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Create prcxi.py
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JohnYan98
320
unilabos/devices/liquid_handling/prcxi.py
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320
unilabos/devices/liquid_handling/prcxi.py
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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prcxi9300.py – 完整版 PRCXI 9300 Python SDK（支持新增方案）
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"""
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import socket, json, contextlib
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from typing import Any, List, Dict, Optional
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class PRCXIError(RuntimeError):
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"""Lilith 返回 Success=false 时抛出的业务异常"""
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class PRCXI9300:
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# ---------------------------------------------------- 基础初始化
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def __init__(self, host: str = "127.0.0.1", port: int = 9999,
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timeout: float = 10.0) -> None:
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self.host, self.port, self.timeout = host, port, timeout
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# ---------------------------------------------------- 公共底座
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@staticmethod
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def _len_prefix(n: int) -> bytes:
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return bytes.fromhex(format(n, "016x"))
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def _raw_request(self, payload: str) -> str:
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with contextlib.closing(socket.socket()) as sock:
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sock.settimeout(self.timeout)
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sock.connect((self.host, self.port))
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data = payload.encode()
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sock.sendall(self._len_prefix(len(data)) + data)
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chunks, first = [], True
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while True:
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chunk = sock.recv(4096)
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if not chunk:
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break
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if first:
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chunk, first = chunk[8:], False # 去掉首8字节长度
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chunks.append(chunk)
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return b"".join(chunks).decode()
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def _call(self, service: str, method: str,
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params: Optional[list] = None) -> Any:
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payload = json.dumps(
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{"ServiceName": service,
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"MethodName": method,
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"Paramters": params or []},
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separators=(",", ":")
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)
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resp = json.loads(self._raw_request(payload))
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if not resp.get("Success", False):
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raise PRCXIError(resp.get("Msg", "Unknown error"))
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data = resp.get("Data")
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try:
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return json.loads(data)
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except (TypeError, json.JSONDecodeError):
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return data
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# ---------------------------------------------------- 方案相关（ISolution）
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def list_solutions(self) -> List[Dict[str, Any]]:
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"""GetSolutionList"""
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return self._call("ISolution", "GetSolutionList")
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def load_solution(self, solution_id: str) -> bool:
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"""LoadSolution"""
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return self._call("ISolution", "LoadSolution", [solution_id])
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def add_solution(self, name: str, matrix_id: str,
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steps: List[Dict[str, Any]]) -> str:
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"""AddSolution → 返回新方案 GUID"""
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return self._call("ISolution", "AddSolution",
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[name, matrix_id, steps])
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# ---------------------------------------------------- 自动化控制（IAutomation）
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def start(self) -> bool:
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return self._call("IAutomation", "Start")
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def stop(self) -> bool:
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"""Stop"""
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return self._call("IAutomation", "Stop")
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def reset(self) -> bool:
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"""Reset"""
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return self._call("IAutomation", "Reset")
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def pause(self) -> bool:
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"""Pause"""
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return self._call("IAutomation", "Pause")
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def resume(self) -> bool:
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"""Resume"""
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return self._call("IAutomation", "Resume")
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def get_error_code(self) -> Optional[str]:
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"""GetErrorCode"""
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return self._call("IAutomation", "GetErrorCode")
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def clear_error_code(self) -> bool:
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"""RemoveErrorCodet"""
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return self._call("IAutomation", "RemoveErrorCodet")
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# ---------------------------------------------------- 运行状态（IMachineState）
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def step_state_list(self) -> List[Dict[str, Any]]:
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"""GetStepStateList"""
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return self._call("IMachineState", "GetStepStateList")
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def step_status(self, seq_num: int) -> Dict[str, Any]:
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"""GetStepStatus"""
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return self._call("IMachineState", "GetStepStatus", [seq_num])
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def step_state(self, seq_num: int) -> Dict[str, Any]:
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"""GetStepState"""
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return self._call("IMachineState", "GetStepState", [seq_num])
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def axis_location(self, axis_num: int = 1) -> Dict[str, Any]:
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"""GetLocation"""
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return self._call("IMachineState", "GetLocation", [axis_num])
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# ---------------------------------------------------- 版位矩阵（IMatrix）
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def list_matrices(self) -> List[Dict[str, Any]]:
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"""GetWorkTabletMatrices"""
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return self._call("IMatrix", "GetWorkTabletMatrices")
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def matrix_by_id(self, matrix_id: str) -> Dict[str, Any]:
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"""GetWorkTabletMatrixById"""
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return self._call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
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# ---------------------------------------------------- 辅助：一键运行
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def run_solution(self, solution_id: str, channel_idx: int = 1) -> None:
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self.load_solution(solution_id)
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self.start(channel_idx)
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# ---------------------------------------------------- 辅助类 StepData 工具
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def build_step(
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axis: str,
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function: str,
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dosage: int,
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plate_no: int,
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is_whole_plate: bool,
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hole_row: int,
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hole_col: int,
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blending_times: int,
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balance_height: int,
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plate_or_hole: str,
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hole_numbers: str,
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assist_fun1: str = "",
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assist_fun2: str = "",
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assist_fun3: str = "",
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assist_fun4: str = "",
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assist_fun5: str = "",
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liquid_method: str = "NormalDispense"
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) -> Dict[str, Any]:
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return {
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"StepAxis": axis,
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"Function": function,
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"DosageNum": dosage,
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"PlateNo": plate_no,
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"IsWholePlate": is_whole_plate,
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"HoleRow": hole_row,
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"HoleCol": hole_col,
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"BlendingTimes": blending_times,
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"BalanceHeight": balance_height,
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"PlateOrHoleNum": plate_or_hole,
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"AssistFun1": assist_fun1,
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"AssistFun2": assist_fun2,
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"AssistFun3": assist_fun3,
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"AssistFun4": assist_fun4,
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"AssistFun5": assist_fun5,
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"HoleNumbers": hole_numbers,
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"LiquidDispensingMethod": liquid_method
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}
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if __name__ == "__main__":
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# 连接
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# client = PRCXI9300("192.168.43.236", 9999)
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client = PRCXI9300("10.10.35.80", 9999)
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# 获取方案
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solutions = client.list_solutions()
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print(solutions)
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# client.reset()
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solutions = client.list_solutions()
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if not solutions:
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raise RuntimeError("未获取到任何方案")
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solution_id = solutions[0]["Id"] # ✅ 这是方案 Id
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client.load_solution(solution_id)
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client.start() # 默认通道 1
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#
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# #
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# # # 查询状态
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# # steps = client.step_state_list()
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# # for step in steps:
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# # print(f"Step {step['SequenceNumber']} status: {step['ProcessState']}")
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# #
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# # # 暂停/继续/停止
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# # client.pause()
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# # client.resume()
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# # client.stop()
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# # client.reset()
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# #
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# # # 错误码处理
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# # error = client.get_error_code()
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# # print(f"Error code: {error}")
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# # client.clear_error_code()
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# #
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# # # 新增方案
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# # steps = [
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# # build_step("Left", "Load", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8"),
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# # build_step("Left", "Imbibing", 10, 2, True, 1, 1, 0, 0, "T2", "1"),
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# # build_step("Left", "Tapping", 10, 4, False, 1, 1, 0, 0, "H1-8,T4", "1,2,3,4,5,6,7,8"),
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# # build_step("Left", "Blending", 10, 3, True, 1, 1, 5, 0, "T3", "1"),
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# # build_step("Left", "UnLoad", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8")
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# # ]
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# # matrix_list = client.list_matrices()
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# # matrix_id = matrix_list[0]['MatrixId']
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# # #
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# # new_solution_id = client.add_solution(f"test_solution", matrix_id, steps)
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# # print(f"New solution created: {new_solution_id}")
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#
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# import time
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#
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# # 建立连接
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# client = PRCXI9300("192.168.43.236", 9999)
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#
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# # 定义步骤列表
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# steps = [
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# build_step("Left", "Load", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8"),
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# build_step("Left", "Imbibing", 10, 2, True, 1, 1, 0, 0, "T2", "1"),
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# build_step("Left", "Tapping", 10, 4, False, 1, 1, 0, 0, "H1-8,T4", "1,2,3,4,5,6,7,8"),
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# build_step("Left", "Blending", 10, 3, True, 1, 1, 5, 0, "T3", "1"),
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# build_step("Left", "UnLoad", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8")
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# ]
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#
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# # 获取可用矩阵 ID
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# matrix_list = client.list_matrices()
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# if not matrix_list:
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# raise RuntimeError("未获取到任何矩阵 MatrixId")
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# matrix_id = matrix_list[0]['MatrixId']
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#
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# # 创建方案
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# plan_name = f"test_solution_{int(time.time())}" # 确保唯一名称
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# new_solution_id = client.add_solution(plan_name, matrix_id, steps)
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# print(f"✅ 新增方案: {new_solution_id}（名称: {plan_name}）")
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#
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# # 加载并运行方案
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# print("🚀 加载并启动方案 ...")
