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Sync local workspace → push to yb4-fix
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dijkstra402
@@ -0,0 +1,639 @@
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"""
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纽扣电池组装工作站物料类定义
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Button Battery Assembly Station Resource Classes
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"""
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from __future__ import annotations
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from collections import OrderedDict
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from typing import Any, Dict, List, Optional, TypedDict, Union, cast
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from pylabrobot.resources.coordinate import Coordinate
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from pylabrobot.resources.container import Container
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from pylabrobot.resources.deck import Deck
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from pylabrobot.resources.itemized_resource import ItemizedResource
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from pylabrobot.resources.resource import Resource
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from pylabrobot.resources.resource_stack import ResourceStack
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from pylabrobot.resources.tip_rack import TipRack, TipSpot
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from pylabrobot.resources.trash import Trash
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from pylabrobot.resources.utils import create_ordered_items_2d
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from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
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from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
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from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
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# TODO: 这个应该只能放一个极片
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class MaterialHoleState(TypedDict):
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diameter: int
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depth: int
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max_sheets: int
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info: Optional[str] # 附加信息
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class MaterialHole(Resource):
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"""料板洞位类"""
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children: List[ElectrodeSheet] = []
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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category: str = "material_hole",
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**kwargs
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):
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super().__init__(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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category=category,
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)
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self._unilabos_state: MaterialHoleState = MaterialHoleState(
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diameter=20,
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depth=10,
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max_sheets=1,
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info=None
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)
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def get_all_sheet_info(self):
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info_list = []
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for sheet in self.children:
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info_list.append(sheet._unilabos_state["info"])
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return info_list
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#这个函数函数好像没用，一般不会集中赋值质量
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def set_all_sheet_mass(self):
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for sheet in self.children:
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sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g
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def load_state(self, state: Dict[str, Any]) -> None:
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"""格式不变"""
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super().load_state(state)
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self._unilabos_state = state
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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"""格式不变"""
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data = super().serialize_state()
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data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
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return data
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#移动极片前先取出对象
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def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
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for sheet in self.children:
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if sheet.name == name:
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return sheet
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return None
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def has_electrode_sheet(self) -> bool:
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"""检查洞位是否有极片"""
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return len(self.children) > 0
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def assign_child_resource(
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self,
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resource: ElectrodeSheet,
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location: Optional[Coordinate],
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reassign: bool = True,
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):
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"""放置极片"""
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# TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
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#if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
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# raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
