Initial commit

2026-02-04 21:35:09 +00:00 · 2025-04-17 15:19:47 +08:00
parent a47a3f5c3a
commit c78ac482d8
262 changed files with 39871 additions and 0 deletions
--- a/unilabos/compile/agv_transfer_protocol.py
+++ b/unilabos/compile/agv_transfer_protocol.py
@@ -0,0 +1,53 @@
+import networkx as nx
+
+
+def generate_agv_transfer_protocol(
+    G: nx.Graph,
+    from_repo: dict,
+    from_repo_position: str,
+    to_repo: dict = {},
+    to_repo_position: str = ""
+):
+    from_repo_ = list(from_repo.values())[0]
+    to_repo_ = list(to_repo.values())[0]
+    resource_to_move = from_repo_["children"].pop(from_repo_position)
+    resource_to_move["parent"] = to_repo_["id"]
+    to_repo_["children"][to_repo_position] = resource_to_move
+
+    from_repo_id = from_repo_["id"]
+    to_repo_id = to_repo_["id"]
+
+    wf_list = {
+        ("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
+                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
+        ("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
+                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
+
+        ("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
+                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
+
+        ("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
+                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
+
+        ("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
+                              "arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
+
+        ("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
+                              "arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
+    }
+    return [
+        {
+            "device_id": "zhixing_agv",
+            "action_name": "send_nav_task",
+            "action_kwargs": {
+                "command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
+            }
+        },
+        {
+            "device_id": "zhixing_ur_arm",
+            "action_name": "move_pos_task",
+            "action_kwargs": {
+                "command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
+            }
+        }
+    ]