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rename and fix all Yihua Materials: ClipMagazineHole→Magazine(ResourceStack), and use factory functions

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This commit is contained in:
Junhan Chang
2025-11-06 00:59:46 +08:00
parent d81638e20b
commit 966b51042d
11 changed files with 602 additions and 1351 deletions
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10
unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py
View File

@@ -16,6 +16,7 @@ from unilabos.devices.workstation.bioyond_studio.config import (
API_CONFIG, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, SOLID_LIQUID_MAPPINGS
)
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
from unilabos.utils.log import logger
from unilabos.registry.registry import lab_registry
@@ -1074,17 +1075,12 @@ class BioyondCellWorkstation(BioyondWorkstation):
if __name__ == "__main__":
lab_registry.setup()
ws = BioyondCellWorkstation()
deck = BIOYOND_YB_Deck(setup=True)
ws = BioyondCellWorkstation(deck=deck)
# ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01")
# logger.info(ws.scheduler_stop())
# logger.info(ws.scheduler_start())
# results = ws.create_materials(SOLID_LIQUID_MAPPINGS)
# for r in results:
# logger.info(r)
# 从CSV文件读取物料列表并批量创建入库
# result = ws.create_and_inbound_materials()
# 继续后续流程
# logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱
# # # 使用正斜杠或 Path 对象来指定文件路径

104
unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json
View File

@@ -113,7 +113,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine_four",
"type": "MagazineHolder_4",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -154,7 +154,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -249,7 +249,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -344,7 +344,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -439,7 +439,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -537,7 +537,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine_four",
"type": "MagazineHolder_4",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -578,7 +578,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -673,7 +673,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -768,7 +768,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -863,7 +863,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -963,7 +963,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine",
"type": "MagazineHolder_6",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -1006,7 +1006,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1101,7 +1101,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1196,7 +1196,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1291,7 +1291,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1386,7 +1386,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1481,7 +1481,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1581,7 +1581,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine",
"type": "MagazineHolder_6",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -1624,7 +1624,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1719,7 +1719,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1814,7 +1814,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -1909,7 +1909,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2004,7 +2004,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2099,7 +2099,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2199,7 +2199,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine",
"type": "MagazineHolder_6",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -2242,7 +2242,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2337,7 +2337,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2432,7 +2432,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2527,7 +2527,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2622,7 +2622,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2717,7 +2717,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2817,7 +2817,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine",
"type": "MagazineHolder_6",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -2860,7 +2860,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -2955,7 +2955,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3050,7 +3050,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3145,7 +3145,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3240,7 +3240,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3335,7 +3335,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3435,7 +3435,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine",
"type": "MagazineHolder_6",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -3478,7 +3478,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3573,7 +3573,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3668,7 +3668,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3763,7 +3763,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3858,7 +3858,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -3953,7 +3953,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -4053,7 +4053,7 @@
"z": 0
},
"config": {
"type": "ClipMagazine",
"type": "MagazineHolder_6",
"size_x": 80,
"size_y": 80,
"size_z": 10,
@@ -4096,7 +4096,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -4191,7 +4191,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -4286,7 +4286,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -4381,7 +4381,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -4476,7 +4476,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,
@@ -4571,7 +4571,7 @@
"z": 10
},
"config": {
"type": "ClipMagazineHole",
"type": "Magazine",
"size_x": 14.0,
"size_y": 14.0,
"size_z": 10.0,

