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新增注册表补全功能，修复Protocol执行失败

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Xuwznln
2025-06-27 23:45:05 +08:00
parent f9a9e91d56
commit bbc49e9aab
39 changed files with 21761 additions and 3336 deletions
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9
unilabos/devices/agv/ur_arm_task.py
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@@ -1,9 +1,12 @@
import rtde_control
import dashboard_client
try:
import rtde_control
import dashboard_client
import rtde_receive
except ImportError as ex:
print("Import Error, Please Install Packages in ur_arm_task.py First!", ex)
import time
import json
from unilabos.devices.agv.robotiq_gripper import RobotiqGripper
import rtde_receive
from std_msgs.msg import Float64MultiArray
from pydantic import BaseModel

120
unilabos/devices/laiyu_add_solid/laiyu.py
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@@ -234,71 +234,71 @@ class Laiyu:
resp_reset = self.reset()
return actual_mass_mg
if __name__ == "__main__":
'''
样例：对单个粉筒进行称量
'''
modbus = Laiyu(port="COM25")
mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
print(f"实际出料质量：{mass_test}mg")
'''
样例：对单个粉筒进行称量
'''
'''
样例: 对一份excel文件记录的化合物进行称量
'''
modbus = Laiyu(port="COM25")
excel_file = r"C:\auto\laiyu\test1.xlsx"
# 定义输出文件路径，用于记录实际加样多少
output_file = r"C:\auto\laiyu\test_output.xlsx"
mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
print(f"实际出料质量：{mass_test}mg")
# 定义物料名称和料筒位置关系
compound_positions = {
'XPhos': '1',
'Cu(OTf)2': '2',
'CuSO4': '3',
'PPh3': '4',
}
# read excel file
# excel_file = r"C:\auto\laiyu\test.xlsx"
df = pd.read_excel(excel_file, sheet_name='Sheet1')
# 读取Excel文件中的数据
# 遍历每一行数据
for index, row in df.iterrows():
# 获取物料名称和质量
copper_name = row['copper']
copper_mass = row['copper_mass']
ligand_name = row['ligand']
ligand_mass = row['ligand_mass']
target_tube_position = row['position']
# 获取物料位置 from compound_positions
copper_position = compound_positions.get(copper_name)
ligand_position = compound_positions.get(ligand_name)
# 判断物料位置是否存在
if copper_position is None:
print(f"物料位置不存在：{copper_name}")
continue
if ligand_position is None:
print(f"物料位置不存在：{ligand_name}")
continue
# 加铜
copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
time.sleep(1)
# 加配体
ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
time.sleep(1)
# 保存至df
df.at[index, 'copper_actual_mass'] = copper_actual_mass
df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
'''
样例: 对一份excel文件记录的化合物进行称量
'''
# 保存修改后的数据到新的Excel文件
df.to_excel(output_file, index=False)
print(f"已保存到文件：{output_file}")
excel_file = r"C:\auto\laiyu\test1.xlsx"
# 定义输出文件路径，用于记录实际加样多少
output_file = r"C:\auto\laiyu\test_output.xlsx"
# 定义物料名称和料筒位置关系
compound_positions = {
'XPhos': '1',
'Cu(OTf)2': '2',
'CuSO4': '3',
'PPh3': '4',
}
# read excel file
# excel_file = r"C:\auto\laiyu\test.xlsx"
df = pd.read_excel(excel_file, sheet_name='Sheet1')
# 读取Excel文件中的数据
# 遍历每一行数据
for index, row in df.iterrows():
# 获取物料名称和质量
copper_name = row['copper']
copper_mass = row['copper_mass']
ligand_name = row['ligand']
ligand_mass = row['ligand_mass']
target_tube_position = row['position']
# 获取物料位置 from compound_positions
copper_position = compound_positions.get(copper_name)
ligand_position = compound_positions.get(ligand_name)
# 判断物料位置是否存在
if copper_position is None:
print(f"物料位置不存在：{copper_name}")
continue
if ligand_position is None:
print(f"物料位置不存在：{ligand_name}")
continue
# 加铜
copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
time.sleep(1)
# 加配体
ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
time.sleep(1)
# 保存至df
df.at[index, 'copper_actual_mass'] = copper_actual_mass
df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
# 保存修改后的数据到新的Excel文件
df.to_excel(output_file, index=False)
print(f"已保存到文件：{output_file}")
# 关闭串口
modbus.ser.close()
print("串口已关闭")
# 关闭串口
modbus.ser.close()
print("串口已关闭")

6
unilabos/devices/liquid_handling/revvity.py
View File

@@ -3,7 +3,11 @@ import sys
import io
# sys.path.insert(0, r'C:\kui\winprep_cli\winprep_c_Uni-lab\x64\Debug')
import winprep_c
try:
import winprep_c
except ImportError as e:
print("Error importing winprep_c:", e)
print("Please ensure that the winprep_c module is correctly installed and accessible.")
from queue import Queue

2
unilabos/devices/motor/iCL42.py
View File

@@ -21,7 +21,7 @@ except Exception as e:
sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
from unilabos.devices.template_driver import universal_driver as ud
from unilabos.device_comms import universal_driver as ud
print(f"使用文件DEBUG运行: {e}")

2
unilabos/devices/raman_uv/home_made_raman.py
View File

@@ -9,7 +9,7 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
import time
class RamanObj:
def __init__(self, port_laser,port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
def __init__(self, port_laser, port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
self.port_laser = port_laser
self.port_ccd = port_ccd

31
unilabos/devices/zhida_hplc/zhida.py
View File

@@ -1,11 +1,9 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import socket
import json
import base64
import argparse
import sys
import json
import socket
import time
@@ -96,17 +94,20 @@ class ZhidaClient:
def abort(self) -> dict:
return self._send_command({"command": "abort"})
"""
a,b,c
1,2,4
2,4,5
"""
client = ZhidaClient()
# 连接
client.connect()
# 获取状态
print(client.status)
if __name__ == "__main__":
"""
a,b,c
1,2,4
2,4,5
"""
client = ZhidaClient()
# 连接
client.connect()
# 获取状态
print(client.status)
# 命令格式：python zhida.py <subcommand> [options]
# 命令格式：python zhida.py <subcommand> [options]