
||||
"name": "\u7535\u6c60\u6599\u76d8_materialhole_0_0",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "\u7535\u6c60\u6599\u76d8",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 12.4,
|
||||
"y": 104.25,
|
||||
"z": 10.0
|
||||
},
|
||||
"config": {
|
||||
"type": "MaterialHole",
|
||||
"size_x": 16,
|
||||
"size_y": 16,
|
||||
"size_z": 16,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "material_hole",
|
||||
"model": null,
|
||||
"barcode": null
|
||||
},
|
||||
"data": {
|
||||
"diameter": 20,
|
||||
"depth": 10,
|
||||
"max_sheets": 1,
|
||||
"info": null
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
|
||||
"name": "\u7535\u6c60\u6599\u76d8_materialhole_0_1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "\u7535\u6c60\u6599\u76d8",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 12.4,
|
||||
"y": 80.25,
|
||||
"z": 10.0
|
||||
},
|
||||
"config": {
|
||||
"type": "MaterialHole",
|
||||
"size_x": 16,
|
||||
"size_y": 16,
|
||||
"size_z": 16,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "material_hole",
|
||||
"model": null,
|
||||
"barcode": null
|
||||
},
|
||||
"data": {
|
||||
"diameter": 20,
|
||||
"depth": 10,
|
||||
"max_sheets": 1,
|
||||
"info": null
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
|
||||
"name": "\u7535\u6c60\u6599\u76d8_materialhole_0_2",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "\u7535\u6c60\u6599\u76d8",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 12.4,
|
||||
"y": 56.25,
|
||||
"z": 10.0
|
||||
},
|
||||
"config": {
|
||||
"type": "MaterialHole",
|
||||
"size_x": 16,
|
||||
"size_y": 16,
|
||||
"size_z": 16,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "material_hole",
|
||||
"model": null,
|
||||
"barcode": null
|
||||
},
|
||||
"data": {
|
||||
"diameter": 20,
|
||||
"depth": 10,
|
||||
"max_sheets": 1,
|
||||
"info": null
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
|
||||
"name": "\u7535\u6c60\u6599\u76d8_materialhole_0_3",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "\u7535\u6c60\u6599\u76d8",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 12.4,
|
||||
"y": 32.25,
|
||||
"z": 10.0
|
||||
},
|
||||
"config": {
|
||||
"type": "MaterialHole",
|
||||
"size_x": 16,
|
||||
"size_y": 16,
|
||||
"size_z": 16,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "material_hole",
|
||||
"model": null,
|
||||
"barcode": null
|
||||
},
|
||||
"data": {
|
||||
"diameter": 20,
|
||||
"depth": 10,
|
||||
"max_sheets": 1,
|
||||
"info": null
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
|
||||
"name": "\u7535\u6c60\u6599\u76d8_materialhole_1_0",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "\u7535\u6c60\u6599\u76d8",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 36.4,
|
||||
"y": 104.25,
|
||||
"z": 10.0
|
||||
},
|
||||
"config": {
|
||||
"type": "MaterialHole",
|
||||
"size_x": 16,
|
||||
"size_y": 16,
|
||||
"size_z": 16,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "material_hole",
|
||||
"model": null,
|
||||
"barcode": null
|
||||
},
|
||||
"data": {
|
||||
"diameter": 20,
|
||||
"depth": 10,
|
||||
"max_sheets": 1,
|
||||
"info": null
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
|
||||
"name": "\u7535\u6c60\u6599\u76d8_materialhole_1_1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
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{
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{
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{
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],
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||||
|
||||
Reference in New Issue
Block a user