736
unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py
View File

@@ -18,6 +18,9 @@ from pylabrobot.resources.tip_rack import TipRack, TipSpot
from pylabrobot.resources.trash import Trash
from pylabrobot.resources.utils import create_ordered_items_2d
from unilabos.resources.battery.magazine import MagazineHolder_1, MagazineHolder_2, MagazineHolder_4, MagazineHolder_6
from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
class ElectrodeSheetState(TypedDict):
diameter: float # 直径 (mm)
@@ -165,7 +168,6 @@ class MaterialHole(Resource):
return self.children[index]
class MaterialPlateState(TypedDict):
hole_spacing_x: float
hole_spacing_y: float
@@ -327,132 +329,6 @@ class PlateSlot(ResourceStack):
}
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(ItemizedResource[ClipMagazineHole]):
"""子弹夹类 - 有6个洞位，每个洞位放多个极片"""
children: List[ClipMagazineHole]
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
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,
)
# 保存洞位的直径和深度
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"""
@@ -595,76 +471,54 @@ class BatteryPressSlot(Resource):
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,
def TipBox64(
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
):
"""64孔枪头盒类"""
from pylabrobot.resources.tip import Tip
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,
# 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=12,
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,
)
idx_available = list(range(0, 32)) + list(range(64, 96))
tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
return TipRack(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
ordered_items=tip_spots_available,
category=category,
model=model,
with_tips=True,
)
class WasteTipBoxstate(TypedDict):
@@ -682,8 +536,12 @@ class WasteTipBox(Trash):
size_x: float = 127.8,
size_y: float = 85.5,
size_z: float = 60.0,
category: str = "waste_tip_box",
model: Optional[str] = None,
material_z_thickness=0,
max_volume=float("inf"),
category="trash",
model=None,
compute_volume_from_height=None,
compute_height_from_volume=None,
):
"""初始化废枪头盒
@@ -733,389 +591,6 @@ class WasteTipBox(Trash):
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[Resource] = []
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str = "bottle_rack",
model: Optional[str] = None,
num_items_x: int = 2,
num_items_y: int = 4,
position_spacing: float = 35.0,
orientation: str = "horizontal",
padding_x: float = 20.0,
padding_y: float = 20.0,
):
"""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,
)
# 初始化状态
self._unilabos_state: BottleRackState = BottleRackState(
bottle_diameter=30.0,
bottle_height=100.0,
position_spacing=position_spacing,
name_to_index={},
)
# 基于网格生成瓶位坐标映射（居中摆放）
# 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥）
origin_x = padding_x
origin_y = padding_y
self.index_to_pos = {}
for j in range(num_items_y):
for i in range(num_items_x):
idx = j * num_items_x + i
if orientation == "vertical":
# 纵向：沿 y 方向优先排列
self.index_to_pos[idx] = Coordinate(
x=origin_x + j * position_spacing,
y=origin_y + i * position_spacing,
z=0,
)
else:
# 横向（默认）：沿 x 方向优先排列
self.index_to_pos[idx] = Coordinate(
x=origin_x + i * position_spacing,
y=origin_y + j * position_spacing,
z=0,
)
self.name_to_index = {}
self.name_to_pos = {}
self.num_items_x = num_items_x
self.num_items_y = num_items_y
self.orientation = orientation
self.padding_x = padding_x
self.padding_y = padding_y
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_old(self, resource: Resource, location=Coordinate.zero(), reassign=True):
capacity = self.num_items_x * self.num_items_y
assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子"
index = len(self.children)
location = self.index_to_pos.get(index, Coordinate.zero())
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(self, resource: Resource, index: int):
capacity = self.num_items_x * self.num_items_y
assert 0 <= index < capacity, "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) -> dict:
return {
**super().serialize(),
"num_items_x": self.num_items_x,
"num_items_y": self.num_items_y,
"position_spacing": self._unilabos_state.get("position_spacing", 35.0),
"orientation": self.orientation,
"padding_x": self.padding_x,
"padding_y": self.padding_y,
}
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 ClipMagazine_four(ItemizedResource[ClipMagazineHole]):
"""子弹夹类 - 有4个洞位，每个洞位放多个极片"""
children: List[ClipMagazineHole]
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
hole_spacing: float = 25.0,
max_sheets_per_hole: int = 100,
category: str = "clip_magazine_four",
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4个洞位，排成2x2布局
holes = create_ordered_items_2d(
klass=ClipMagazineHole,
num_items_x=2,
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,
)
# 保存洞位的直径和深度
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,
}
class ClipMagazine_two(ItemizedResource[ClipMagazineHole]):
"""子弹夹类 - 有2个洞位，每个洞位放多个极片"""
children: List[ClipMagazineHole]
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
hole_spacing: float = 25.0,
max_sheets_per_hole: int = 100,
category: str = "clip_magazine_four",
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4个洞位，排成2x2布局
holes = create_ordered_items_2d(
klass=ClipMagazineHole,
num_items_x=1,
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,
)
# 保存洞位的直径和深度
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,
}
class ClipMagazine_one(ItemizedResource[ClipMagazineHole]):
"""子弹夹类 - 有1个洞位，每个洞位放多个极片"""
children: List[ClipMagazineHole]
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
hole_spacing: float = 25.0,
max_sheets_per_hole: int = 100,
category: str = "clip_magazine_four",
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4个洞位，排成2x2布局
holes = create_ordered_items_2d(
klass=ClipMagazineHole,
num_items_x=1,
num_items_y=1,
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,
)
# 保存洞位的直径和深度
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,
}
class CoincellDeck(Deck):
"""纽扣电池组装工作站台面类"""
@@ -1155,122 +630,96 @@ class CoincellDeck(Deck):
"""设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
# ====================================== 子弹夹 ============================================
# 铝箔（1个洞位）
lvbo_zip = ClipMagazine_one("lvbo_zip", 80, 80, 10)
lvbo_zip = MagazineHolder_1("铝箔弹夹", 80, 80, 10)
self.assign_child_resource(lvbo_zip, Coordinate(x=2737.0, y=301.0, z=0))
# 正极片（4个洞位，2x2布局）
zhengji_zip = ClipMagazine_four("zhengji_zip", 80, 80, 10)
zhengji_zip = MagazineHolder_4("正极弹夹", 80, 80, 10)