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#if len(self.children) >= self._unilabos_state["max_sheets"]:
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# raise ValueError(f"洞位已满，无法放置更多极片")
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super().assign_child_resource(resource, location, reassign)
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# 根据children的编号取物料对象。
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def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
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return self.children[index]
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class MaterialPlateState(TypedDict):
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hole_spacing_x: float
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hole_spacing_y: float
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hole_diameter: float
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info: Optional[str] # 附加信息
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class MaterialPlate(ItemizedResource[MaterialHole]):
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"""料板类 - 4x4个洞位，每个洞位放1个极片"""
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children: List[MaterialHole]
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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ordered_items: Optional[Dict[str, MaterialHole]] = None,
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ordering: Optional[OrderedDict[str, str]] = None,
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category: str = "material_plate",
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model: Optional[str] = None,
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fill: bool = False
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):
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"""初始化料板
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Args:
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name: 料板名称
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size_x: 长度 (mm)
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size_y: 宽度 (mm)
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size_z: 高度 (mm)
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hole_diameter: 洞直径 (mm)
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hole_depth: 洞深度 (mm)
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hole_spacing_x: X方向洞位间距 (mm)
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hole_spacing_y: Y方向洞位间距 (mm)
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number: 编号
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category: 类别
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model: 型号
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"""
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self._unilabos_state: MaterialPlateState = MaterialPlateState(
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hole_spacing_x=24.0,
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hole_spacing_y=24.0,
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hole_diameter=20.0,
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info="",
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)
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# 创建4x4的洞位
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# TODO: 这里要改，对应不同形状
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holes = create_ordered_items_2d(
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klass=MaterialHole,
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num_items_x=4,
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num_items_y=4,
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dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
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dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
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dz=size_z,
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item_dx=self._unilabos_state["hole_spacing_x"],
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item_dy=self._unilabos_state["hole_spacing_y"],
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size_x = 16,
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size_y = 16,
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size_z = 16,
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)
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if fill:
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super().__init__(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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ordered_items=holes,
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category=category,
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model=model,
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)
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else:
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super().__init__(
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name=name,
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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ordered_items=ordered_items,
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ordering=ordering,
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category=category,
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model=model,
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)
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def update_locations(self):
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# TODO:调多次相加
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holes = create_ordered_items_2d(
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klass=MaterialHole,
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num_items_x=4,
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num_items_y=4,
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dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
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dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
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dz=self._size_z,
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item_dx=self._unilabos_state["hole_spacing_x"],
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item_dy=self._unilabos_state["hole_spacing_y"],
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size_x = 1,
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size_y = 1,
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size_z = 1,
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)
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for item, original_item in zip(holes.items(), self.children):