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# client.load_solution(new_solution_id)
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# client.start()
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#
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# # 可选：延时几秒后查看状态
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# time.sleep(3)
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# print("📋 步骤运行状态：")
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# for step in client.step_state_list():
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# print(f"Step {step['SequenceNumber']} 状态: {step['ProcessState']}")
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# if __name__ == "__main__":
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# import time
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#
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# # 建立连接
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# client = PRCXI9300("10.10.35.80", 9999)
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#
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# # 定义步骤列表
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# steps = [
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# build_step("Left", "Load", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8"),
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# build_step("Left", "Imbibing", 10, 2, True, 1, 1, 0, 0, "T2", "1"),
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# build_step("Left", "Tapping", 10, 4, False, 1, 1, 0, 0, "H1-8,T4", "1,2,3,4,5,6,7,8"),
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# build_step("Left", "Blending", 10, 3, True, 1, 1, 5, 0, "T3", "1"),
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# build_step("Left", "UnLoad", 0, 1, False, 1, 1, 0, 0, "H1-8,T1", "1,2,3,4,5,6,7,8")
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# ]
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#
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# # 获取可用矩阵 ID
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# matrix_list = client.list_matrices()
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# if not matrix_list:
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# raise RuntimeError("❌ 未获取到任何矩阵 MatrixId")
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# matrix_id = matrix_list[0].get("MatrixId")
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# print(f"✅ 获取矩阵 ID: {matrix_id}")
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#
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# # 创建方案
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# plan_name = f"test_solution_{int(time.time())}"
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# try:
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# new_solution_id = client.add_solution(plan_name, matrix_id, steps)
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# assert new_solution_id, "方案创建失败，返回空 ID"
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# print(f"✅ 新增方案成功: {plan_name}, ID: {new_solution_id}")
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# except Exception as e:
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# print(f"❌ 方案创建失败: {e}")
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# raise
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#
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# # 加载方案
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# try:
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# load_ok = client.load_solution(new_solution_id)
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# assert load_ok, "加载方案失败"
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# print("✅ 加载方案成功")
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# except Exception as e:
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# print(f"❌ 加载方案失败: {e}")
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# raise
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#
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# # 启动方案
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# try:
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# start_ok = client.start()
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# assert start_ok, "启动方案失败"
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# print("✅ 方案已启动")
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# except Exception as e:
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# print(f"❌ 启动失败: {e}")
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# raise
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#
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# # 等待设备反馈后获取状态
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# time.sleep(3)
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# try:
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# steps_status = client.step_state_list()
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# print(f"📋 共加载步骤: {len(steps_status)} 个")
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# for step in steps_status:
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# print(f"→ Step {step['SequenceNumber']} 状态: {step['ProcessState']}")
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# except Exception as e:
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# print(f"⚠️ 获取步骤状态失败: {e}")
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