self.assign_child_resource(zhengji_zip, Coordinate(x=2799.0, y=356.0, z=0))
# 正极壳（4个洞位，2x2布局）
zhengjike_zip = ClipMagazine_four("zhengjike_zip", 80, 80, 10)
zhengjike_zip = MagazineHolder_4("正极壳弹夹", 80, 80, 10)
self.assign_child_resource(zhengjike_zip, Coordinate(x=2586.0, y=1143.0, z=0))
# 垫片（2个洞位，1x2布局）
danpian_zip = ClipMagazine_two("danpian_zip", 80, 80, 10)
danpian_zip = MagazineHolder_2("垫片弹夹", 80, 80, 10)
self.assign_child_resource(danpian_zip, Coordinate(x=2690.0, y=1141.0, z=0))
# 负极壳（4个洞位，2x2布局）
fujike_zip = ClipMagazine_four("fujike_zip", 80, 80, 10)
fujike_zip = MagazineHolder_4("负极壳弹夹", 80, 80, 10)
self.assign_child_resource(fujike_zip, Coordinate(x=2492.0, y=1144.0, z=0))
# 弹片（2个洞位，1x2布局）
tanpian_zip = ClipMagazine_two("tanpian_zip", 80, 80, 10)
tanpian_zip = MagazineHolder_2("弹片弹夹", 80, 80, 10)
self.assign_child_resource(tanpian_zip, Coordinate(x=2492.0, y=1139.0, z=0))
# 成品弹夹（6个洞位，3x2布局）
chengpindanjia_zip = ClipMagazine("chengpindanjia_zip", 80, 80, 10)
chengpindanjia_zip = MagazineHolder_6("成品弹夹", 80, 80, 10)
self.assign_child_resource(chengpindanjia_zip, Coordinate(x=3112.0, y=1295.0, z=0))
# 为子弹夹添加极片
for i in range(1): # ClipMagazine_one 有1个洞位
lvbo = ElectrodeSheet(name=f"lvbo_{i}", size_x=12, size_y=12, size_z=0.1)
for i in range(1): # MagazineHolder_1 有1个洞位
lvbo = ElectrodeSheet(name=f"铝箔_{i}", size_x=12, size_y=12, size_z=0.1)
lvbo_zip.children[i].assign_child_resource(lvbo, location=None)
for i in range(4): # ClipMagazine_four 有4个洞位
zhengji = ElectrodeSheet(name=f"zhengji_{i}", size_x=12, size_y=12, size_z=0.1)
for i in range(4): # MagazineHolder_4 有4个洞位
zhengji = ElectrodeSheet(name=f"正极_{i}", size_x=12, size_y=12, size_z=0.1)
zhengji_zip.children[i].assign_child_resource(zhengji, location=None)
for i in range(4): # ClipMagazine_four 有4个洞位
zhengjike = ElectrodeSheet(name=f"zhengjike_{i}", size_x=12, size_y=12, size_z=0.1)
for i in range(4): # MagazineHolder_4 有4个洞位
zhengjike = ElectrodeSheet(name=f"正极壳_{i}", size_x=12, size_y=12, size_z=0.1)
zhengjike_zip.children[i].assign_child_resource(zhengjike, location=None)
for i in range(2): # ClipMagazine_two 有2个洞位
danpian = ElectrodeSheet(name=f"danpian_{i}", size_x=12, size_y=12, size_z=0.1)
for i in range(2): # MagazineHolder_2 有2个洞位
danpian = ElectrodeSheet(name=f"垫片_{i}", size_x=12, size_y=12, size_z=0.1)
danpian_zip.children[i].assign_child_resource(danpian, location=None)
for i in range(4): # ClipMagazine_four 有4个洞位
fujike = ElectrodeSheet(name=f"fujike_{i}", size_x=12, size_y=12, size_z=0.1)
for i in range(4): # MagazineHolder_4 有4个洞位
fujike = ElectrodeSheet(name=f"负极壳_{i}", size_x=12, size_y=12, size_z=0.1)
fujike_zip.children[i].assign_child_resource(fujike, location=None)
for i in range(2): # ClipMagazine_two 有2个洞位
tanpian = ElectrodeSheet(name=f"tanpian_{i}", size_x=12, size_y=12, size_z=0.1)
for i in range(2): # MagazineHolder_2 有2个洞位
tanpian = ElectrodeSheet(name=f"弹片_{i}", size_x=12, size_y=12, size_z=0.1)
tanpian_zip.children[i].assign_child_resource(tanpian, location=None)
for i in range(6): # ClipMagazine 有6个洞位
chengpindanjia = ElectrodeSheet(name=f"chengpindanjia_{i}", size_x=12, size_y=12, size_z=0.1)
chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None)
# for i in range(6): # MagazineHolder_6 有6个洞位
# chengpindanjia = ElectrodeSheet(name=f"成品弹夹_{i}", size_x=12, size_y=12, size_z=0.1)
# chengpindanjia_zip.children[i].assign_child_resource(chengpindanjia, location=None)
# ====================================== 物料板 ============================================
# 创建物料板（料盘carrier）- 4x4布局
# 负极料盘
fujiliaopan = MaterialPlate(name="fujiliaopan", size_x=120, size_y=100, size_z=10.0, fill=True)
fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
self.assign_child_resource(fujiliaopan, Coordinate(x=2107.0, y=304.0, z=0))
for i in range(16):
fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
# for i in range(16):
# fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
# fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
# 隔膜料盘
gemoliaopan = MaterialPlate(name="gemoliaopan", size_x=120, size_y=100, size_z=10.0, fill=True)
gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
self.assign_child_resource(gemoliaopan, Coordinate(x=2107.0, y=146.0, z=0))
for i in range(16):
gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
# for i in range(16):
# gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
# gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
# ====================================== 瓶架、移液枪 ============================================
# 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
# 奔耀上料5ml分液瓶小板 - 2x4布局
bottle_rack_2x4 = BottleRack(
name="bottle_rack_3x4",
size_x=210.0,
size_y=140.0,
size_z=100.0,
num_items_x=2,
num_items_y=4,
position_spacing=35.0,
orientation="vertical",
)
self.assign_child_resource(bottle_rack_2x4, Coordinate(x=1542.0, y=717.0, z=0))
# 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写
# bottle_rack_3x4 = BottleRack(
# name="bottle_rack_3x4",
# size_x=210.0,
# size_y=140.0,
# size_z=100.0,
# num_items_x=2,
# num_items_y=4,
# position_spacing=35.0,
# orientation="vertical",
# )
# self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
# 电解液缓存位 - 6x2布局
bottle_rack_6x2 = BottleRack(
name="bottle_rack_6x2",
size_x=120.0,
size_y=250.0,
size_z=100.0,
num_items_x=6,
num_items_y=2,
position_spacing=35.0,
orientation="vertical",
)
bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
self.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0))
# 电解液回收位6x2
bottle_rack_2x6_2 = BottleRack(
name="bottle_rack_6x2_2",
size_x=120.0,
size_y=250.0,
size_z=100.0,
num_items_x=6,
num_items_y=2,
position_spacing=35.0,
orientation="vertical",
)
bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=1765.0, y=869.0, z=0))
# 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位
for idx in range(bottle_rack_2x4.num_items_x * bottle_rack_2x4.num_items_y):
sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1)
bottle_rack_2x4.assign_child_resource(sheet, index=idx)
for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y):
sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1)
bottle_rack_6x2.assign_child_resource(sheet, index=idx)
tip_box = TipBox64(name="tip_box_64")
self.assign_child_resource(tip_box, Coordinate(x=1938.0, y=743.0, z=0))
@@ -1278,7 +727,6 @@ class CoincellDeck(Deck):
self.assign_child_resource(waste_tip_box, Coordinate(x=1960.0, y=639.0, z=0))
if __name__ == "__main__":
deck = CoincellDeck(setup=True)
print(deck)