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original_item.location = item[1].location
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class PlateSlot(ResourceStack):
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"""板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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max_plates: int = 8,
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category: str = "plate_slot",
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model: Optional[str] = None
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):
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"""初始化板槽位
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Args:
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name: 槽位名称
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max_plates: 最大板数量
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category: 类别
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"""
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super().__init__(
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name=name,
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direction="z", # Z方向堆叠
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resources=[],
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)
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self.max_plates = max_plates
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self.category = category
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def can_add_plate(self) -> bool:
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"""检查是否可以添加板"""
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return len(self.children) < self.max_plates
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def add_plate(self, plate: MaterialPlate) -> None:
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"""添加料板"""
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if not self.can_add_plate():
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raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
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self.assign_child_resource(plate)
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def get_top_plate(self) -> MaterialPlate:
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"""获取最上方的板"""
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if len(self.children) == 0:
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raise ValueError(f"槽位 {self.name} 为空")
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return cast(MaterialPlate, self.get_top_item())
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def take_top_plate(self) -> MaterialPlate:
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"""取出最上方的板"""
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top_plate = self.get_top_plate()
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self.unassign_child_resource(top_plate)
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return top_plate
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def can_access_for_picking(self) -> bool:
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"""检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
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return len(self.children) > 0
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def serialize(self) -> dict:
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return {
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**super().serialize(),
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"max_plates": self.max_plates,
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}
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#是一种类型注解，不用self
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class BatteryState(TypedDict):
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"""电池状态字典"""
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diameter: float
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height: float
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assembly_pressure: float
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electrolyte_volume: float
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electrolyte_name: str
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class Battery(Resource):
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"""电池类 - 可容纳极片"""
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children: List[ElectrodeSheet] = []
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def __init__(
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self,
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name: str,
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size_x=1,
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||||
size_y=1,
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size_z=1,
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||||
category: str = "battery",
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||||
):
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"""初始化电池
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||||
Args:
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name: 电池名称
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diameter: 直径 (mm)
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height: 高度 (mm)
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max_volume: 最大容量 (μL)
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barcode: 二维码编号
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category: 类别
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||||
model: 型号
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"""
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super().__init__(
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name=name,
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size_x=1,
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size_y=1,
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size_z=1,
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category=category,
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)
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self._unilabos_state: BatteryState = BatteryState(
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diameter = 1.0,
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height = 1.0,
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assembly_pressure = 1.0,
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electrolyte_volume = 1.0,
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electrolyte_name = "DP001"
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)
