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3d sim (#97)
* 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@dp.tech>
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13
unilabos/devices/liquid_handling/laiyu/tests/__init__.py
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13
unilabos/devices/liquid_handling/laiyu/tests/__init__.py
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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LaiYu液体处理设备测试模块
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该模块包含LaiYu液体处理设备的测试用例：
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- test_deck_config.py: 工作台配置测试
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作者: UniLab团队
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版本: 2.0.0
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"""
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__all__ = []
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315
unilabos/devices/liquid_handling/laiyu/tests/test_deck_config.py
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315
unilabos/devices/liquid_handling/laiyu/tests/test_deck_config.py
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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测试脚本：验证更新后的deck配置是否正常工作
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"""
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import sys
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import os
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import json
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# 添加项目根目录到Python路径
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project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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sys.path.insert(0, project_root)
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def test_config_loading():
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"""测试配置文件加载功能"""
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print("=" * 50)
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print("测试配置文件加载功能")
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print("=" * 50)
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try:
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# 直接测试配置文件加载
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config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
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fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
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config = None
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config_source = ""
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if os.path.exists(config_path):
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with open(config_path, 'r', encoding='utf-8') as f:
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config = json.load(f)
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config_source = "config/deckconfig.json"
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elif os.path.exists(fallback_path):
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with open(fallback_path, 'r', encoding='utf-8') as f:
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config = json.load(f)
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config_source = "config/deck.json"
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else:
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print("❌ 配置文件不存在")
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return False
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print(f"✅ 配置文件加载成功: {config_source}")
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print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
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print(f" - 子模块数量: {len(config.get('children', []))}")
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# 检查各个模块是否存在
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modules = config.get('children', [])
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module_types = [module.get('type') for module in modules]
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module_names = [module.get('name') for module in modules]
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print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}")
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print(f" - 模块名称: {', '.join(filter(None, module_names))}")
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return config
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except Exception as e:
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print(f"❌ 配置文件加载失败: {e}")
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return None
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def test_module_coordinates(config):
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"""测试各模块的坐标信息"""
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print("\n" + "=" * 50)
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print("测试模块坐标信息")
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print("=" * 50)
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if not config:
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print("❌ 配置为空，无法测试")
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return False
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modules = config.get('children', [])
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for module in modules:
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module_name = module.get('name', '未知模块')
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module_type = module.get('type', '未知类型')
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position = module.get('position', {})
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size = module.get('size', {})
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print(f"\n模块: {module_name} ({module_type})")
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print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
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print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
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# 检查孔位信息
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wells = module.get('wells', [])
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if wells:
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print(f" - 孔位数量: {len(wells)}")
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# 显示前几个和后几个孔位的坐标
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sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
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for well in sample_wells:
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well_id = well.get('id', '未知')
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well_pos = well.get('position', {})
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print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
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else:
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print(f" - 无孔位信息")
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return True
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def test_coordinate_ranges(config):
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"""测试坐标范围的合理性"""
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print("\n" + "=" * 50)
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print("测试坐标范围合理性")
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print("=" * 50)
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if not config:
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print("❌ 配置为空，无法测试")
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return False
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deck_size = {
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'x': config.get('size_x', 340),
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'y': config.get('size_y', 250),
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'z': config.get('size_z', 160)
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}
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print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
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modules = config.get('children', [])
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all_coordinates = []
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for module in modules:
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module_name = module.get('name', '未知模块')
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wells = module.get('wells', [])
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for well in wells:
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well_pos = well.get('position', {})
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x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
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all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
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if not all_coordinates:
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print("❌ 没有找到任何坐标信息")
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return False
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# 计算坐标范围
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x_coords = [coord[0] for coord in all_coordinates]
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y_coords = [coord[1] for coord in all_coordinates]
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z_coords = [coord[2] for coord in all_coordinates]
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x_range = (min(x_coords), max(x_coords))
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y_range = (min(y_coords), max(y_coords))
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z_range = (min(z_coords), max(z_coords))
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print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
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print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
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print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
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# 检查是否超出甲板范围
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issues = []
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if x_range[1] > deck_size['x']:
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issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
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if y_range[1] > deck_size['y']:
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issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
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if z_range[1] > deck_size['z']:
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issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