17
unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
View File

@@ -112,19 +112,18 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
def __init__(self,
config: dict = None,
deck=None,
address: str = "172.21.33.176",
port: str = "502",
debug_mode: bool = False,
address: str = "172.21.33.176",
port: str = "502",
debug_mode: bool = False,
*args,
**kwargs):
if deck is None and config:
deck = config.get('deck')
else :
if deck is None:
logger.info("没有传入依华deck，检查启动json文件")
super().__init__(deck=deck, *args, **kwargs,)
self.debug_mode = debug_mode
""" 连接初始化 """
modbus_client = TCPClient(addr=address, port=port)
@@ -140,12 +139,14 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
time.sleep(2)
if not modbus_client.client.is_socket_open():
raise ValueError('modbus tcp connection failed')
self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
self.client = modbus_client.register_node_list(self.nodes)
else:
print("测试模式，跳过连接")
self.nodes, self.client = None, None
""" 工站的配置 """
self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
self.client = modbus_client.register_node_list(self.nodes)
self.success = False
self.allow_data_read = False #允许读取函数运行标志位
self.csv_export_thread = None
@@ -153,8 +154,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
self.csv_export_file = None
self.coin_num_N = 0 #已组装电池数量
def post_init(self, ros_node: ROS2WorkstationNode):
self._ros_node = ros_node
#self.deck = create_a_coin_cell_deck()

583
unilabos/devices/workstation/workstation_material_management.py
View File

@@ -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)