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def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
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to_add_name = bottle._unilabos_state["electrolyte_name"]
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if bottle.aspirate_electrolyte(10):
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if self.add_electrolyte(to_add_name, 10):
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pass
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else:
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bottle._unilabos_state["electrolyte_volume"] += 10
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||||
def set_electrolyte(self, name: str, volume: float) -> None:
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"""设置电解液信息"""
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self._unilabos_state["electrolyte_name"] = name
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self._unilabos_state["electrolyte_volume"] = volume
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||||
#这个应该没用，不会有加了后再加的事情
|
||||
def add_electrolyte(self, name: str, volume: float) -> bool:
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||||
"""添加电解液信息"""
|
||||
if name != self._unilabos_state["electrolyte_name"]:
|
||||
return False
|
||||
self._unilabos_state["electrolyte_volume"] += volume
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# 电解液作为属性放进去
|
||||
|
||||
class BatteryPressSlotState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float =20.0
|
||||
depth: float = 4.0
|
||||
|
||||
class BatteryPressSlot(Resource):
|
||||
"""电池压制槽类 - 设备，可容纳一个电池"""
|
||||
children: List[Battery] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "BatteryPressSlot",
|
||||
category: str = "battery_press_slot",
|
||||
):
|
||||
"""初始化电池压制槽
|
||||
|
||||
Args:
|
||||
name: 压制槽名称
|
||||
diameter: 直径 (mm)
|
||||
depth: 深度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=10,
|
||||
size_y=12,
|
||||
size_z=13,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
|
||||
|
||||
def has_battery(self) -> bool:
|
||||
"""检查是否有电池"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: Battery,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 让高京看下槽位只有一个电池时是否这么写。
|
||||
if self.has_battery():
|
||||
raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_battery_info(self, index: int) -> Battery:
|
||||
return self.children[0]
|
||||
|
||||
|
||||
def TipBox64(
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""64孔枪头盒类"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
# 创建12x8=96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}
|
||||
tip_rack = TipRack(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
# ordered_items=tip_spots_available,
|
||||
ordered_items=tip_spots,
|
||||
category=category,
|
||||
model=model,
|
||||
with_tips=False,
|
||||
)
|
||||
tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32) # 前32和后32个有枪头，中间32个无枪头
|
||||
return tip_rack
|
||||
|
||||
|
||||
class WasteTipBoxstate(TypedDict):
|
||||
""""废枪头盒状态字典"""
|
||||
max_tips: int = 100
|
||||
tip_count: int = 0
|
||||
|
||||
#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
|
||||
class WasteTipBox(Trash):
|
||||
"""废枪头盒类 - 100个枪头容量"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
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
|
||||
|
||||
Args:
|
||||
name: 废枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
max_tips: 最大枪头容量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
|
||||
def add_tip(self) -> None:
|
||||
"""添加废枪头"""
|
||||
if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
|
||||
raise ValueError(f"废枪头盒 {self.name} 已满")
|
||||
self._unilabos_state["tip_count"] += 1
|
||||
|
||||
def get_tip_count(self) -> int:
|
||||
"""获取枪头数量"""
|
||||
return self._unilabos_state["tip_count"]
|
||||
|
||||
def empty(self) -> None:
|
||||
"""清空废枪头盒"""
|
||||
self._unilabos_state["tip_count"] = 0
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
class CoincellDeck(Deck):
|
||||
"""纽扣电池组装工作站台面类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "coin_cell_deck",
|
||||
size_x: float = 1450.0, # 1m
|
||||
size_y: float = 1450.0, # 1m
|
||||
size_z: float = 100.0, # 0.9m
|
||||
origin: Coordinate = Coordinate(-2200, 0, 0),
|
||||
category: str = "coin_cell_deck",
|
||||
setup: bool = False, # 是否自动执行 setup
|
||||
):
|
||||
"""初始化纽扣电池组装工作站台面
|
||||
|
||||
Args:
|
||||
name: 台面名称
|
||||
size_x: 长度 (mm) - 1m
|
||||
size_y: 宽度 (mm) - 1m
|
||||
size_z: 高度 (mm) - 0.9m
|
||||
origin: 原点坐标
|
||||
category: 类别
|
||||
setup: 是否自动执行 setup 配置标准布局
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1450.0,
|
||||
size_y=1450.0,
|
||||
size_z=100.0,
|
||||
origin=origin,
|
||||
)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
"""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 ============================================
|
||||
|
||||
# 正极片（4个洞位，2x2布局）
|
||||
zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
|
||||
self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
|
||||
|
||||
# 正极壳、平垫片（6个洞位，2x2+2布局）
|
||||
zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
|
||||
self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
|
||||
|
||||
# 负极壳、弹垫片（6个洞位，2x2+2布局）
|
||||
fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
|
||||
self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
|
||||
|
||||
# 成品弹夹（6个洞位，3x2布局）
|
||||
chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
|
||||
self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
|
||||
|
||||
# ====================================== 物料板 ============================================
|
||||
# 创建物料板（料盘carrier）- 4x4布局
|
||||
# 负极料盘
|
||||
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=708.0, y=794.0, 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)
|
||||
|
||||
# 隔膜料盘
|
||||
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=718.0, y=918.0, 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)
|
||||
|
||||
# ====================================== 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 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
|
||||
|
||||
# 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 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
|
||||
self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
|
||||
# 电解液回收位6x2
|
||||
bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
|
||||
self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
|
||||
|
||||
tip_box = TipBox64(name="tip_box_64")
|
||||
self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
|
||||
|
||||
waste_tip_box = WasteTipBox(name="waste_tip_box")
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