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if x_range[0] < 0:
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issues.append(f"X坐标为负值: {x_range[0]}")
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if y_range[0] < 0:
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issues.append(f"Y坐标为负值: {y_range[0]}")
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if z_range[0] < 0:
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issues.append(f"Z坐标为负值: {z_range[0]}")
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if issues:
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print("⚠️ 发现坐标问题:")
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for issue in issues:
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print(f" - {issue}")
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return False
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else:
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print("✅ 所有坐标都在合理范围内")
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return True
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def test_well_spacing(config):
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"""测试孔位间距的一致性"""
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print("\n" + "=" * 50)
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print("测试孔位间距一致性")
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print("=" * 50)
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if not config:
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print("❌ 配置为空，无法测试")
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return False
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modules = config.get('children', [])
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for module in modules:
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module_name = module.get('name', '未知模块')
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module_type = module.get('type', '未知类型')
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wells = module.get('wells', [])
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if len(wells) < 2:
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continue
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print(f"\n模块: {module_name} ({module_type})")
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# 计算相邻孔位的间距
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spacings_x = []
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spacings_y = []
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# 按行列排序孔位
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wells_by_row = {}
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for well in wells:
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well_id = well.get('id', '')
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if len(well_id) >= 3: # 如A01格式
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row = well_id[0]
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col = int(well_id[1:])
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if row not in wells_by_row:
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wells_by_row[row] = {}
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wells_by_row[row][col] = well
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# 计算同行相邻孔位的X间距
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for row, cols in wells_by_row.items():
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sorted_cols = sorted(cols.keys())
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for i in range(len(sorted_cols) - 1):
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col1, col2 = sorted_cols[i], sorted_cols[i + 1]
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if col2 == col1 + 1: # 相邻列
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pos1 = cols[col1].get('position', {})
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pos2 = cols[col2].get('position', {})
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spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
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spacings_x.append(spacing)
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# 计算同列相邻孔位的Y间距
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cols_by_row = {}
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for well in wells:
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well_id = well.get('id', '')
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if len(well_id) >= 3:
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row = ord(well_id[0]) - ord('A')
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col = int(well_id[1:])
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if col not in cols_by_row:
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cols_by_row[col] = {}
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cols_by_row[col][row] = well
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for col, rows in cols_by_row.items():
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sorted_rows = sorted(rows.keys())
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for i in range(len(sorted_rows) - 1):
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row1, row2 = sorted_rows[i], sorted_rows[i + 1]
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if row2 == row1 + 1: # 相邻行
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pos1 = rows[row1].get('position', {})
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pos2 = rows[row2].get('position', {})
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spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
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spacings_y.append(spacing)
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# 检查间距一致性
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if spacings_x:
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avg_x = sum(spacings_x) / len(spacings_x)
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max_diff_x = max(abs(s - avg_x) for s in spacings_x)
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print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
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if spacings_y:
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avg_y = sum(spacings_y) / len(spacings_y)
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max_diff_y = max(abs(s - avg_y) for s in spacings_y)
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print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
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return True
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def main():
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"""主测试函数"""
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print("LaiYu液体处理设备配置测试")
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print("测试时间:", os.popen('date').read().strip())
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# 运行所有测试
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tests = [
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("配置文件加载", test_config_loading),
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]
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config = None
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results = []
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for test_name, test_func in tests:
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try:
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if test_name == "配置文件加载":
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result = test_func()
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config = result if result else None
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results.append((test_name, bool(result)))
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else:
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result = test_func(config)
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results.append((test_name, result))
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except Exception as e:
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print(f"❌ 测试 {test_name} 执行失败: {e}")
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results.append((test_name, False))
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# 如果配置加载成功，运行其他测试
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if config:
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additional_tests = [
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("模块坐标信息", test_module_coordinates),
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("坐标范围合理性", test_coordinate_ranges),
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("孔位间距一致性", test_well_spacing)
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]
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for test_name, test_func in additional_tests:
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try:
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result = test_func(config)
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results.append((test_name, result))
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except Exception as e:
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print(f"❌ 测试 {test_name} 执行失败: {e}")
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results.append((test_name, False))
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# 输出测试总结
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print("\n" + "=" * 50)
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print("测试总结")
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print("=" * 50)
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passed = sum(1 for _, result in results if result)
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total = len(results)
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for test_name, result in results:
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status = "✅ 通过" if result else "❌ 失败"
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print(f" {test_name}: {status}")
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print(f"\n总计: {passed}/{total} 个测试通过")
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if passed == total:
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print("🎉 所有测试通过！配置更新成功。")
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return True
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else:
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print("⚠️ 部分测试失败，需要进一步检查。")
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return False
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if __name__ == "__main__":
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success = main()
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sys.exit(0 if success else 1)
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