deck = create_coin_cell_deck()
|
||||
print(deck)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,44 +1,134 @@
|
||||
|
||||
import csv
|
||||
import inspect
|
||||
import json
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
import types
|
||||
from datetime import datetime
|
||||
from typing import Any, Dict, Optional
|
||||
from pylabrobot.resources import Resource as PLRResource
|
||||
from functools import wraps
|
||||
from pylabrobot.resources import Deck, Resource as PLRResource
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
|
||||
from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
|
||||
from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
|
||||
from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import *
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
|
||||
from unilabos.resources.graphio import convert_resources_to_type
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
|
||||
def _ensure_modbus_slave_kw_alias(modbus_client):
|
||||
if modbus_client is None:
|
||||
return
|
||||
|
||||
method_names = [
|
||||
"read_coils",
|
||||
"write_coils",
|
||||
"write_coil",
|
||||
"read_discrete_inputs",
|
||||
"read_holding_registers",
|
||||
"write_register",
|
||||
"write_registers",
|
||||
]
|
||||
|
||||
def _wrap(func):
|
||||
signature = inspect.signature(func)
|
||||
has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values())
|
||||
accepts_unit = has_var_kwargs or "unit" in signature.parameters
|
||||
accepts_slave = has_var_kwargs or "slave" in signature.parameters
|
||||
|
||||
@wraps(func)
|
||||
def _wrapped(self, *args, **kwargs):
|
||||
if "slave" in kwargs and not accepts_slave:
|
||||
slave_value = kwargs.pop("slave")
|
||||
if accepts_unit and "unit" not in kwargs:
|
||||
kwargs["unit"] = slave_value
|
||||
if "unit" in kwargs and not accepts_unit:
|
||||
unit_value = kwargs.pop("unit")
|
||||
if accepts_slave and "slave" not in kwargs:
|
||||
kwargs["slave"] = unit_value
|
||||
return func(self, *args, **kwargs)
|
||||
|
||||
_wrapped._has_slave_alias = True
|
||||
return _wrapped
|
||||
|
||||
for name in method_names:
|
||||
if not hasattr(modbus_client, name):
|
||||
continue
|
||||
bound_method = getattr(modbus_client, name)
|
||||
func = getattr(bound_method, "__func__", None)
|
||||
if func is None:
|
||||
continue
|
||||
if getattr(func, "_has_slave_alias", False):
|
||||
continue
|
||||
wrapped = _wrap(func)
|
||||
setattr(modbus_client, name, types.MethodType(wrapped, modbus_client))
|
||||
|
||||
|
||||
def _coerce_deck_input(deck: Any) -> Optional[Deck]:
|
||||
if deck is None:
|
||||
return None
|
||||
|
||||
if isinstance(deck, Deck):
|
||||
return deck
|
||||
|
||||
if isinstance(deck, PLRResource):
|
||||
return deck if isinstance(deck, Deck) else None
|
||||
|
||||
candidates = None
|
||||
if isinstance(deck, dict):
|
||||
if "nodes" in deck and isinstance(deck["nodes"], list):
|
||||
candidates = deck["nodes"]
|
||||
else:
|
||||
candidates = [deck]
|
||||
elif isinstance(deck, list):
|
||||
candidates = deck
|
||||
|
||||
if candidates is None:
|
||||
return None
|
||||
|
||||
try:
|
||||
converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck)
|
||||
if isinstance(converted, Deck):
|
||||
return converted
|
||||
if isinstance(converted, list):
|
||||
for item in converted:
|
||||
if isinstance(item, Deck):
|
||||
return item
|
||||
except Exception as exc:
|
||||
logger.warning(f"deck 转换 Deck 失败: {exc}")
|
||||
return None
|
||||
|
||||
|
||||
#构建物料系统
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
def __init__(
|
||||
self,
|
||||
deck: CoincellDeck,
|
||||
address: str = "192.168.1.20",
|
||||
def __init__(self,
|
||||
config: dict = None,
|
||||
deck=None,
|
||||
address: str = "172.16.28.102",
|
||||
port: str = "502",
|
||||
debug_mode: bool = True,
|
||||
debug_mode: bool = False,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(
|
||||
#桌子
|
||||
deck=deck,
|
||||
*args,
|
||||
**kwargs,
|
||||
)
|
||||
**kwargs):
|
||||
|
||||
if deck is None and config:
|
||||
deck = config.get('deck')
|
||||
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
|
||||
self.deck = deck
|
||||
|
||||
""" 连接初始化 """
|
||||
modbus_client = TCPClient(addr=address, port=port)
|
||||
print("modbus_client", modbus_client)
|
||||
logger.debug(f"创建 Modbus 客户端: {modbus_client}")
|
||||
_ensure_modbus_slave_kw_alias(modbus_client.client)
|
||||
if not debug_mode:
|
||||
modbus_client.client.connect()
|
||||
count = 100
|
||||
@@ -49,27 +139,21 @@ 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_1105.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
|
||||
self.csv_export_running = False
|
||||
self.csv_export_file = None
|
||||
#创建一个物料台面，包含两个极片板
|
||||
#self.deck = create_a_coin_cell_deck()
|
||||
|
||||
#self._ros_node.update_resource(self.deck)
|
||||
|
||||
#ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
# "resources": [self.deck]
|
||||
#})
|
||||
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()
|
||||
@@ -491,11 +575,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
try:
|
||||
# 尝试不同的字节序读取
|
||||
code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE)
|
||||
print(code_little)
|
||||
# logger.debug(f"读取电池二维码原始数据: {code_little}")
|
||||
clean_code = code_little[-8:][::-1]
|
||||
return clean_code
|
||||
except Exception as e:
|
||||
print(f"读取电池二维码失败: {e}")
|
||||
logger.error(f"读取电池二维码失败: {e}")
|
||||
return "N/A"
|
||||
|
||||
|
||||
@@ -504,11 +588,11 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
try:
|
||||
# 尝试不同的字节序读取
|
||||
code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE)
|
||||
print(code_little)
|
||||
# logger.debug(f"读取电解液二维码原始数据: {code_little}")
|
||||
clean_code = code_little[-8:][::-1]
|
||||
return clean_code
|
||||
except Exception as e:
|
||||
print(f"读取电解液二维码失败: {e}")
|
||||
logger.error(f"读取电解液二维码失败: {e}")
|
||||
return "N/A"
|
||||
|
||||
# ===================== 环境监控区 ======================
|
||||
@@ -606,7 +690,8 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
print("waiting for start_cmd")
|
||||
time.sleep(1)
|
||||
|
||||
def func_pack_send_bottle_num(self, bottle_num: int):
|
||||
def func_pack_send_bottle_num(self, bottle_num):
|
||||
bottle_num = int(bottle_num)
|
||||
#发送电解液平台数
|
||||
print("启动")
|
||||
while (self._unilab_rece_electrolyte_bottle_num()) == False:
|
||||
@@ -654,16 +739,25 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
# self.success = True
|
||||
# return self.success
|
||||
|
||||
def func_pack_send_msg_cmd(self, elec_use_num) -> bool:
|
||||
def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool:
|
||||
"""UNILAB写参数"""
|
||||
while (self.request_rec_msg_status) == False:
|
||||
print("wait for request_rec_msg_status to True")
|
||||
time.sleep(1)
|
||||
self.success = False
|
||||
#self._unilab_send_msg_electrolyte_num(elec_num)
|
||||
time.sleep(1)
|
||||
#设置平行样数目
|
||||
self._unilab_send_msg_electrolyte_use_num(elec_use_num)
|
||||
time.sleep(1)
|
||||
#发送电解液加注量
|
||||
self._unilab_send_msg_electrolyte_vol(elec_vol)
|
||||
time.sleep(1)
|
||||
#发送电解液组装类型
|
||||
self._unilab_send_msg_assembly_type(assembly_type)
|
||||
time.sleep(1)
|
||||
#发送电池压制力
|
||||
self._unilab_send_msg_assembly_pressure(assembly_pressure)
|
||||
time.sleep(1)
|
||||
self._unilab_send_msg_succ_cmd(True)
|
||||
time.sleep(1)
|
||||
while (self.request_rec_msg_status) == True:
|
||||
@@ -688,15 +782,32 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
data_coin_num = self.data_coin_num
|
||||
data_electrolyte_code = self.data_electrolyte_code
|
||||
data_coin_cell_code = self.data_coin_cell_code
|
||||
print("data_open_circuit_voltage", data_open_circuit_voltage)
|
||||
print("data_pole_weight", data_pole_weight)
|
||||
print("data_assembly_time", data_assembly_time)
|
||||
print("data_assembly_pressure", data_assembly_pressure)
|
||||
print("data_electrolyte_volume", data_electrolyte_volume)
|
||||
print("data_coin_num", data_coin_num)
|
||||
print("data_electrolyte_code", data_electrolyte_code)
|
||||
print("data_coin_cell_code", data_coin_cell_code)
|
||||
logger.debug(f"data_open_circuit_voltage: {data_open_circuit_voltage}")
|
||||
logger.debug(f"data_pole_weight: {data_pole_weight}")
|
||||
logger.debug(f"data_assembly_time: {data_assembly_time}")
|
||||
logger.debug(f"data_assembly_pressure: {data_assembly_pressure}")
|
||||
logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}")
|
||||
logger.debug(f"data_coin_num: {data_coin_num}")
|
||||
logger.debug(f"data_electrolyte_code: {data_electrolyte_code}")
|
||||
logger.debug(f"data_coin_cell_code: {data_coin_cell_code}")
|
||||
#接收完信息后，读取完毕标志位置True
|
||||
liaopan3 = self.deck.get_resource("成品弹夹")
|
||||
#把物料解绑后放到另一盘上
|
||||
battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2)
|
||||
battery._unilabos_state = {
|
||||
"electrolyte_name": data_coin_cell_code,
|
||||
"data_electrolyte_code": data_electrolyte_code,
|
||||
"open_circuit_voltage": data_open_circuit_voltage,
|
||||
"assembly_pressure": data_assembly_pressure,
|
||||
"electrolyte_volume": data_electrolyte_volume
|
||||
}
|
||||
liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None)
|
||||
#print(jipian2.parent)
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
|
||||
|
||||
self._unilab_rec_msg_succ_cmd(True)
|
||||
time.sleep(1)
|
||||
#等待允许读取标志位置False
|
||||
@@ -754,11 +865,25 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
self.success = True
|
||||
return self.success
|
||||
|
||||
def qiming_coin_cell_code(self, fujipian_panshu:int, fujipian_juzhendianwei:int=0, gemopanshu:int=0, gemo_juzhendianwei:int=0, lvbodian:bool=True, battery_pressure_mode:bool=True, battery_pressure:int=4000, battery_clean_ignore:bool=False) -> bool:
|
||||
self.success = False
|
||||
self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu)
|
||||
self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei)
|
||||
self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu)
|
||||
self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei)
|
||||
self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
|
||||
self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode)
|
||||
# self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure)
|
||||
self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore)
|
||||
self.success = True
|
||||
|
||||
return self.success
|
||||
|
||||
|
||||
def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool:
|
||||
def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> bool:
|
||||
elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure)
|
||||
summary_csv_file = os.path.join(file_path, "duandian.csv")
|
||||
# 如果断点文件存在，先读取之前的进度
|
||||
|
||||
if os.path.exists(summary_csv_file):
|
||||
read_status_flag = True
|
||||
with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile:
|
||||
@@ -784,54 +909,38 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
elec_num_N = 0
|
||||
elec_use_num_N = 0
|
||||
coin_num_N = 0
|
||||
|
||||
print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}")
|
||||
|
||||
for i in range(20):
|
||||
print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}")
|
||||
print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}")
|
||||
print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}")
|
||||
|
||||
#如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。
|
||||
if read_status_flag == False:
|
||||
pass
|
||||
#初始化
|
||||
self.func_pack_device_init()
|
||||
#self.func_pack_device_init()
|
||||
#切换自动
|
||||
self.func_pack_device_auto()
|
||||
#self.func_pack_device_auto()
|
||||
#启动，小车收回
|
||||
self.func_pack_device_start()
|
||||
#self.func_pack_device_start()
|
||||
#发送电解液瓶数量，启动搬运,多搬运没事
|
||||
self.func_pack_send_bottle_num(elec_num)
|
||||
#self.func_pack_send_bottle_num(elec_num)
|
||||
last_i = elec_num_N
|
||||
last_j = elec_use_num_N
|
||||
for i in range(last_i, elec_num):
|
||||
print(f"开始第{last_i+i+1}瓶电解液的组装")
|
||||
#第一个循环从上次断点继续，后续循环从0开始
|
||||
j_start = last_j if i == last_i else 0
|
||||
self.func_pack_send_msg_cmd(elec_use_num-j_start)
|
||||
self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure)
|
||||
|
||||
for j in range(j_start, elec_use_num):
|
||||
print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装")
|
||||
#读取电池组装数据并存入csv
|
||||
self.func_pack_get_msg_cmd(file_path)
|
||||
time.sleep(1)
|
||||
|
||||
#这里定义物料系统
|
||||
# TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑
|
||||
liaopan1 = self.deck.get_resource("liaopan1")
|
||||
liaopan4 = self.deck.get_resource("liaopan4")
|
||||
jipian1 = liaopan1.children[coin_num_N].children[0]
|
||||
jipian4 = liaopan4.children[coin_num_N].children[0]
|
||||
#print(jipian1)
|
||||
#从料盘上去物料解绑后放到另一盘上
|
||||
jipian1.parent.unassign_child_resource(jipian1)
|
||||
jipian4.parent.unassign_child_resource(jipian4)
|
||||
|
||||
#print(jipian2.parent)
|
||||
battery = Battery(name = f"battery_{coin_num_N}")
|
||||
battery.assign_child_resource(jipian1, location=None)
|
||||
battery.assign_child_resource(jipian4, location=None)
|
||||
|
||||
zidanjia6 = self.deck.get_resource("zi_dan_jia6")
|
||||
|
||||
zidanjia6.children[0].assign_child_resource(battery, location=None)
|
||||
|
||||
|
||||
|
||||
# 生成断点文件
|
||||
# 生成包含elec_num_N、coin_num_N、timestamp的CSV文件
|
||||
@@ -842,6 +951,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp])
|
||||
csvfile.flush()
|
||||
coin_num_N += 1
|
||||
self.coin_num_N = coin_num_N
|
||||
elec_use_num_N += 1
|
||||
elec_num_N += 1
|
||||
elec_use_num_N = 0
|
||||
@@ -878,36 +988,27 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
def fun_wuliao_test(self) -> bool:
|
||||
#找到data_init中构建的2个物料盘
|
||||
#liaopan1 = self.deck.get_resource("liaopan1")
|
||||
#liaopan4 = self.deck.get_resource("liaopan4")
|
||||
#for coin_num_N in range(16):
|
||||
# liaopan1 = self.deck.get_resource("liaopan1")
|
||||
# liaopan4 = self.deck.get_resource("liaopan4")
|
||||
# jipian1 = liaopan1.children[coin_num_N].children[0]
|
||||
# jipian4 = liaopan4.children[coin_num_N].children[0]
|
||||
# #print(jipian1)
|
||||
# #从料盘上去物料解绑后放到另一盘上
|
||||
# jipian1.parent.unassign_child_resource(jipian1)
|
||||
# jipian4.parent.unassign_child_resource(jipian4)
|
||||
#
|
||||
# #print(jipian2.parent)
|
||||
# battery = Battery(name = f"battery_{coin_num_N}")
|
||||
# battery.assign_child_resource(jipian1, location=None)
|
||||
# battery.assign_child_resource(jipian4, location=None)
|
||||
#
|
||||
# zidanjia6 = self.deck.get_resource("zi_dan_jia6")
|
||||
# zidanjia6.children[0].assign_child_resource(battery, location=None)
|
||||
# ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
# "resources": [self.deck]
|
||||
# })
|
||||
# time.sleep(2)
|
||||
for i in range(20):
|
||||
print(f"输出{i}")
|
||||
time.sleep(2)
|
||||
|
||||
liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
for i in range(16):
|
||||
battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2)
|
||||
battery._unilabos_state = {
|
||||
"diameter": 20.0,
|
||||
"height": 20.0,
|
||||
"assembly_pressure": i,
|
||||
"electrolyte_volume": 20.0,
|
||||
"electrolyte_name": f"DP{i}"
|
||||
}
|
||||
liaopan3.children[i].assign_child_resource(battery, location=None)
|
||||
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
# for i in range(40):
|
||||
# print(f"fun_wuliao_test 运行结束{i}")
|
||||
# time.sleep(1)
|
||||
# time.sleep(40)
|
||||
# 数据读取与输出
|
||||
def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"):
|
||||
def func_read_data_and_output(self, file_path: str="/Users/sml/work"):
|
||||
# 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环
|
||||
if self.csv_export_running:
|
||||
return False, "读取已在运行中"
|
||||
@@ -1012,7 +1113,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
# else:
|
||||
# print("子弹夹洞位0没有极片")
|
||||
#
|
||||
# #把电解液从瓶中取到电池夹子中
|
||||
# # TODO:#把电解液从瓶中取到电池夹子中
|
||||
# battery_site = deck.get_resource("battery_press_1")
|
||||
# clip_magazine_battery = deck.get_resource("clip_magazine_battery")
|
||||
# if battery_site.has_battery():
|
||||
@@ -1102,41 +1203,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
'''
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from pylabrobot.resources import Resource
|
||||
Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True)
|
||||
#Coin_Cell.func_pack_device_init()
|
||||
#Coin_Cell.func_pack_device_auto()
|
||||
#Coin_Cell.func_pack_device_start()
|
||||
#Coin_Cell.func_pack_send_bottle_num(2)
|
||||
#Coin_Cell.func_pack_send_msg_cmd(2)
|
||||
#Coin_Cell.func_pack_get_msg_cmd()
|
||||
#Coin_Cell.func_pack_get_msg_cmd()
|
||||
#Coin_Cell.func_pack_send_finished_cmd()
|
||||
#
|
||||
#Coin_Cell.func_allpack_cmd(3, 2)
|
||||
#print(Coin_Cell.data_stack_vision_code)
|
||||
#print("success")
|
||||
#创建一个物料台面
|
||||
|
||||
#deck = create_a_coin_cell_deck()
|
||||
|
||||
##在台面上找到料盘和极片
|
||||
#liaopan1 = deck.get_resource("liaopan1")
|
||||
#liaopan2 = deck.get_resource("liaopan2")
|
||||
#jipian1 = liaopan1.children[1].children[0]
|
||||
#
|
||||
##print(jipian1)
|
||||
##把物料解绑后放到另一盘上
|
||||
#jipian1.parent.unassign_child_resource(jipian1)
|
||||
#liaopan2.children[1].assign_child_resource(jipian1, location=None)
|
||||
##print(jipian2.parent)
|
||||
from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type
|
||||
|
||||
with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f:
|
||||
bioyond_resources_unilab = json.load(f)
|
||||
print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源")
|
||||
ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource])
|
||||
print(f"转换结果类型: {type(ulab_resources)}")
|
||||
print(ulab_resources)
|
||||
|
||||
# 简单测试
|
||||
workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck"))
|
||||
# workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False)
|
||||
# print(f"工作站创建成功: {workstation.deck.name}")
|
||||
# print(f"料盘数量: {len(workstation.deck.children)}")
|
||||
workstation.func_pack_device_init()
|
||||
workstation.func_pack_device_auto()
|
||||
workstation.func_pack_device_start()
|
||||
workstation.func_pack_send_bottle_num(16)
|
||||
workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm")
|
||||
|
||||
@@ -0,0 +1,64 @@
|
||||
Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
|
||||
COIL_SYS_START_CMD,BOOL,,,,coil,9010,
|
||||
COIL_SYS_STOP_CMD,BOOL,,,,coil,9020,
|
||||
COIL_SYS_RESET_CMD,BOOL,,,,coil,9030,
|
||||
COIL_SYS_HAND_CMD,BOOL,,,,coil,9040,
|
||||
COIL_SYS_AUTO_CMD,BOOL,,,,coil,9050,
|
||||
COIL_SYS_INIT_CMD,BOOL,,,,coil,9060,
|
||||
COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,9700,
|
||||
COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,9710,unilab_rec_msg_succ_cmd
|
||||
COIL_SYS_START_STATUS,BOOL,,,,coil,9210,
|
||||
COIL_SYS_STOP_STATUS,BOOL,,,,coil,9220,
|
||||
COIL_SYS_RESET_STATUS,BOOL,,,,coil,9230,
|
||||
COIL_SYS_HAND_STATUS,BOOL,,,,coil,9240,
|
||||
COIL_SYS_AUTO_STATUS,BOOL,,,,coil,9250,
|
||||
COIL_SYS_INIT_STATUS,BOOL,,,,coil,9260,
|
||||
COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,9500,
|
||||
COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,9510,request_send_msg_status
|
||||
REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,17000,
|
||||
REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,17002,unilab_send_msg_electrolyte_num
|
||||
REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,17004,unilab_send_msg_electrolyte_vol
|
||||
REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,17006,unilab_send_msg_assembly_type
|
||||
REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,17008,unilab_send_msg_assembly_pressure
|
||||
REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,16000,data_assembly_coin_cell_num
|
||||
REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,16002,data_open_circuit_voltage
|
||||
REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,16004,
|
||||
REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,16006,
|
||||
REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,16008,
|
||||
REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,16010,data_pole_weight
|
||||
REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,16012,data_assembly_time
|
||||
REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,16014,data_assembly_pressure
|
||||
REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,16016,data_electrolyte_volume
|
||||
REG_DATA_COIN_NUM,INT16,,,,hold_register,16018,data_coin_num
|
||||
REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,16020,data_electrolyte_code()
|
||||
REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,16030,data_coin_cell_code()
|
||||
REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,18004,data_stack_vision_code()
|
||||
REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,16050,data_glove_box_pressure
|
||||
REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,16052,data_glove_box_water_content
|
||||
REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,16054,data_glove_box_o2_content
|
||||
UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9720,
|
||||
UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9520,
|
||||
REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,17496,
|
||||
REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,16000,
|
||||
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,9730,
|
||||
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,9530,
|
||||
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,16018,ASSEMBLY_TYPE7or8
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,9340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,17440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,17450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,17480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,17443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,17453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,9360,电池压制模式
|
||||
,,,,,,,
|
||||
,BOOL,,视觉对位（false:使用，true:忽略）,,coil,9300,视觉对位
|
||||
,BOOL,,复检（false:使用，true:忽略）,,coil,9310,视觉复检
|
||||
,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,9320,手套箱左仓
|
||||
,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,9420,手套箱右仓
|
||||
,BOOL,,真空检知（false:使用，true:忽略）,,coil,9350,真空检知
|
||||
,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,9370,滴液模式
|
||||
,BOOL,,正极片称重（false:使用，true:忽略）,,coil,9380,正极片称重
|
||||
,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,9390,正负极反装
|
||||
,BOOL,,压制清洁（false:使用，true:忽略）,,coil,9400,压制清洁
|
||||
,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,9410,负极片摆盘方式
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,9460,
|
||||
|
@@ -0,0 +1,64 @@
|
||||
Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
|
||||
COIL_SYS_START_CMD,BOOL,,,,coil,8010,
|
||||
COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
|
||||
COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
|
||||
COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
|
||||
COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
|
||||
COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
|
||||
COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
|
||||
COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
|
||||
COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
|
||||
COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
|
||||
COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
|
||||
COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
|
||||
COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
|
||||
COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
|
||||
COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
|
||||
COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
|
||||
REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
|
||||
REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
|
||||
REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
|
||||
REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
|
||||
REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
|
||||
REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
|
||||
REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
|
||||
REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
|
||||
REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
|
||||
REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
|
||||
REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
|
||||
REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
|
||||
REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
|
||||
REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
|
||||
REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
|
||||
REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
|
||||
REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
|
||||
REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
|
||||
REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
|
||||
REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
|
||||
REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
|
||||
UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
|
||||
UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
|
||||
REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
|
||||
REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
|
||||
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
|
||||
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
|
||||
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式
|
||||
,,,,,,,
|
||||
,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位
|
||||
,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检
|
||||
,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓
|
||||
,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓
|
||||
,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知
|
||||
,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式
|
||||
,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重
|
||||
,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装
|
||||
,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁
|
||||
,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,8460,
|
||||
|
@@ -0,0 +1,39 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"name": "配液分液工站",
|
||||
"children": [
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "bioyond_cell",
|
||||
"config": {
|
||||
"protocol_type": [],
|
||||
"station_resource": {}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
{
|
||||
"id": "BatteryStation",
|
||||
"name": "扣电工作站",
|
||||
"children": [
|
||||
"coin_cell_deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "coincellassemblyworkstation_device",
|
||||
"position": {
|
||||
"x": -600,
|
||||
"y": -400,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"debug_mode": false,
|
||||
"protocol_type": []
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user